CN115535931A

CN115535931A - Control method of aerial ladder vehicle and aerial ladder vehicle

Info

Publication number: CN115535931A
Application number: CN202211138635.9A
Authority: CN
Inventors: 周浩任; 王忠柱; 刘中周; 孟令昆
Original assignee: Lingong Heavy Machinery Co Ltd
Current assignee: Lingong Heavy Machinery Co Ltd
Priority date: 2022-09-19
Filing date: 2022-09-19
Publication date: 2022-12-30

Abstract

The invention relates to the technical field of engineering machinery, in particular to a control method of an aerial ladder vehicle and the aerial ladder vehicle. The control method of the aerial ladder vehicle comprises the steps of detecting an angle value between an arm support and a horizontal plane in real time, calculating a target extension length of the arm support and a target load capacity of the trolley according to the detected angle value, controlling the actual extension length of the arm support not to exceed the target extension length, and controlling the actual load capacity of the trolley not to exceed the target load capacity. By adopting the control method of the aerial ladder vehicle provided by the embodiment, the problem of deformation or breakage of the arm support caused by overlong extension of the arm support or overweight carrying capacity of the trolley can be avoided, and the safety of the aerial ladder vehicle during working is ensured.

Description

Aerial ladder vehicle and control method thereof

Technical Field

The invention relates to the technical field of engineering machinery, in particular to a control method of an aerial ladder vehicle and the aerial ladder vehicle.

Background

A self-propelled aerial ladder vehicle is an engineering machine used on non-roads and mainly comprises a self-propelled cross-country chassis and a telescopic arm support. The top end of the aerial ladder arm support needs to be built at a material conveying terminal, and the arm support cannot be suspended in the air to work. When the arm support of the existing aerial ladder vehicle carries materials and does amplitude variation (arm support angle change), rotation (arm support left-right rotation), extension, auxiliary ladder descending and recovery movement, the movement position and the load capacity need to be judged manually. For a vehicle-mounted aerial ladder vehicle, a skilled operator is generally provided, but overload and illegal operation phenomena are still frequent, the arm support system has the problems of breakage, deformation, incapability of being withdrawn and the like, and the self-propelled aerial ladder vehicle mainly faces users who are not trained or unskilled in operation, and needs to thoroughly solve the problems, so that the safety of the aerial ladder arm support during working is ensured.

Disclosure of Invention

The invention aims to provide a control method of an aerial ladder vehicle and the aerial ladder vehicle, which can avoid the problem of deformation or breakage of an arm support caused by overlong extension of the arm support or overweight carrying capacity of a trolley and ensure the safety of the aerial ladder vehicle during working.

In order to achieve the purpose, the invention adopts the following technical scheme:

the control method of the aerial ladder vehicle comprises the steps of detecting an angle value between an arm support and a horizontal plane in real time, calculating a target extension length of the arm support and a target load capacity of a trolley according to the detected angle value, controlling the actual extension length of the arm support not to exceed the target extension length, and controlling the actual load capacity of the trolley not to exceed the target load capacity.

The method is used as a preferable technical scheme of a control method of the aerial ladder vehicle, a plurality of preset angle values are set, the preset angle values are divided into a plurality of angle intervals, each angle interval corresponds to one target extension length interval and one target load capacity interval, when the angle value between the arm support and the horizontal plane is detected to be in any one angle interval, the actual extension length of the arm support is controlled to be in the target extension length interval corresponding to the angle interval, and the actual load capacity of the trolley is controlled to be in the target load capacity interval corresponding to the working interval.

As a preferred technical scheme of the control method of the aerial ladder vehicle, a potentiometer is arranged on a lower rotating shaft in rotary connection with a luffing cylinder and a chassis, and an angle value between the arm support and a horizontal plane can be detected in real time through the potentiometer.

As a preferred technical scheme of the control method of the aerial ladder vehicle, a first telescopic arm of the arm support is provided with a plurality of detection points which are distributed at intervals along the telescopic direction of the arm support, a fixed arm of the arm support is provided with a counting device, and when the telescopic arm extends out, the counting device can detect the number of the extended detection points, so that the actual extension length of the arm support can be obtained through calculation.

