CN115010019A - Telescopic arm mechanical equipment control device, control method and telescopic arm mechanical equipment - Google Patents

Telescopic arm mechanical equipment control device, control method and telescopic arm mechanical equipment Download PDF

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Publication number
CN115010019A
CN115010019A CN202210645910.XA CN202210645910A CN115010019A CN 115010019 A CN115010019 A CN 115010019A CN 202210645910 A CN202210645910 A CN 202210645910A CN 115010019 A CN115010019 A CN 115010019A
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CN
China
Prior art keywords
angle
mechanical equipment
telescopic
boom
arm
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Pending
Application number
CN202210645910.XA
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Chinese (zh)
Inventor
徐伟
陈孝金
唐浩
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Hunan Zoomlion Intelligent Aerial Work Machinery Co Ltd
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Hunan Zoomlion Intelligent Aerial Work Machinery Co Ltd
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Publication date
Application filed by Hunan Zoomlion Intelligent Aerial Work Machinery Co Ltd filed Critical Hunan Zoomlion Intelligent Aerial Work Machinery Co Ltd
Priority to CN202210645910.XA priority Critical patent/CN115010019A/en
Publication of CN115010019A publication Critical patent/CN115010019A/en
Pending legal-status Critical Current

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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
    • B66C23/00—Cranes comprising essentially a beam, boom, or triangular structure acting as a cantilever and mounted for translatory of swinging movements in vertical or horizontal planes or a combination of such movements, e.g. jib-cranes, derricks, tower cranes
    • B66C23/62—Constructional features or details
    • B66C23/72—Counterweights or supports for balancing lifting couples
    • B66C23/78—Supports, e.g. outriggers, for mobile cranes
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60G—VEHICLE SUSPENSION ARRANGEMENTS
    • B60G17/00—Resilient suspensions having means for adjusting the spring or vibration-damper characteristics, for regulating the distance between a supporting surface and a sprung part of vehicle or for locking suspension during use to meet varying vehicular or surface conditions, e.g. due to speed or load
    • B60G17/005—Suspension locking arrangements
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
    • B66C13/00—Other constructional features or details
    • B66C13/16—Applications of indicating, registering, or weighing devices
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
    • B66C13/00—Other constructional features or details
    • B66C13/18—Control systems or devices
    • B66C13/20—Control systems or devices for non-electric drives
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
    • B66C23/00—Cranes comprising essentially a beam, boom, or triangular structure acting as a cantilever and mounted for translatory of swinging movements in vertical or horizontal planes or a combination of such movements, e.g. jib-cranes, derricks, tower cranes
    • B66C23/62—Constructional features or details
    • B66C23/72—Counterweights or supports for balancing lifting couples
    • B66C23/78—Supports, e.g. outriggers, for mobile cranes
    • B66C23/80—Supports, e.g. outriggers, for mobile cranes hydraulically actuated
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66F—HOISTING, LIFTING, HAULING OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD
    • B66F9/00—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes
    • B66F9/06—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes movable, with their loads, on wheels or the like, e.g. fork-lift trucks
    • B66F9/065—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes movable, with their loads, on wheels or the like, e.g. fork-lift trucks non-masted
    • B66F9/0655—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes movable, with their loads, on wheels or the like, e.g. fork-lift trucks non-masted with a telescopic boom
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66F—HOISTING, LIFTING, HAULING OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD
    • B66F9/00—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes
    • B66F9/06—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes movable, with their loads, on wheels or the like, e.g. fork-lift trucks
    • B66F9/075—Constructional features or details
    • B66F9/07513—Details concerning the chassis
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66F—HOISTING, LIFTING, HAULING OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD
    • B66F9/00—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes
    • B66F9/06—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes movable, with their loads, on wheels or the like, e.g. fork-lift trucks
    • B66F9/075—Constructional features or details
    • B66F9/07559—Stabilizing means
    • 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
    • F15B21/02—Servomotor systems with programme control derived from a store or timing device; Control devices therefor

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Structural Engineering (AREA)
  • Transportation (AREA)
  • Geology (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Civil Engineering (AREA)
  • Chemical & Material Sciences (AREA)
  • Analytical Chemistry (AREA)
  • Physics & Mathematics (AREA)
  • Fluid Mechanics (AREA)
  • General Engineering & Computer Science (AREA)
  • Automation & Control Theory (AREA)
  • Forklifts And Lifting Vehicles (AREA)

Abstract

The application discloses a telescopic boom mechanical equipment control device, a control method and telescopic boom mechanical equipment. The control device includes: the angle sensor is used for acquiring the angle of the arm support of the telescopic arm mechanical equipment; the floating locking mechanism is arranged on an axle of the telescopic arm mechanical equipment and used for locking the axle; the supporting leg control mechanism controls the opening and the retraction of the supporting leg of the telescopic arm mechanical equipment; the controller is used for acquiring the arm support angle of the telescopic arm mechanical equipment under the working condition of the telescopic arm mechanical equipment; and controlling the floating locking mechanism or the supporting leg control mechanism according to the angle of the arm support so as to enable the telescopic arm mechanical equipment to be in a stable state. The method comprises the steps that an angle sensor is used for obtaining the arm support angle of telescopic arm mechanical equipment; and controlling the floating locking mechanism or the supporting leg control mechanism according to the angle of the arm support so as to enable the telescopic arm mechanical equipment to be in a stable state. The requirements of the telescopic boom mechanical equipment on different working conditions are met, and the flexibility of the telescopic boom mechanical equipment is higher.

