CN203048526U - Working hopper leveling system and high-altitude operation vehicle with folding arm - Google Patents
Working hopper leveling system and high-altitude operation vehicle with folding arm Download PDFInfo
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- CN203048526U CN203048526U CN 201320023109 CN201320023109U CN203048526U CN 203048526 U CN203048526 U CN 203048526U CN 201320023109 CN201320023109 CN 201320023109 CN 201320023109 U CN201320023109 U CN 201320023109U CN 203048526 U CN203048526 U CN 203048526U
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Abstract
The utility model relates to a working hopper leveling system and a high-altitude operation vehicle with a folding arm. The working hopper leveling system comprises a hydraulic sub system, a control sub system and a leveling mechanism mounted on a lifting arm, wherein the leveling mechanism comprises a support frame, a rocking rod, a connecting rod and a leveling oil cylinder, a cylinder barrel end of the leveling oil cylinder is hinged with the lifting arm through a pin roll, the support frame is fixedly connected on a working hopper, the support frame and the lifting arm are hinged at a first hinge point (G) through a pin roll, one end of the rocking rod, one end of the connecting rod and a piston rod end of the leveling oil cylinder are hinged at a second hinge point (D) through a pin roll, the other end of the rocking rod and the lifting arm are hinged at a third hinge point (E) through a pin roll, the other end of the connecting rod and the support frame are hinged at a fourth hinge point (F) through a pin roll, and the distances between the hinge points meet the relation that the sum of DE and GE is greater than the sum of DF and GF. According to the working hopper leveling system, the leveling mechanism drives the support frame to rotate relative to the lifting arm through the stretching and retraction of the leveling oil cylinder, so that the leveling of the working hopper is carried out. The working hopper leveling system and the high-altitude operation vehicle with the folding arm can solve the problem that when the angle changing range is quite large, dead points happen easily in the leveling process of the working hopper.
Description
Technical field
The utility model relates to engineering machinery field, relates in particular to a kind of work bucket leveling system and folding arm aerial platform.
Background technology
Aloft work machinery is the aerial lift device that grows up on crane tool basis, is widely used in industries such as building, fire-fighting.Along with the continuous development of China's economic construction, open more and more to the demand of aerial platform, require operating range also more and more widely.
Folding arm aerial platform is a kind ofly to be used for transporting the staff and work is provided to the special vehicle that specified altitude assignment is carried out operation.In aerial platform jib lifting process, jib and horizontal surface will inevitably produce certain included angle, cause that the work bucket tilts with equal angular, therefore, require levelling gear to adjust the angle of inclination of work bucket in real time, the work bucket of making is in the safe condition of requirement.
The work bucket of existing folding arm aerial platform all adopts the mechanical type leveling; namely utilize parallelogram principle to pass through the balance of pull bar or chain maintenance and work bucket (containing load) gravitational moment; but limit by structure; only can folk prescription to pull bar or chain are set; therefore can only guarantee that the work bucket do not tumble along the gravitational moment direction; but on reversing sense, then lack protection; when causing the work bucket to be subjected to the moment loading opposite with the gravitational moment direction; very likely take place oppositely to tumble, job safety can't be protected.
In addition, the jib of folding arm aerial platform is radial type, generally by descending folding arm 22, last folding arm 21 and lift arm 20 to form, as shown in Figure 1, when it launches, respectively save arm and replace luffing, cause work bucket 24 and lift arm 20 variable angle bigger, when working arm was lifted to the maximum operation height, work bucket 24 reached 160 degree with the angle of lift arm 20.If adopt the luffing deltic method by the direct leveling work of oil cylinder bucket, then need bigger installing space, and the as easy as rolling off a log dead point that occurs.
The utility model content
The purpose of this utility model is to propose a kind of work bucket leveling system and folding arm aerial platform, can solve change angle when big the leveling of work bucket the problem at dead point appears easily.
For achieving the above object, the utility model provides a kind of work bucket leveling system, comprise hydraulic subsystem (18), control subsystem (19) and be installed in levelling gear (17) on the lift arm (20), wherein, described levelling gear (17) comprises carriage (6), rocking bar (2), connecting rod (3) and leveling cyclinder (9), the cylinder barrel end of described leveling cyclinder (9) is hinged by bearing pin and described lift arm (20), described carriage (6) is fixed on the work bucket (23), described carriage (6) is hinged at first hinge (G) by bearing pin with described lift arm (20), one end of described rocking bar (2), the rod end of one end of described connecting rod (3) and described leveling cyclinder (9) is hinged at second hinge (D) by bearing pin, the other end of described rocking bar (2) and described lift arm (20) are hinged at tri-joint mechanism (E) by bearing pin, the other end of described connecting rod (3) and described carriage (6) are hinged at the 4th hinge (F) by bearing pin, distance between each hinge satisfies DE+GE〉relation of DF+GF, described levelling gear (17) by described leveling cyclinder (9) stretch drive described carriage (6) and rotate with respect to described lift arm (20), come described work bucket (23) is carried out leveling.