The preferable technical scheme is that the trolley driving mechanism for driving the trolley to slide on the arm support comprises a winch, a steel wire rope and a fixed pulley, the winch is arranged on the other side, opposite to the trolley, of the fixed arm and driven by a motor, the fixed pulley is arranged on a tail telescopic arm, the steel wire rope is wound on the winch, the free end of the steel wire rope is connected with the trolley after bypassing the fixed pulley, the motor is provided with a pressure sensor for detecting the pressure difference of the motor, and the target load capacity of the trolley can be calculated by obtaining the pressure difference of the motor and the angle value between the arm support and the horizontal plane.

As a preferable technical scheme of the control method of the aerial ladder vehicle, when the situation that the arm support is overlapped with a working surface is detected, the arm support is forbidden to rotate.

As an optimal technical scheme of the control method of the aerial ladder vehicle, when the sudden pressure drop of the variable-amplitude oil cylinder is detected and the angle between the arm support and the horizontal plane is not changed, the arm support is judged to be in lap joint with the working surface.

As a preferable technical scheme of the control method of the aerial ladder vehicle, when the sliding arm of the arm support is detected to be in contact with the ground, the arm support is forbidden to rotate.

As a preferable technical scheme of the control method of the aerial ladder vehicle, a sliding groove is formed in one end, contacting the ground, of the sliding arm, a travel switch is arranged at the bottom of the sliding groove, a trigger rod is arranged in the sliding groove in a sliding mode, and whether the sliding arm contacts the ground or not is detected by detecting whether the trigger rod triggers the travel switch or not.

An aerial ladder vehicle adopts the control method of the aerial ladder vehicle.

The invention has the beneficial effects that:

the embodiment of the invention provides a control method of an aerial ladder vehicle, which is characterized in that an angle value between an arm support and a horizontal plane is detected in real time, a target extension length of the arm support and a target load capacity of a trolley are calculated according to the detected angle value, the actual extension length of the arm support is controlled not to exceed the target extension length, and the actual load capacity of the trolley is controlled not to exceed the target load capacity. For example, when the actual length of the arm support exceeds the target extension length, the system gives an alarm, and meanwhile, the arm support is prohibited from extending continuously, the angle between the arm support and the horizontal plane is prohibited from becoming smaller continuously, and the like; for another example, when the actual payload of the vehicle exceeds the target payload, the system may issue an alarm while prohibiting the vehicle from moving. By adopting the control method of the aerial ladder vehicle provided by the embodiment, the problem of deformation or breakage of the arm support caused by overlong extension of the arm support or overweight carrying capacity of the trolley can be avoided, and the safety of the aerial ladder vehicle during working is ensured.

Drawings

Fig. 1 is a schematic structural diagram of an aerial ladder vehicle provided by an embodiment of the invention;

FIG. 2 is a schematic structural diagram of an arm support, a trolley and a trolley driving mechanism according to an embodiment of the invention;

fig. 3 is a first flowchart illustrating a control method of an aerial ladder vehicle according to an embodiment of the present invention;

fig. 4 is a schematic flow chart diagram ii of a control method of an aerial ladder vehicle according to an embodiment of the present invention;

FIG. 5 is an enlarged view of a portion of FIG. 2 at A;

fig. 6 is a schematic structural view of an arm support, a luffing cylinder and a trolley according to an embodiment of the present invention;

FIG. 7 is a partial enlarged view at B in FIG. 6;

fig. 8 is a schematic structural view of the telescopic arm, the detection point and the counting device according to the embodiment of the present invention;

fig. 9 is a force-bearing schematic diagram of the luffing cylinder according to the embodiment of the present invention.

In the figure:

10. a chassis; 11. a support leg; 20. a swing mechanism; 30. a boom; 31. a fixed arm; 32. a telescopic arm; 33. a slide arm; 331. a sliding groove; 40. a variable amplitude oil cylinder; 50. a trolley; 51. a trolley luffing mechanism; 61. a hoist; 62. a wire rope; 63. a fixed pulley; 70. a potentiometer; 81. detecting points; 82. a counting device; 91. a travel switch; 92. a trigger lever.