Description

Telescopic arm mechanical equipment control device, control method and telescopic arm mechanical equipment
Technical Field
The application relates to the technical field of engineering machinery, in particular to a control device and a control method of telescopic boom mechanical equipment and the telescopic boom mechanical equipment.
Background
The general structure of the mechanical equipment comprises a chassis, a support leg, a boom, a cab, a counterweight and the like, and due to the characteristics of the mechanical equipment (for example, the weight of the counterweight is large), the gravity center is easy to be unstable during boom operation under certain working conditions. At present, a stability control method for multi-folding-arm mechanical equipment can divide possible support intervals of support legs of the multi-folding-arm mechanical equipment, and simultaneously calculate a possible variable amplitude angle and a telescopic length of an arm support aiming at each interval in advance. During actual work, the state of the support leg is confirmed by comparing the states of the support leg, so that which section the support leg is positioned in is confirmed, and therefore the posture of the arm support can be confirmed. In the prior art, a stability control method for a multi-folding-arm mechanical device basically calculates the stability of the device based on the state of a support leg, and on the premise, the support leg needs to be opened and a floating bridge needs to be locked. However, this control method is not applicable to a construction machine (for example, a telescopic arm machine) having a structure capable of performing tire work and leg work.
Disclosure of Invention
An object of the embodiment of the present application is to provide a control device and a control method for a telescopic boom mechanical apparatus, and a telescopic boom mechanical apparatus, so as to solve a problem that a control method for mechanical apparatus stability in the prior art cannot be applied to a telescopic boom mechanical apparatus.
In order to achieve the above object, a first aspect of the present application provides a control apparatus for a telescopic boom mechanical apparatus, comprising:
an angle sensor configured to acquire a boom angle of a boom of a telescopic boom mechanical apparatus;
the floating locking mechanism is arranged on an axle of the telescopic arm mechanical equipment and is configured to lock the axle;
a leg control mechanism configured to control the extension and retraction of a leg of the telescopic arm mechanical apparatus;
a controller in communicative connection with the angle sensor, the floating lock mechanism, and the leg control mechanism, configured to:
acquiring the arm support angle of the telescopic arm mechanical equipment under the working condition of the telescopic arm mechanical equipment;
and controlling the floating locking mechanism or the supporting leg control mechanism according to the angle of the arm support so as to enable the telescopic arm mechanical equipment to be in a stable state.
In an embodiment of the present application, the controller is further configured to:
acquiring a first lifting critical angle of the arm support;
judging whether the angle of the arm support is larger than a first lifting critical angle or not;
and under the condition that the angle of the arm support is larger than the first lifting critical angle, controlling the floating locking mechanism to lock the axle so as to enable the telescopic arm mechanical equipment to be in a stable state.
In an embodiment of the present application, the controller is further configured to:
acquiring a second lifting critical angle of the arm support;
judging whether the angle of the arm support is larger than a second lifting critical angle or not;
and under the condition that the angle of the arm support is larger than the second lifting critical angle, controlling the support legs of the telescopic arm mechanical equipment to be opened so as to enable the telescopic arm mechanical equipment to be in a stable state.
In the embodiment of the application, the angle sensor is arranged between the chassis and the arm support of the telescopic arm mechanical equipment.
In the embodiment of the application, the telescopic boom mechanical equipment comprises a front axle and a rear axle, and the floating locking mechanism comprises a first floating locking mechanism and a second floating locking mechanism; the first floating locking mechanism is arranged on the front axle, and the second floating locking mechanism is arranged on the rear axle; the first floating locking mechanism controls the front axle to keep a locking state;
the controller is configured to:
and controlling the second floating locking mechanism according to the angle of the arm support so as to enable the telescopic arm mechanical equipment to be in a stable state.
In an embodiment of the present application, the leg control mechanism includes a leg cylinder, and the leg control mechanism is configured to control the extension and retraction of the leg by controlling the extension and retraction of the leg cylinder.
The application provides a telescopic boom mechanical device comprising the control device for the telescopic boom mechanical device.
A third aspect of the present application provides a method for controlling a telescopic boom mechanical apparatus, including the steps of:
when the telescopic boom mechanical equipment works, acquiring a boom angle of a boom of the telescopic boom mechanical equipment;
and controlling a floating locking mechanism or a supporting leg control mechanism of the telescopic arm mechanical equipment according to the angle of the arm support so as to enable the telescopic arm mechanical equipment to be in a stable state.
In this embodiment of the application, controlling the floating locking mechanism of the telescopic boom mechanical device according to the boom angle to enable the telescopic boom mechanical device to be in a stable state includes:
acquiring a first lifting critical angle of the arm support;
judging whether the angle of the arm support is larger than a first lifting critical angle or not;
and under the condition that the angle of the arm support is larger than the first lifting critical angle, controlling the floating locking mechanism to lock the axle so as to enable the telescopic arm mechanical equipment to be in a stable state.
In this embodiment of the present application, controlling a leg control mechanism of a telescopic boom mechanical apparatus according to a boom angle so that the telescopic boom mechanical apparatus is in a stable state includes:
acquiring a second lifting critical angle of the arm support;
judging whether the angle of the arm support is larger than a second lifting critical angle or not;
and under the condition that the angle of the arm support is larger than the second lifting critical angle, controlling the support legs of the telescopic arm mechanical equipment to be opened so as to enable the telescopic arm mechanical equipment to be in a stable state.
