CN117923389A - Amplitude control device and method for overhead working truck - Google Patents
Amplitude control device and method for overhead working truck Download PDFInfo
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- CN117923389A CN117923389A CN202311855919.4A CN202311855919A CN117923389A CN 117923389 A CN117923389 A CN 117923389A CN 202311855919 A CN202311855919 A CN 202311855919A CN 117923389 A CN117923389 A CN 117923389A
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- 230000008602 contraction Effects 0.000 claims description 4
- 238000004904 shortening Methods 0.000 claims description 3
- 238000001514 detection method Methods 0.000 abstract description 10
- 238000010586 diagram Methods 0.000 description 4
- 230000009471 action Effects 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000008569 process Effects 0.000 description 2
- 230000004075 alteration Effects 0.000 description 1
- 238000002820 assay format Methods 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 230000005489 elastic deformation Effects 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 230000000737 periodic effect Effects 0.000 description 1
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Abstract
The invention discloses an amplitude control device and method for an overhead working truck, wherein the device comprises a first magneto sensor which is arranged in an amplitude-variable oil cylinder and used for measuring the length of the oil cylinder, and a second magneto sensor which is arranged in a telescopic oil cylinder and used for measuring the length of the oil cylinder; the bottom of the amplitude variation oil cylinder is hinged on the turntable, and the extending end of the amplitude variation oil cylinder is hinged on the lower part of the working arm; the bottom of a cylinder barrel of the telescopic oil cylinder is hinged to the tail of the working arm, and the extending end of the telescopic oil cylinder is hinged to the head of the working arm; the turntable is hinged with the working arm by a shaft, and the first magneto sensor and the second magneto sensor are electrically connected with the vehicle-mounted controller; the magneto sensor is arranged in the oil cylinder, so that the risks of external damage, damage to measured data and manual dismantling are avoided; the influence of external vibration on data is very tiny; the detection precision of the magneto sensor belongs to the micron level, and is improved by one order of magnitude compared with the millimeter level of the length sensor; the angle and length detection of the overhead working truck is more direct and accurate, and the control precision is higher and more intelligent.
Description
Technical Field
The invention relates to the field of overhead working trucks, in particular to an amplitude control device and method for an overhead working truck.
Background
At present, the problem of amplitude control of an overhead working truck is solved, a length sensor is generally adopted to measure the elongation of a working arm, an angle sensor is adopted to measure the angle of the working arm, and a series of intelligent functions such as working arm amplitude limiting, self-damage prevention, automatic truck collection and the like are realized by combining the elongation of a horizontal supporting leg.
The length sensor and the angle sensor described above currently have two forms: the length sensor and the angle sensor are integrated and installed on the side face of the tail end of the primary working arm, a pull rope of the length sensor is fixed at the tail end of the secondary working arm, the pull rope stretches gradually along with the extension of the working arm, the length of the whole working arm is calculated by detecting the elongation of the secondary working arm, and the angle sensor detects the angle of the working arm along with the angle change of the working arm; the length sensor and the angle sensor are independently arranged at the tail end and the side of the working arm respectively, and the measuring mode of the sensor is consistent with that of the first type; but in either form the assay format is indirect.
Because the sensor is arranged externally, the stay rope of the length sensor is broken or squeezed in the moving process; the angle sensor is placed inside or outside the working arm, and is also damaged accidentally; in addition, because the length and angle sensors are external, operators can carry out false detection on the detection part of the length or angle sensor in order to cancel amplitude control in the use process, so that the detection function is shielded, and potential safety hazards exist in the operation vehicle; due to the structural characteristics of the length sensor, the length sensor stay cord has elastic deformation, and the problems of wire disorder and wire diameter difference exist in the recovery process, so that the larger the measuring range of the length sensor is, the larger the error is, and the periodic calibration is needed.
Disclosure of Invention
Aiming at the technical defects, the invention aims to provide an amplitude control device and method for an overhead working truck, which introduce a magnetic sensor detection mode into the amplitude control of the overhead working truck, and directly measure the change of an oil cylinder by detecting a sensor arranged in an amplitude-changing and telescopic oil cylinder so as to calculate the current operation amplitude of the working truck, and break through the traditional long and angle sensors used before to realize the amplitude limiting function of the overhead working truck, so that the angle and length detection of the overhead working truck is more direct, accurate and more intelligent.