Detailed Description

The technical scheme of the invention is further explained by combining the attached drawings and the embodiment. It is to be understood that the specific embodiments described herein are merely illustrative of the invention and are not to be construed as limiting the invention. It should be further noted that, for the convenience of description, only some but not all of the elements associated with the present invention are shown in the drawings.

In the description of the present invention, unless expressly stated or limited otherwise, the terms "connected," "connected," and "fixed" are to be construed broadly, e.g., as meaning permanently connected, removably connected, or integral to one another; can be mechanically or electrically connected; either directly or indirectly through intervening media, either internally or in any other relationship. The specific meanings of the above terms in the present invention can be understood in specific cases to those skilled in the art.

In the present invention, unless otherwise expressly stated or limited, "above" or "below" a first feature means that the first and second features are in direct contact, or that the first and second features are not in direct contact but are in contact with each other via another feature therebetween. Also, the first feature "on," "above" and "over" the second feature may include the first feature being directly above and obliquely above the second feature, or simply indicating that the first feature is at a higher level than the second feature. "beneath," "under" and "beneath" a first feature includes the first feature being directly beneath and obliquely beneath the second feature, or simply indicating that the first feature is at a lesser elevation than the second feature.

In the description of the present embodiment, the terms "upper", "lower", "left", "right", and the like are used based on the orientations and positional relationships shown in the drawings only for convenience of description and simplification of operation, and do not indicate or imply that the referred device or element must have a specific orientation, be configured and operated in a specific orientation, and thus, should not be construed as limiting the present invention. Furthermore, the terms "first" and "second" are used only for descriptive purposes and are not intended to have a special meaning.

As shown in fig. 1 to 2, an aerial ladder vehicle according to an embodiment of the present invention includes a chassis 10, an arm support 30, a luffing cylinder 40, a trolley 50, and a trolley driving mechanism, wherein the arm support 30 is mounted on the chassis 10 through a swing mechanism 20, the swing mechanism 20 can drive the arm support 30 to swing, the arm support 30 includes a fixed arm 31, multiple telescopic arms 32 and a sliding arm 33, the multiple telescopic arms 32 are sequentially telescopically connected, a first telescopic arm 32 is telescopically connected with an upper end of the fixed arm 31, and the sliding arm 33 is slidably connected with a lower end of the fixed arm 31; the fixed end of the variable amplitude oil cylinder 40 is connected with the swing mechanism 20 through a lower rotating shaft, and the telescopic end of the variable amplitude oil cylinder 40 is connected with the fixed arm 31 of the arm support 30 through an upper rotating shaft; the trolley 50 is connected with the arm support 30 in a sliding manner; the trolley driving mechanism can drive the trolley 50 to slide along the extending direction of the arm support 30. In this embodiment, the trolley driving mechanism includes a winch 61, a wire rope 62 and a fixed pulley 63, the winch 61 is disposed on the other side of the fixed arm 31 opposite to the trolley 50, the fixed pulley 63 is disposed on the tail telescopic arm 32, the wire rope 62 is wound on the winch 61, and the free end of the wire rope 62 is connected to the trolley 50 after passing around the fixed pulley 63.

After the aerial ladder vehicle is leveled by the supporting legs 11 when running to a destination and before carrying a heavy object, the aerial ladder vehicle needs to be adjusted to a working state: firstly, operating the amplitude variation oil cylinder 40 to drive the arm support 30 to lift to an angle basically parallel to a working surface; then, operating the swing mechanism 20 to drive the arm support 30 to swing to a position opposite to the working surface; then operating the telescopic arm 32 driving mechanism to drive the telescopic arm 32 to extend; then, operating the amplitude-variable oil cylinder 40 again to drive the arm support 30 to fall back to be in lap joint with the working surface; then, the slide arm driving mechanism is operated to drive the slide arm 33 to slide to abut against the ground; finally, the trolley amplitude-changing mechanism 51 is adjusted to drive the trolley 50 to change the amplitude to be parallel to the horizontal plane. After the adjustment is completed, the trolley 50 can be loaded with heavy objects, and the trolley driving mechanism drives the trolley 50 to move along the arm support 30 to carry the heavy objects.