According to the technical scheme, when the telescopic boom mechanical equipment is in an operation working condition, the boom angle of the telescopic boom mechanical equipment is obtained through the angle sensor; and controlling the floating locking mechanism or the supporting leg control mechanism according to the angle of the arm support so as to enable the telescopic arm mechanical equipment to be in a stable state. Like this, can satisfy the demand of flexible arm mechanical equipment in different operating modes for flexible arm mechanical equipment's flexibility is higher.
Additional features and advantages of embodiments of the present application will be described in detail in the detailed description which follows.
Drawings
The accompanying drawings, which are included to provide a further understanding of the embodiments of the disclosure and are incorporated in and constitute a part of this specification, illustrate embodiments of the disclosure and together with the description serve to explain the embodiments of the disclosure, but are not intended to limit the embodiments of the disclosure. In the drawings:
fig. 1 is a schematic structural diagram illustrating a control apparatus of a telescopic boom mechanical apparatus according to an embodiment of the present application;
FIG. 2 is a schematic diagram illustrating an angular sensor positioning structure according to an embodiment of the present application;
FIG. 3 schematically illustrates a structural schematic of an axle floating lock mechanism according to an embodiment of the present application;
FIG. 4 is a schematic illustration of an axle attachment arrangement according to an embodiment of the present application;
fig. 5 schematically illustrates a structural diagram of a center of gravity of a boom according to an embodiment of the present application;
fig. 6 schematically illustrates a structural diagram of a center of gravity of telescopic boom mechanical equipment when a boom support is telescopic according to an embodiment of the application;
FIG. 7 schematically illustrates a structural view of a leg according to an embodiment of the present application;
fig. 8 is a schematic structural diagram illustrating the gravity center of a telescopic boom mechanical device when a fork is fully loaded with a boom and extends and contracts according to an embodiment of the application;
FIG. 9 schematically illustrates a flow chart of a control method according to an embodiment of the present application;
FIG. 10 is a schematic diagram illustrating a logical control of a boom angle and axle float lock function according to an embodiment of the present application;
fig. 11 schematically illustrates a logical control diagram of an arm support angle and a leg opening function according to an embodiment of the present application;
fig. 12 schematically shows a block diagram of a controller according to an embodiment of the present application.
Description of the reference numerals
1 angle sensor 2 locking mechanism that floats
3 landing leg control mechanism 4 controller
Detailed Description
To make the objects, technical solutions and advantages of the embodiments of the present application clearer, the technical solutions of 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 should be understood that the specific embodiments described herein are only used for illustrating and explaining the embodiments of the present application and are not used for limiting the embodiments of the present application. 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.
It should be noted that if directional indications (such as up, down, left, right, front, and back … …) are referred to in the embodiments of the present application, the directional indications are only used to explain the relative positional relationship between the components, the movement situation, and the like in a specific posture (as shown in the drawings), and if the specific posture is changed, the directional indications are changed accordingly.
In addition, if there is a description of "first", "second", etc. in the embodiments of the present application, the description of "first", "second", etc. is for descriptive purposes only and is not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one such feature. In addition, technical solutions between various embodiments may be combined with each other, but must be realized by a person skilled in the art, and when the technical solutions are contradictory or cannot be realized, such a combination should not be considered to exist, and is not within the protection scope of the present application.
Fig. 1 schematically shows a structural diagram of a control device of a telescopic boom mechanical apparatus according to an embodiment of the present application. As shown in fig. 1, an embodiment of the present application provides a control apparatus for a telescopic boom mechanical apparatus, which may include:
the angle sensor 1 is used for acquiring the arm support angle of an arm support of telescopic arm mechanical equipment;
the floating locking mechanism 2 is arranged on an axle of the telescopic arm mechanical equipment and used for locking the axle;
and the supporting leg control mechanism 3 is used for controlling the supporting legs of the telescopic arm mechanical equipment to open and retract.
A controller 4, communicatively connected to the angle sensor 1, the floating lock mechanism 2, and the leg control mechanism 3, configured to:
acquiring the arm support angle of the telescopic arm mechanical equipment under the working condition of the telescopic arm mechanical equipment;
and controlling the floating locking mechanism or the supporting leg control mechanism according to the angle of the arm support so as to enable the telescopic arm mechanical equipment to be in a stable state.
The telescopic boom mechanical equipment generally comprises a chassis, a support leg, a boom, a cab, a counterweight, a fork and the like, and due to the characteristics of the telescopic boom mechanical equipment (such as the weight of the counterweight is larger), the boom can be lifted for operation under certain working conditions even if a floating axle is not locked and the support leg is not opened.
In the prior art, a stability control method for a multi-folding-arm mechanical device basically calculates the stability of the device based on the state of a support leg, and on the premise, the support leg needs to be opened and a floating bridge needs to be locked. However, this control method is not applicable to a construction machine (for example, a telescopic arm machine) having a structure capable of performing tire work and leg work. Therefore, the embodiment of the application controls the axle to float and lock or the landing leg to open through the angle of the arm support, so that the telescopic arm mechanical equipment can still lift the arm support to operate and keep a stable state even if the floating axle is not locked and the landing leg is not opened under certain working conditions.
In the embodiment of the present application, the angle sensor 1 is used for detecting the boom angle of the boom when the telescopic boom mechanical device is in the working condition. In one example, the angle sensor 1 may be disposed between a chassis of the telescopic boom mechanical apparatus and the boom so as to detect the boom angle in real time.