In order to solve the technical problems, the invention adopts the following technical scheme:
The invention provides an amplitude control device of an overhead working truck, which comprises a first magneto sensor and a second magneto sensor, wherein the first magneto sensor is arranged in an amplitude variation oil cylinder and used for measuring the length change of the oil cylinder in real time, and the second magneto sensor is arranged in a telescopic oil cylinder and used for measuring the length change of the oil cylinder in real time; the bottom of the cylinder barrel of the amplitude variation cylinder is hinged on the turntable, and the extending end of the amplitude variation cylinder is hinged at the lower part of the working arm; the bottom of the cylinder barrel of the telescopic cylinder is hinged to the arm tail of the working arm, and the extending end of the telescopic cylinder is hinged to the arm head of the working arm; the turntable is hinged with the working arm by a shaft, and the first magnetic sensor and the second magnetic sensor are electrically connected with the vehicle-mounted controller.
Preferably, the first magnetic sensor and the second magnetic sensor can be replaced by an external installation mode of the oil cylinder so as to realize functions of the first magnetic sensor and the second magnetic sensor.
Preferably, the signal wires of the first magnetic sensor and the second magnetic sensor pass through the tail part of the oil cylinder and are electrically connected with a controller, and the controller is arranged on the side surface of the turntable.
The invention also provides a use method of the amplitude control device of the overhead working truck, which comprises the following steps:
When the working arm is pulled by the telescopic oil cylinder to perform telescopic motion, a second magneto sensor arranged in the telescopic oil cylinder can measure the change of the length of the oil cylinder in real time along with the telescopic action of the oil cylinder so as to obtain the current length of the working arm, and data are transmitted to the controller;
When the working arm performs amplitude-changing movement under the push and pull of the amplitude-changing oil cylinder, a first magneto sensor arranged in the amplitude-changing oil cylinder can measure the change of the length of the oil cylinder in real time along with the expansion and contraction of the oil cylinder so as to obtain the current angle value of the working arm, and the data is transmitted to the controller;
The controller combines the current angle and length of the working arm to obtain the real-time working amplitude of the working arm through operation, and the working arm is subjected to safety protection or working limitation.
The method for calculating the real-time operation amplitude of the working arm comprises the following steps:
at the beginning, a triangle delta ABC is formed by a working arm and a turntable hinge point A, a luffing cylinder and a turntable hinge point B and a luffing cylinder and a working arm hinge point C;
In delta ABC, the side lengths AC and AB are fixed lengths, the length of the AC is set as b, the length of the AB is set as c, the initial length of the BC is set as a, and the initial value of the < CAB is set as alpha; the length of the side length BC changes along with the extension and shortening of the luffing cylinder; the included angle beta formed by the side AB and the vertical direction is a fixed value;
When the elongation of the luffing cylinder is a ', the length of BC becomes a+a'; at this time, the CAB is changed into alpha',
From the trigonometric function it is known that:
cos∠α′＝[b2+c2-(a+a′)2]/2bc
The angle of +.alpha';
The length of the working arm is set as an initial value L+an elongation value L';
the working arm operation amplitude at this time is: l+l '=sin ++α' +β; thereby realizing the amplitude control of the working vehicle.
The invention has the beneficial effects that: the detection mode of the invention directly detects the variable quantity of the length of the oil cylinder, and the magneto sensor is arranged in the oil cylinder, so that the risk of external damage, damage to measured data and manual dismantling is avoided; the influence of external vibration on data is very tiny; the detection precision of the magneto sensor is higher, belongs to the micron level, and is directly improved by an order of magnitude compared with the millimeter level of the length sensor; the angle and length detection of the overhead working truck is more direct, accurate, high in control precision and intelligent.
Drawings
In order to more clearly illustrate the embodiments of the invention or the technical solutions in the prior art, the drawings that are required in the embodiments or the description of the prior art will be briefly described, it being obvious that the drawings in the following description are only some embodiments of the invention, and that other drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.
FIG. 1 is a schematic diagram of a device for controlling the amplitude of an overhead working truck according to an embodiment of the present invention;
Fig. 2 is an enlarged view of a portion a in fig. 1;
FIG. 3 is a flow chart of amplitude control provided by an embodiment of the present invention; .