In view of the above adjustment process, an embodiment of the present invention provides a method for controlling an aerial ladder vehicle, as shown in fig. 3, detecting an angle value between an arm support 30 and a horizontal plane in real time, calculating a target extension length of the arm support 30 and a target load capacity of the trolley 50 according to the detected angle value, controlling an actual extension length of the arm support 30 not to exceed the target extension length, and controlling an actual load capacity of the trolley 50 not to exceed the target load capacity. For example, when the actual length of the boom 30 exceeds the target extension length, the system may issue an alarm, and at the same time prohibit the boom 30 from extending further, prohibit the angle between the boom 30 and the horizontal plane from becoming smaller, and so on; as another example, when the actual payload of the cart 50 exceeds the target payload, the system may issue an alarm while inhibiting movement of the cart 50. By adopting the control method of the aerial ladder vehicle provided by the embodiment, the problem that the arm support 30 is deformed or broken due to overlong extension of the arm support 30 or overweight loading of the trolley 50 can be avoided, and the safety of the aerial ladder vehicle during working is ensured.

In order to simplify the control process, a plurality of preset angle values are set, and the preset angle values are divided into a plurality of angle intervals, each angle interval corresponds to a target extension length interval and a target load interval, when the angle value between the arm support 30 and the horizontal plane is detected to be within any one angle interval, the actual extension length of the arm support 30 is controlled to be within the target extension length interval corresponding to the angle interval, and the actual load of the trolley 50 is controlled to be within the target load interval corresponding to the working interval. Through interval division, the calculation times and the control times are reduced, and the control is simpler.

The adjustment of the extension length of the boom 30 mainly comprises two processes, wherein the first process is that after the boom 30 is lifted to the maximum angle, the adjustment of the extension length of the boom 30 is simpler, and only the angle value between the boom 30 and the horizontal plane at the moment needs to be detected, and the target extension length of the boom 30 is calculated according to the angle value, so that the extension length of the boom 30 does not exceed the target extension length; the second process is that the angle between the arm support 30 and the horizontal plane is constantly changed in the process that the arm support 30 falls back to be overlapped with the working surface, so that the adjustment of the extension length of the arm support 30 is also in the process of dynamic change.

Further, in the process that the boom 30 falls back to be overlapped with the working surface (i.e. in the second process), the angle between the boom 30 and the horizontal plane is continuously decreased, and at this time, the angle value of the boom 30 and the extension length of the boom 30 are in the process of dynamically and continuously adjusting until the target angle interval and the target extension length interval of the boom 30 are in a matched state, as shown in fig. 4, the specific dynamic adjustment process is as follows:

s10, operating the amplitude variation oil cylinder 40 to drive the arm support 30 to vary the amplitude;

s20, judging whether the angle value between the arm support 30 and the horizontal plane is within a target angle interval, if so, executing the step S30, otherwise, returning to the step S10;

s30, operating a telescopic arm driving mechanism to drive a telescopic arm 32 to stretch and retract;

s40, judging whether the extension length of the arm support 30 is within the target extension length interval, if so, executing the step S50, and if not, returning to the step S30;

s50, controlling the arm support 30 to be in lap joint with a working surface;

and S60, judging whether the angle value of the arm support 30 and the horizontal plane is within the target angle interval, if so, ending, otherwise, returning to the step S10.

In step S60, after the boom 30 is overlapped with the working surface, it is determined again whether the angle value between the boom 30 and the horizontal plane is within the target interval, because the angle between the boom 30 and the horizontal plane is in the process of continuously decreasing during the process of overlapping the boom 30 with the working surface, at the moment of overlapping, there may be a case that the angle value between the boom 30 and the horizontal plane jumps from the target angle interval to the next angle interval, so it can be ensured that the target angle interval of the boom 30 and the target extension length interval are in the matching relationship by determining again whether the angle value between the boom 30 and the horizontal plane is within the target interval after the boom 30 is overlapped with the working surface in step S60, and if the angle value jumps, the above steps S10 to S60 are repeated again until the target angle interval of the boom 30 is matched with the target extension length.