The floating locking mechanism 2 comprises an axle, a floating oil cylinder and a floating oil cylinder mounting support, and can be used for locking the axle. In one example, the axle includes a front axle and a rear axle, and the floating latch mechanism 2 includes a first floating latch mechanism disposed on the front axle and a second floating latch mechanism disposed on the rear axle. The first floating locking mechanism controls the front axle to keep a locked state, and the second floating locking mechanism controls the rear axle to keep a locked state. Therefore, the front axle is always kept in a locked state through the first floating locking mechanism, and the rear axle is locked through the second floating locking mechanism according to signals sent by the controller. Therefore, the axle floating locking mechanism 2 can be controlled to lock the axle more simply, conveniently and accurately.
The supporting leg control mechanism 3 comprises a supporting leg oil cylinder and a supporting leg. In one example, the supporting leg control mechanism comprises two supporting legs which are respectively arranged at the left front position and the left and right positions of the chassis of the telescopic arm mechanical equipment, and the supporting legs can be opened and retracted through the telescopic operation of the supporting leg oil cylinders.
The controller 4 is in communication connection with the angle sensor 1, the floating locking mechanism 2 and the support leg control mechanism 3. The controller 4 may receive boom angle data sent by the angle sensor 1. And when the telescopic boom equipment is in an operation working condition, after the controller 4 acquires the boom angle of the telescopic boom mechanical equipment, the floating locking mechanism 2 or the support leg control mechanism 3 is controlled according to the boom angle. According to the angle of the arm support, the floating locking mechanism 2 controls the floating axle to be locked or the supporting leg control mechanism 3 controls the supporting leg of the telescopic arm mechanical equipment to be opened and retracted. And controlling the floating locking mechanism 2 or the supporting leg control mechanism 3 according to the angle of the arm support so that the telescopic arm mechanical equipment can be always in a stable state.
In one example, when the telescopic boom mechanical equipment is in an operation condition, the angle sensor 1 detects the boom angle in real time and sends the boom angle to the controller 4, and the controller 4 locks the front axle through the floating locking mechanism 2 according to the acquired boom angle, so that the telescopic boom mechanical equipment is kept in a stable state.
In another example, when the telescopic boom mechanical equipment is in an operation condition, the angle sensor 1 detects the boom angle in real time and sends the boom angle to the controller 4, and the controller 4 opens the support legs through the support leg control mechanism 3 according to the acquired boom angle, so that the telescopic boom mechanical equipment is kept in a stable state.
According to the technical scheme, when the telescopic boom mechanical equipment is in an operation working condition, the boom angle of the telescopic boom mechanical equipment is acquired through the angle sensor 1; and controlling the floating locking mechanism 2 or the supporting leg control mechanism 3 according to the angle of the arm support so as to enable the telescopic arm mechanical equipment to be in a stable state. Like this, can satisfy the demand of flexible arm mechanical equipment in different operating modes for flexible arm mechanical equipment's flexibility is higher.
Fig. 2 schematically shows a structural diagram of an angle sensor arrangement position of a telescopic arm mechanical device according to an embodiment of the application. As shown in fig. 2, in the embodiment of the present application, the angle sensor 1 may be disposed between a chassis and a boom of the telescopic boom mechanical apparatus. The angle sensor 1 is arranged between the arm support and the arm support, so that the angle of the arm support can be accurately detected in real time. When the telescopic boom mechanical equipment is in an operation working condition, the angle sensor 1 detects the boom angle of the boom in real time.
In the embodiment of the application, the axle of the telescopic arm mechanical equipment is fixed on the vehicle frame. When the axle floats, the axle can swing a certain angle around the rotation center, at the moment, for the whole vehicle, the axle center is a fulcrum, and when the axle floats and is locked, the left tire and the right tire are fulcrums.
Fig. 3 schematically shows a structural diagram of an axle floating locking mechanism of a telescopic arm mechanical device according to an embodiment of the application, and fig. 4 schematically shows a structural diagram of an axle fixing according to an embodiment of the application. As shown in fig. 3 and 4, in the embodiment of the present application, the telescopic boom mechanical apparatus may include a front axle (not shown in the drawings) and a rear axle, and the floating lock mechanism 2 may include a first floating lock mechanism and a second floating lock mechanism; the first floating locking mechanism is arranged on the front axle, and the second floating locking mechanism is arranged on the rear axle; the first floating locking mechanism controls the front axle to keep a locking state.
A controller, communicatively coupled to the angle sensor, the floating lock mechanism, and the leg control mechanism, may be configured to:
and controlling the second floating locking mechanism according to the angle of the arm support so as to enable the telescopic arm mechanical equipment to be in a stable state.
In the embodiment of the present application, the axle includes a front axle (not shown) and a rear axle, and the floating locking mechanism 2 includes a first floating locking mechanism and a second floating locking mechanism, the first floating locking mechanism is disposed on the front axle, and the second floating locking mechanism is disposed on the rear axle. The first floating locking mechanism controls the front axle to keep a locked state, and the second floating locking mechanism controls the rear axle to keep a locked state. The front axle always keeps a locking state through the first floating locking mechanism, and the rear axle controls the rear axle to be locked through the second floating locking mechanism according to the arm support angle obtained by the controller 4. Therefore, the axle floating locking mechanism can be controlled to lock the axle more simply, conveniently and accurately, and the mechanical arm equipment is in a stable state.
In an embodiment of the present application, the controller may be configured to:
acquiring a first lifting critical angle of the arm support;
judging whether the angle of the arm support is larger than a first lifting critical angle or not;