FIG. 4 is a schematic diagram of hinge points of the luffing cylinder in an initial state according to an embodiment of the present invention;
FIG. 5 is a schematic diagram showing the change of the length of the luffing cylinder according to the embodiment of the invention when the luffing cylinder is extended;
fig. 6 is a schematic diagram of the luffing cylinder according to the embodiment of the invention when the elongation is a'.
Reference numerals illustrate:
1. a controller; 2. a first magneto sensor; 3. a luffing cylinder; 4. a turntable; 5. a working arm; 6. a second magneto sensor; 7. and (5) a telescopic oil cylinder.
Detailed Description
The following description of the embodiments of the present invention will be made clearly and completely with reference to the accompanying drawings, in which it is apparent that the embodiments described are only some embodiments of the present invention, but not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
As shown in fig. 1 to 3, a turntable 4 is arranged on the overhead working truck, a working arm 5 is hinged on the turntable 4, and a luffing cylinder 3 for controlling luffing of the working arm 5 and a telescopic cylinder 7 for controlling expansion or contraction of the working arm 5 are arranged on the turntable 4; the amplitude control device of the overhead working truck provided by the embodiment comprises a first magneto sensor 2 which is internally arranged in an amplitude variable oil cylinder 3 and used for measuring the length change of the oil cylinder in real time, and a second magneto sensor 6 which is internally arranged in a telescopic oil cylinder 7 and used for measuring the length change of the oil cylinder in real time; the bottom of a cylinder barrel of the luffing cylinder 3 is hinged to the rotary table 4, and the extending end of the luffing cylinder 3 is hinged to the lower part of the working arm 5; the bottom of the cylinder barrel of the telescopic cylinder 7 is hinged to the arm tail of the working arm 5, and the extending end of the telescopic cylinder 7 is hinged to the arm head of the working arm 5; the turntable 4 is hinged with the working arm 5 by a shaft, and the first magneto sensor 2 and the second magneto sensor 6 are electrically connected with the vehicle-mounted controller 1. The first magneto sensor 2, the second magneto sensor 6 and the controller 1 are all connected with a power supply of the working vehicle.
The signal wires of the first magneto sensor 2 and the second magneto sensor 6 pass through the tail part of the oil cylinder and are electrically connected with the controller 1, and the controller 1 is arranged on the side surface of the turntable 4.
As shown in fig. 4 to 5, the present invention further provides a method for using the amplitude control device of the aerial working vehicle, including the following steps:
when the working arm 5 performs telescopic motion under the push-pull of the telescopic oil cylinder 7, the second magneto sensor 6 arranged in the telescopic oil cylinder 7 can measure the change of the length of the oil cylinder in real time along with the telescopic action of the oil cylinder so as to obtain the current length of the working arm 5, and data is transmitted to the controller 1;
when the working arm 5 performs amplitude-changing movement under the push-pull of the amplitude-changing oil cylinder 3, the first magneto sensor 2 arranged in the amplitude-changing oil cylinder 3 can measure the change of the length of the oil cylinder in real time along with the expansion and contraction of the oil cylinder so as to obtain the current angle value of the working arm 5, and the data is transmitted to the controller 1;
the controller 1 combines the current angle and length of the working arm 5 to obtain the real-time working amplitude of the working arm through calculation, and the working arm 5 is subjected to safety protection or working limitation.
The method for calculating the real-time operation amplitude of the working arm 5 comprises the following steps:
At the beginning, a triangle is formed by a hinge point A of the working arm 5 and the turntable 4, a hinge point B of the luffing cylinder 3 and the turntable 4 and a hinge point C of the luffing cylinder 3 and the working arm 4;
In delta ABC, the side lengths AC and AB are fixed lengths, the length of the AC is set as b, the length of the AB is set as c, the initial length of the BC is set as a, and the initial value of the < CAB is set as alpha; the length of the side length BC changes along with the extension and shortening of the luffing cylinder 3; the included angle beta formed by the side AB and the vertical direction is a fixed value;
When the elongation of the luffing cylinder 3 is a ', the length of BC becomes a+a'; at this time, the CAB is changed into alpha',
From the trigonometric function it is known that:
cos∠α′＝[b2+c2-(a+a′)2]/2bc
The angle of +.alpha';
The length of the working arm is set as an initial value L+an elongation value L';
the working arm operation amplitude at this time is: l+l '=sin ++α' +β; thereby realizing the amplitude control of the working vehicle.