In this embodiment, as shown in fig. 6 and 7, a potentiometer 70 is disposed on a lower rotating shaft connecting a fixed end of the luffing cylinder 40 and the slewing mechanism 20, when the luffing cylinder 40 drives the boom 30 to lift or fall back, the lower rotating shaft rotates, and the potentiometer 70 can rotate along with the lower rotating shaft, so that an angle value between the boom 30 and a horizontal plane can be detected in real time through the potentiometer 70. The above-mentioned plurality of preset angle values are stored in the potentiometer 70. Or in other embodiments, the potentiometer 70 may also be disposed on an upper rotating shaft connecting the telescopic end of the luffing cylinder 40 and the arm support 30, which is not limited to this embodiment.

In this embodiment, as shown in fig. 8, a plurality of detection points 81 are arranged on the first telescopic arm 32 at intervals along the telescopic direction of the boom 30, a counting device 82 is arranged on the fixed arm 31, when the telescopic arm 32 extends out, the counting device 82 can detect the number of the extended detection points 81, the initial length of the boom 30 is set to be L0, the number of the extended detection points 81 is set to be n, the distance between two consecutive detection points 81 is s, and the number of the joints of the telescopic arm 32 is a, so that the actual extension length L = L0+ n × s × a of the boom 30 is obtained. By the above method, the actual extension length of the boom 30 can be obtained in real time. Or in other embodiments, the used length of the wire rope 62 can be calculated by detecting the number of turns of the winch 61, so as to obtain the actual extension length of the arm support 30.

The adjustment of the target load capacity of the trolley 50 mainly occurs after the arm support 30 is lapped on the working surface, after the arm support 30 is lapped on the working surface successfully, the angle between the arm support 30 and the horizontal plane is not changed any more, at this time, the target load capacity of the trolley 50 is calculated according to the detected angle value between the arm support 30 and the horizontal plane, and when the trolley 50 is in load operation, the load capacity of the trolley 50 does not exceed the target load capacity.

Specifically, the calculation process of the target load capacity of the cart 50 is as follows:

setting the angle between the arm support 30 and the horizontal plane to be theta when the arm support 30 is in lap joint with the working surface, placing the material (with the mass of m kg) on the trolley 50, and then applying the material tension F = m × g × sin theta to the winch 61;

setting the distance from the steel wire rope 62 to the center of the circle of the winch 61 to be r, and then enabling the winch 61 to provide the torque T = F × r for the steel wire rope 62;

the pressure difference required by the motor in the hydraulic system to provide torque to the hoist 61 is, where Vg is the volume displacement per revolution of the motor in cm ³ ；

The relationship between the weight of the material and the angle of the arm support 30 can be obtained by the three formulas:

so that after detecting the angle between the boom 30 and the horizontal plane, the target payload can be calculated according to the above formula. It should also be noted that the differential pressure VP of the motor can be measured by a pressure sensor.

Further, when the load capacity of the trolley 50 exceeds the target load capacity, the machine will issue an alarm prompt and prohibit the trolley 50 from working up and down. Through the arrangement, the safety of the aerial ladder vehicle can be further improved.

In addition, the method for controlling the aerial ladder vehicle provided by the embodiment further includes prohibiting the boom 30 from rotating when it is detected that the boom 30 is overlapped with the working surface, so as to prevent the boom 30 from deforming. In the present embodiment, as shown in fig. 9, the pressure F cylinder = - (F1 · (L1 + L2))/of the luffing cylinder 40

Wherein, F1 is the weight of the center of gravity of the boom 30, L1 is the horizontal distance from the position of the center of gravity of the boom 30 to the position of the upper hinge point of the luffing cylinder 40, L2 is the horizontal distance from the position of the upper hinge point of the luffing cylinder 40 to the lower hinge point of the boom 30, and β is the angle between the luffing cylinder 40 and the horizontal plane. When the arm support 30 is lapped with the working surface, the angle value detected by the angle sensor is basically not equalThe pressure value of the luffing cylinder 40 is suddenly reduced, and whether the arm support 30 is successfully lapped with the working surface can be judged by combining the pressure of the luffing cylinder 40 and the detection value of the angle sensor. Or in other embodiments, the contact top of the arm support 30 may be mechanically detected by an electric device such as a travel switch 91 or a proximity device.

The method for controlling the aerial ladder vehicle further includes prohibiting the boom 30 from rotating when the contact of the sliding arm 33 is detected, so as to prevent the sliding arm 33 from deforming. In the present embodiment, as shown in fig. 5, a slide groove 331 is formed at one end of the slide arm 33 that contacts the ground, a travel switch 91 is provided at the bottom of the slide groove 331, a trigger lever 92 is slidably provided in the slide groove 331, and whether the slide arm 33 contacts the ground is detected by detecting whether the trigger lever 92 triggers the travel switch 91.