and under the condition that the angle of the arm support is larger than the first lifting critical angle, controlling the floating locking mechanism to lock the axle so as to enable the telescopic arm mechanical equipment to be in a stable state.
Specifically, the first critical lifting angle is a critical angle for determining whether the floating locking mechanism locks the axle. The first critical angle of lift may be calculated from the stability of the current telescopic boom machine. In the working process of the telescopic boom mechanical equipment, the angle of the boom can be changed continuously. The controller compares the angle of the arm support with the first lifting critical angle in real time. Under the condition that the angle of the arm support does not exceed the first lifting critical angle, the axle can float freely. Under the condition that the angle of the arm support exceeds the first lifting critical angle, the controller can automatically judge that the axle needs to be locked to increase the stability of the telescopic arm mechanical equipment. Before the axle is not locked, the arm support is not allowed to be lifted or extended; after the axle is locked, the arm support can continue to work.
Fig. 5 schematically shows a structural schematic diagram of a center of gravity of a boom according to an embodiment of the present application, and fig. 6 schematically shows a structural schematic diagram of a center of gravity of a telescopic boom mechanical apparatus when the boom is extended or retracted according to an embodiment of the present application. As shown in fig. 5, in the embodiment of the present application, as the lifting angle of the boom is increased, the center of gravity of the boom is continuously moved backward. As shown in fig. 6, in the embodiment of the present application, when the axle of the rear axle floats and releases, the center of gravity of the front wheel and the rear axle is a fulcrum, the stable range of the whole vehicle is within the range of the triangle ABO, and at this time, when the arm support changes in amplitude and extends and contracts in the range of low angles, the center of gravity G of the whole vehicle can fall within the triangle ABO.
Along with the increase of the lifting angle of the arm support, the gravity center of the arm support is continuously drawn back, in the process that the gravity center of the arm support is drawn back, the gravity center G of telescopic arm mechanical equipment exceeds the range of the triangle ABO in a critical state, G1, G2 and G3 are continuously drawn back and outwards, G1 is a reasonable stable state of the telescopic arm mechanical equipment, G2 is in a critical state, and G3 exceeds the stable range. At the moment, the axle floating lock is started.
After the axle is floated and locked at a critical angle, the stable range of the telescopic arm equipment is changed from triangular ABO to quadrilateral ABCD, and the stable range of the center of gravity is expanded. At the moment, the arm support is lifted, the gravity center of the telescopic arm equipment moves backwards, and in other states such as G1, G2, G3 and the like, the gravity center does not exceed the stable range, and the telescopic arm mechanical equipment is stable.
Fig. 7 schematically shows a structural schematic diagram of a support leg of a telescopic arm mechanical device according to an embodiment of the application. As shown in fig. 7, in the embodiment of the present application, the leg control mechanism may include a leg cylinder, and the leg control mechanism controls the extension and retraction of the leg by controlling the extension and retraction of the leg cylinder.
In an embodiment of the present application, the controller may be further configured to:
acquiring a second lifting critical angle of the arm support;
judging whether the angle of the arm support is larger than a second lifting critical angle or not;
and under the condition that the angle of the arm support is larger than the second lifting critical angle, controlling the support legs of the telescopic arm mechanical equipment to be opened so as to enable the telescopic arm mechanical equipment to be in a stable state.
Specifically, the second critical lifting angle is a critical angle for determining whether the support leg is open. The second critical angle of lift may also be calculated from the stability of the current telescopic arm machine. In the working process of the telescopic boom mechanical equipment, the angle of the boom can be changed continuously. And the controller compares the angle of the arm support with the second lifting critical angle in real time. And under the condition that the angle of the arm support does not exceed the second lifting critical angle, the supporting leg can be retracted. Under the condition that the angle of the arm support exceeds the second lifting critical angle, the controller can automatically judge that the support legs need to be controlled to be opened so as to increase the stability of the telescopic arm mechanical equipment. The boom is no longer allowed to lift or extend until the legs are not opened; after the legs are opened, the arm support can continue to work subsequently. It should be noted that the second lifting angle and the first lifting angle may be equal or unequal, which is obtained according to the actual working condition of the telescopic boom mechanical apparatus.
Fig. 8 schematically shows a structural diagram of the gravity center of the telescopic arm mechanical equipment when the fork is fully loaded with the arm support and extends. As shown in fig. 8, in the embodiment of the present application, when the outrigger of the telescopic boom mechanical apparatus is not expanded, it is the four-wheel touchdown point, the rear axle floats, and at this time, the triangle ABO is the stable range of the telescopic boom apparatus, and when the boom becomes variable in amplitude and extends and contracts in the low angle range, the gravity center G falls within the range of the triangle AOB.
Along with cantilever crane lifting angle grow, when the fork was fully loaded, the focus was constantly moved forward, outside and was drawn close, and the focus probably surpassed stable range this moment to lead to telescopic boom equipment unstability to tumble. With the lifting of the angle of the arm support, the gravity center is changed from G1 to G2 to G3, and the gravity center is in a critical state at the G2 position.
In the critical state, the legs are opened and the range of stability of the telescopic arm arrangement is changed from the triangular AOB to the triangular a 'OB' while the telescopic arm arrangement is still in the stable state when it is in G2, G3.
According to the technical scheme, when the telescopic boom mechanical equipment is in the working condition, the controller acquires the boom angle of the telescopic boom mechanical equipment through the angle sensor; and controlling the floating locking mechanism or the supporting leg control mechanism according to the angle of the arm support so as to enable the telescopic arm mechanical equipment to be in a stable state. Like this, can satisfy the demand of flexible arm mechanical equipment in different operating modes for flexible arm mechanical equipment's flexibility is higher.