It will be apparent to those skilled in the art that various modifications and variations can be made to the present invention without departing from the spirit or scope of the invention. Thus, it is intended that the present invention also include such modifications and alterations insofar as they come within the scope of the appended claims or the equivalents thereof.
Claims (5)
1. The amplitude control device of the overhead working truck is characterized by comprising a first magneto sensor (2) which is arranged in an amplitude-variable oil cylinder (3) and used for measuring the length change of the oil cylinder in real time, and a second magneto sensor (6) which is arranged in a telescopic oil cylinder (7) and used for measuring the length change of the oil cylinder in real time; the bottom of a cylinder barrel of the amplitude variation cylinder (3) is hinged on the rotary table (4), and the extending end of the amplitude variation cylinder (3) is hinged at the lower part of the working arm (5); the bottom of a cylinder barrel of the telescopic oil cylinder (7) is hinged to the tail of the working arm (5), and the extending end of the telescopic oil cylinder (7) is hinged to the arm head of the working arm (5); the turntable (4) is hinged with the working arm (5) by a shaft, and the first magnetic sensor (2) and the second magnetic sensor (6) are electrically connected with the vehicle-mounted controller (1).
2. The overhead working truck amplitude control device according to claim 1, wherein the first magneto sensor (2) and the second magneto sensor (6) can be replaced by an external oil cylinder mounting mode so as to realize functions of the first magneto sensor and the second magneto sensor.
3. The overhead working truck amplitude control device according to claim 1, wherein signal wires of the first magnetic sensor (2) and the second magnetic sensor (6) pass through the tail of the oil cylinder and are electrically connected with the controller (1), and the controller (1) is arranged on the side face of the turntable (4).
4. A method of using the overhead working truck amplitude control device of claim 1, comprising the steps of:
When the working arm (5) stretches under the push-pull of the stretching oil cylinder (7), a second magneto sensor (6) arranged in the stretching oil cylinder (7) can measure the change of the length of the oil cylinder in real time along with the stretching of the oil cylinder so as to obtain the current length of the working arm (5), and data are transmitted to the controller (1);
When the working arm (5) performs amplitude-changing movement under the push-pull of the amplitude-changing oil cylinder (3), the first magneto sensor (2) arranged in the amplitude-changing oil cylinder (3) can measure the change of the length of the oil cylinder in real time along with the expansion and contraction of the oil cylinder so as to obtain the current angle value of the working arm (5), and the data is transmitted to the controller (1);
The controller (1) combines the current angle and length of the working arm (5) to obtain the real-time working amplitude of the working arm (5) through operation, and the working arm (5) is subjected to safety protection or working limitation.
5. A method according to claim 4, characterized in that the method of calculating the real-time working amplitude of the working arm (5) is:
at the beginning, a triangle delta ABC is formed by a hinge point A of the working arm (5) and the rotary table (4), a hinge point B of the luffing cylinder (3) and the rotary table (4) and a hinge point C of the luffing cylinder (3) and the working arm (4);
in delta ABC, the side lengths AC and AB are fixed lengths, the length of the AC is set as b, the length of the AB is set as c, the initial length of the BC is set as a, and the initial value of the < CAB is set as alpha; the length of the side length BC changes along with the extension and shortening of the luffing cylinder (3); the included angle beta formed by the side AB and the vertical direction is a fixed value;
when the elongation of the luffing cylinder (3) is a ', the length of BC becomes a+a'; at this time, the CAB is changed into alpha';
From the trigonometric function it is known that:
cos∠α′＝[b2+c2-(a+a′)2]/2bc；
The angle of +.alpha';
The length of the working arm (5) is set to be an initial value L+an elongation value L';
The working width of the working arm (5) at this time is: l+l '=sin ++α' +β;
Thereby realizing the amplitude control of the working vehicle.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202311855919.4A CN117923389A (en) | 2023-12-29 | 2023-12-29 | Amplitude control device and method for overhead working truck |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202311855919.4A CN117923389A (en) | 2023-12-29 | 2023-12-29 | Amplitude control device and method for overhead working truck |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN117923389A true CN117923389A (en) | 2024-04-26 |
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ID=90769660
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202311855919.4A Pending CN117923389A (en) | 2023-12-29 | 2023-12-29 | Amplitude control device and method for overhead working truck |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN117923389A (en) |
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2023
- 2023-12-29 CN CN202311855919.4A patent/CN117923389A/en active Pending
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