It should be understood that the above-described embodiments of the present invention are merely examples for clearly illustrating the present invention and are not intended to limit the embodiments of the present invention. Other variations and modifications will be apparent to persons skilled in the art in light of the above description. And are neither required nor exhaustive of all embodiments. Any modification, equivalent replacement, and improvement made within the spirit and principle of the present invention should be included in the protection scope of the claims of the present invention.

Claims

1. The control method of the aerial ladder vehicle is characterized by detecting an angle value between an arm support (30) and a horizontal plane in real time, calculating a target extension length of the arm support (30) and a target load capacity of a trolley (50) according to the detected angle value, controlling the actual extension length of the arm support (30) not to exceed the target extension length, and controlling the actual load capacity of the trolley (50) not to exceed the target load capacity.

2. The aerial ladder vehicle control method according to claim 1, wherein a plurality of preset angle values are set and divided into a plurality of angle intervals, each angle interval corresponds to one target extension length interval and one target loading capacity interval, when the angle value between the boom (30) and the horizontal plane is detected to be within any one angle interval, the actual extension length of the boom (30) is controlled to be within the target extension length interval corresponding to the angle interval, and the actual loading capacity of the trolley (50) is controlled to be within the target loading capacity interval corresponding to the working interval.

3. The aerial ladder vehicle control method according to claim 1, wherein a potentiometer (70) is arranged on a lower rotating shaft in rotary connection between the luffing cylinder (40) and the chassis (10), and an angle value between the arm support (30) and a horizontal plane can be detected in real time through the potentiometer (70).

4. The aerial ladder vehicle control method according to claim 1, wherein a plurality of detection points (81) are arranged on a first telescopic arm (32) of the arm support (30) at intervals along the telescopic direction of the arm support (30), a counting device (82) is arranged on a fixed arm (31) of the arm support (30), and when the telescopic arm (32) extends out, the counting device (82) can detect the number of the extending detection points (81), so that the actual extension length of the arm support (30) can be obtained through calculation.

5. The aerial ladder vehicle control method according to claim 1, wherein the vehicle driving mechanism for driving the vehicle (50) to slide on the boom (30) comprises a winch (61), a wire rope (62) and a fixed pulley (63), the winch (61) is arranged on the other side of the fixed arm (31) opposite to the vehicle (50), the winch (61) is driven by a motor, the fixed pulley (63) is arranged on the last telescopic arm (32), the wire rope (62) is wound on the winch (61), the free end of the wire rope (62) bypasses the fixed pulley (63) and then is connected with the vehicle (50), the motor is provided with a pressure sensor for detecting the pressure difference of the motor, and the target carrying capacity of the vehicle (50) can be calculated by obtaining the pressure difference of the motor and the angle value between the boom (30) and a horizontal plane.

6. The aerial ladder vehicle control method as claimed in any one of claims 1 to 5, wherein when it is detected that the boom (30) is overlapped with a working surface, the boom (30) is prohibited from rotating.

7. The aerial ladder vehicle control method according to claim 6, wherein when the sudden pressure drop of the luffing cylinder (40) is detected and the angle between the boom (30) and the horizontal plane is not changed, it is determined that the boom (30) is overlapped with the working surface.

8. The aerial ladder vehicle control method according to any one of claims 1 to 5, wherein when it is detected that the slide arm (33) of the boom (30) touches the ground, the boom (30) is prohibited from turning around.

9. The aerial ladder vehicle control method according to claim 8, wherein a sliding groove (331) is formed in one end of the sliding arm (33) which contacts the ground, a travel switch (91) is arranged at the bottom of the sliding groove (331), a trigger rod (92) is arranged in the sliding groove (331) in a sliding manner, and whether the sliding arm (33) contacts the ground or not is detected by detecting whether the trigger rod (92) triggers the travel switch (91) or not.

10. An aerial ladder vehicle, characterized in that the control method of the aerial ladder vehicle as claimed in any one of claims 1 to 9 is employed.