Fig. 9 is a flowchart schematically illustrating a control method of a telescopic boom mechanical apparatus according to an embodiment of the present application. As shown in fig. 9, an embodiment of the present application provides a control method for a telescopic boom mechanical apparatus, which may include the following steps.
101, acquiring a boom angle of a boom of telescopic boom mechanical equipment when the telescopic boom mechanical equipment works;
and 102, controlling a floating locking mechanism or a supporting leg control mechanism of the telescopic arm mechanical equipment according to the angle of the arm support so as to enable the telescopic arm mechanical equipment to be in a stable state.
The control method is applied to a controller of telescopic boom mechanical equipment, and the control device of the telescopic boom mechanical equipment can comprise an angle sensor, a floating locking mechanism and a supporting leg control mechanism. The angle sensor is used for acquiring the arm support angle of an arm support of the telescopic arm mechanical equipment; the floating locking mechanism is arranged on an axle of the telescopic arm mechanical equipment and used for locking the axle; and the supporting leg control mechanism is used for controlling the supporting legs of the telescopic arm mechanical equipment to open and retract. And the controller is in communication connection with the angle sensor, the floating locking mechanism and the supporting leg control mechanism. When the telescopic boom mechanical equipment is in an operation working condition, the controller acquires the boom angle of the telescopic boom mechanical equipment, and then controls the floating locking mechanism or the supporting leg control mechanism according to the boom angle so as to enable the telescopic boom mechanical equipment to be in a stable state. For example, the floating locking mechanism controls the floating axle to lock or the supporting leg control mechanism controls the extension and retraction of the supporting leg of the telescopic arm mechanical equipment according to the angle of the arm support.
According to the technical scheme, when the telescopic boom mechanical equipment is in an operation working condition, the boom angle of the telescopic boom mechanical equipment is obtained through the angle sensor; and controlling the floating locking mechanism or the supporting leg control mechanism according to the angle of the arm support so as to enable the telescopic arm mechanical equipment to be in a stable state. Like this, can satisfy the demand of flexible arm mechanical equipment in different operating modes for flexible arm mechanical equipment's flexibility is higher.
In this embodiment of the application, the step 102 of controlling the floating locking mechanism of the telescopic boom mechanical apparatus according to the boom angle to enable the telescopic boom mechanical apparatus to be in the stable state may include:
acquiring a first lifting critical angle of the arm support;
judging whether the angle of the arm support is larger than a first lifting critical angle or not;
and under the condition that the angle of the arm support is larger than the first lifting critical angle, controlling the floating locking mechanism to lock the axle so as to enable the telescopic arm mechanical equipment to be in a stable state.
Specifically, the first critical lifting angle is a critical angle for determining whether the floating locking mechanism locks the axle. The first critical angle of lift may be calculated from the stability of the current telescopic arm machine. In the working process of the telescopic boom mechanical equipment, the angle of the boom can be changed continuously. The controller compares the angle of the arm support with the first lifting critical angle in real time. Under the condition that the angle of the arm support does not exceed the first lifting critical angle, the axle can float freely. Under the condition that the angle of the arm support exceeds the first lifting critical angle, the controller can automatically judge that the axle needs to be locked to increase the stability of the telescopic arm mechanical equipment. Before the axle is not locked, the arm support is not allowed to be lifted or extended; after the axle is locked, the arm support can continue to work.
Fig. 10 schematically illustrates a logical control diagram of a boom angle and axle floating locking function according to an embodiment of the application. In one example, the axle may float freely when the boom angle a measured in real time does not exceed the critical angle b; when the arm support angle a measured in real time exceeds the critical angle b, the system can automatically judge that the axle needs to be locked so as to increase the stability of the equipment. The arm is not allowed to lift or extend until the axle is locked.
In this embodiment of the application, the step 102 of controlling a support leg control mechanism of the telescopic boom mechanical apparatus according to the boom angle to enable the telescopic boom mechanical apparatus to be in a stable state may include:
acquiring a second lifting critical angle of the arm support;
judging whether the angle of the arm support is larger than a second lifting critical angle or not;
and under the condition that the angle of the arm support is larger than the second lifting critical angle, controlling the support legs of the telescopic arm mechanical equipment to be opened so as to enable the telescopic arm mechanical equipment to be in a stable state.
Specifically, the second critical lifting angle is a critical angle for determining whether the support leg is open. The second critical angle of lift may also be calculated from the stability of the current telescopic arm machine. In the working process of the telescopic boom mechanical equipment, the angle of the boom can be changed continuously. And the controller compares the angle of the arm support with the second lifting critical angle in real time. And under the condition that the angle of the arm support does not exceed the second critical lifting angle, the supporting legs can be retracted. Under the condition that the angle of the arm support exceeds the second lifting critical angle, the controller can automatically judge that the support legs need to be controlled to be opened so as to increase the stability of the telescopic arm mechanical equipment. Before the legs are not opened, the arm support is not allowed to be lifted or extended; after the legs are opened, the arm support can continue to work subsequently. It should be noted that the second lifting angle and the first lifting angle may be equal or unequal, which is obtained according to the actual working condition of the telescopic boom mechanical apparatus.
Fig. 11 schematically illustrates a logical control diagram of an arm support angle and a leg opening function according to an embodiment of the present application. As shown in fig. 11, in one example, when the boom angle a measured in real time does not exceed the critical angle c, the outrigger is in a retracted state; and when the arm support angle a measured in real time exceeds the critical angle c, the supporting legs are opened, so that the equipment is kept in a stable state. The boom is not allowed to lift or extend until the legs are opened.
Fig. 12 is a block diagram schematically illustrating a structure of a controller according to an embodiment of the present application. As shown in fig. 12, an embodiment of the present application provides a controller, which may include:
a memory 1210 configured to store instructions; and
a processor 1220 configured to invoke the instructions from the memory 1210 and when executing the instructions is capable of implementing the methods described above for controlling the arm boom mechanism.
Specifically, in the present embodiment, the processor 1220 may be configured to:
when the telescopic boom mechanical equipment works, acquiring a boom angle of a boom of the telescopic boom mechanical equipment;
and controlling a floating locking mechanism or a supporting leg control mechanism of the telescopic arm mechanical equipment according to the angle of the arm support so as to enable the telescopic arm mechanical equipment to be in a stable state.
Further, the processor 1220 may also be configured to:
acquiring a first lifting critical angle of the arm support;
judging whether the angle of the arm support is larger than a first lifting critical angle or not;
and under the condition that the angle of the arm support is larger than the first lifting critical angle, controlling the floating locking mechanism to lock the axle so as to enable the telescopic arm mechanical equipment to be in a stable state.
Further, in another example, the processor 1220 may also be configured to:
acquiring a second lifting critical angle of the arm support;
judging whether the angle of the arm support is larger than a second lifting critical angle or not;
and under the condition that the angle of the arm support is larger than the second lifting critical angle, controlling the support legs of the telescopic arm mechanical equipment to be opened so as to enable the telescopic arm mechanical equipment to be in a stable state.
The first critical lifting angle and the second critical lifting angle may be equal or unequal.
According to the technical scheme, the controller acquires the boom angle of the boom in real time, and controls the axle or the supporting leg control mechanism to open the supporting leg after the floating locking mechanism is locked by comparing the boom angle with the lifting critical angle, so that the telescopic boom mechanical equipment can be always in a stable state during tire operation.
The embodiment of the application also provides telescopic boom mechanical equipment which comprises the control device for the telescopic boom mechanical equipment.
The embodiment of the present application further provides a machine-readable storage medium, where the machine-readable storage medium has instructions stored thereon, and the instructions are configured to cause a machine to execute the method for controlling a boom described above.
As will be appreciated by one skilled in the art, embodiments of the present application may be provided as a method, system, or computer program product. Accordingly, the present application may take the form of an entirely hardware embodiment, an entirely software embodiment or an embodiment combining software and hardware aspects. Furthermore, the present application may take the form of a computer program product embodied on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROM, optical storage, and the like) having computer-usable program code embodied therein.
The present application is described with reference to flowchart illustrations and/or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of the application. It will be understood that each flow and/or block of the flow diagrams and/or block diagrams, and combinations of flows and/or blocks in the flow diagrams and/or block diagrams, can be implemented by computer program instructions. These computer program instructions may be provided to a processor of a general purpose computer, special purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, create means for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be stored in a computer-readable memory that can direct a computer or other programmable data processing apparatus to function in a particular manner, such that the instructions stored in the computer-readable memory produce an article of manufacture including instruction means which implement the function specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be loaded onto a computer or other programmable data processing apparatus to cause a series of operational steps to be performed on the computer or other programmable apparatus to produce a computer implemented process such that the instructions which execute on the computer or other programmable apparatus provide steps for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
In a typical configuration, a computing device includes one or more processors (CPUs), input/output interfaces, network interfaces, and memory.
The memory may include forms of volatile memory in a computer readable medium, Random Access Memory (RAM) and/or non-volatile memory, such as Read Only Memory (ROM) or flash memory (flash RAM). The memory is an example of a computer-readable medium.
Computer-readable media, including both non-transitory and non-transitory, removable and non-removable media, may implement information storage by any method or technology. The information may be computer readable instructions, data structures, modules of a program, or other data. Examples of computer storage media include, but are not limited to, phase change memory (PRAM), Static Random Access Memory (SRAM), Dynamic Random Access Memory (DRAM), other types of Random Access Memory (RAM), Read Only Memory (ROM), Electrically Erasable Programmable Read Only Memory (EEPROM), flash memory or other memory technology, compact disc read only memory (CD-ROM), Digital Versatile Discs (DVD) or other optical storage, magnetic cassettes, magnetic tape, magnetic disk storage or other magnetic storage devices, or any other non-transmission medium that can be used to store information that can be accessed by a computing device. As defined herein, a computer readable medium does not include a transitory computer readable medium such as a modulated data signal and a carrier wave.
It should also be noted that the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising an … …" does not exclude the presence of other identical elements in the process, method, article, or apparatus that comprises the element.
The above are merely examples of the present application and are not intended to limit the present application. Various modifications and changes may occur to those skilled in the art. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present application should be included in the scope of the claims of the present application.

Claims (10)

1. A control device for a telescopic boom mechanical apparatus, comprising:
an angle sensor configured to acquire a boom angle of a boom of a telescopic boom mechanical apparatus;
a floating locking mechanism arranged on an axle of the telescopic arm mechanical equipment and configured to lock the axle;
a leg control mechanism configured to control the extension and retraction of a leg of the telescopic arm mechanical apparatus;
a controller in communicative connection with the angle sensor, the floating lock mechanism, and the leg control mechanism, configured to:
acquiring a boom angle of the telescopic boom mechanical equipment under an operation condition of the telescopic boom mechanical equipment;
and controlling the floating locking mechanism or the supporting leg control mechanism according to the angle of the arm support so as to enable the telescopic arm mechanical equipment to be in a stable state.
2. The control device of claim 1, wherein the controller is further configured to:
acquiring a first lifting critical angle of the arm support;
judging whether the angle of the arm support is larger than the first lifting critical angle or not;
and under the condition that the angle of the arm support is larger than the first lifting critical angle, controlling the floating locking mechanism to lock the axle so as to enable the telescopic arm mechanical equipment to be in a stable state.
3. The control device of claim 1, wherein the controller is further configured to:
acquiring a second lifting critical angle of the arm support;
judging whether the angle of the arm support is larger than the second lifting critical angle or not;
and under the condition that the angle of the arm support is larger than the second lifting critical angle, controlling the support legs of the telescopic arm mechanical equipment to be opened so as to enable the telescopic arm mechanical equipment to be in a stable state.
4. The control device of claim 1, wherein the angle sensor is disposed between a chassis and a boom of the telescopic boom mechanical apparatus.
5. The control device of claim 1, wherein the telescopic boom mechanical apparatus comprises a front axle and a rear axle, and the floating lock mechanism comprises a first floating lock mechanism and a second floating lock mechanism; the first floating locking mechanism is arranged on the front axle, and the second floating locking mechanism is arranged on the rear axle; the first floating locking mechanism controls the front axle to keep a locking state;
the controller is configured to:
and controlling the second floating locking mechanism according to the angle of the arm support so as to enable the telescopic arm mechanical equipment to be in a stable state.
6. The control device of claim 1, wherein the leg control mechanism comprises a leg cylinder, the leg control mechanism configured to control the extension and retraction of the leg by controlling the extension and retraction of the leg cylinder.
7. A telescopic boom mechanism, characterized in comprising a control device of a telescopic boom mechanism according to any of claims 1-6.
8. A control method of telescopic boom mechanical equipment is characterized by being applied to telescopic boom mechanical equipment and comprising the following steps:
when the telescopic boom mechanical equipment works, acquiring a boom angle of a boom of the telescopic boom mechanical equipment;
and controlling a floating locking mechanism or a supporting leg control mechanism of the telescopic boom mechanical equipment according to the angle of the boom so as to enable the telescopic boom mechanical equipment to be in a stable state.
9. The control method of claim 8, wherein controlling the floating locking mechanism of the telescopic boom mechanical device to enable the telescopic boom mechanical device to be in a stable state according to the boom angle comprises:
acquiring a first lifting critical angle of the arm support;
judging whether the angle of the arm support is larger than the first lifting critical angle or not;
and under the condition that the angle of the arm support is larger than the first lifting critical angle, controlling the floating locking mechanism to lock the axle so as to enable the telescopic arm mechanical equipment to be in a stable state.
10. The control method of claim 8, wherein controlling a leg control mechanism of the telescopic arm mechanical device according to the boom angle to enable the telescopic arm mechanical device to be in a stable state comprises:
acquiring a second lifting critical angle of the arm support;
judging whether the angle of the arm support is larger than the second lifting critical angle or not;
and under the condition that the angle of the arm support is larger than the second lifting critical angle, controlling the support legs of the telescopic arm mechanical equipment to be opened so as to enable the telescopic arm mechanical equipment to be in a stable state.
CN202210645910.XA 2022-06-08 2022-06-08 Telescopic arm mechanical equipment control device, control method and telescopic arm mechanical equipment Pending CN115010019A (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN202210645910.XA CN115010019A (en) 2022-06-08 2022-06-08 Telescopic arm mechanical equipment control device, control method and telescopic arm mechanical equipment

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN202210645910.XA CN115010019A (en) 2022-06-08 2022-06-08 Telescopic arm mechanical equipment control device, control method and telescopic arm mechanical equipment

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Publication Number Publication Date
CN115010019A true CN115010019A (en) 2022-09-06

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Family Applications (1)

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Country Link
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Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN117208820A (en) * 2023-11-09 2023-12-12 临工重机股份有限公司 Control method of telescopic boom forklift supporting leg and telescopic boom forklift

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN117208820A (en) * 2023-11-09 2023-12-12 临工重机股份有限公司 Control method of telescopic boom forklift supporting leg and telescopic boom forklift
CN117208820B (en) * 2023-11-09 2024-02-02 临工重机股份有限公司 Control method of telescopic boom forklift supporting leg and telescopic boom forklift

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