Further, described hydraulic subsystem (18) comprises solenoid-operated proportional change-over valve (14) and by pass valve (11), described solenoid-operated proportional change-over valve (14) comprises oil inlet, return opening, first actuator port and second actuator port, the oil inlet of described solenoid-operated proportional change-over valve (14), return opening and two actuator ports respectively with chargine line (P), oil return line (T), the rod chamber of the rodless cavity of described leveling cyclinder (9) and described leveling cyclinder (9) communicates, the oil inlet of described by pass valve (11) communicates with described chargine line (P), the oil outlet of described by pass valve (11) communicates with described oil return line (T), described control subsystem (19) is controlled keying and the aperture size of described solenoid-operated proportional change-over valve (14), adjusts described leveling cyclinder (9) flexible direction and speed.
Further, described hydraulic subsystem (18) also comprises pressure compensator (13), described pressure compensator comprises hydraulic control guiding valve and shuttle valve, described hydraulic control guiding valve comprises oil inlet, oil outlet and two hydraulic control hydraulic fluid ports, the oil inlet of described hydraulic control guiding valve and oil outlet communicate with the oil inlet of described chargine line (P) and described solenoid-operated proportional change-over valve (14) respectively, described shuttle valve comprises two oil inlets and an oil outlet, two oil inlets of described shuttle valve communicate with two actuator ports of described solenoid-operated proportional change-over valve (14) respectively, the oil outlet of described shuttle valve communicates with the hydraulic control hydraulic fluid port of band spring one side of described hydraulic control guiding valve, the oil outlet of described hydraulic control guiding valve communicates with the hydraulic control hydraulic fluid port of the opposite side of described hydraulic control guiding valve, controls the aperture of described hydraulic control guiding valve according to the oil pressure of two hydraulic control hydraulic fluid ports of described hydraulic control guiding valve.
Further, described pressure compensator (13) also comprises first throttle damping and the second throttling damping, described first throttle damping is arranged on the oil circuit between the hydraulic control hydraulic fluid port of band spring one side of the oil outlet of described shuttle valve and described hydraulic control guiding valve, and the described second throttling damping is arranged on the oil circuit between the hydraulic control hydraulic fluid port of opposite side of the oil outlet of described hydraulic control guiding valve and described hydraulic control guiding valve.
Further, described hydraulic subsystem (18) also comprises unloading electromagnetic valve (12), described unloading electromagnetic valve comprises oil outlet and oil inlet, the oil inlet of described unloading electromagnetic valve (12) communicates with described chargine line (P), the oil outlet of described unloading electromagnetic valve (12) communicates with described oil return line (T), described unloading electromagnetic valve (12) is under the state of dead electricity, connect the oil circuit between described chargine line (P) and the oil return line (T), getting under the electric state, disconnect the oil circuit between described chargine line (P) and the oil return line (T).
Further, described unloading electromagnetic valve (12) and described solenoid-operated proportional change-over valve (14) are equipped with the emergency operation button.
Further, described hydraulic subsystem (18) also comprises bidirectional balanced valve (15), described bidirectional balanced valve (15) comprises two actuator ports that are in described leveling cyclinder (9) one sides and two actuator ports that are in described solenoid-operated proportional change-over valve (14) one sides, two actuator ports that are in described leveling cyclinder (9) one sides of described bidirectional balanced valve (15) communicate with rodless cavity and the rod chamber of described leveling cyclinder (9) respectively, and two actuator ports that are in described solenoid-operated proportional change-over valve (14) one sides of described bidirectional balanced valve (15) communicate with two actuator ports of described solenoid-operated proportional change-over valve (14) respectively.
Further, described control subsystem (19) comprises single-axis bidirectional obliquity sensor (16), VREF (Voltage Reference) setting apparatus (24), error amplifier (25), voltage comparator (26), sawtooth oscillator (27) and driving circuit (28), described single-axis bidirectional obliquity sensor (16) is arranged on the described work bucket (23), the input end of described error amplifier (25) links to each other with VREF (Voltage Reference) setting apparatus (24) with described single-axis bidirectional obliquity sensor (16) respectively, the mouth of the mouth of described error amplifier (25) and described sawtooth oscillator (27) links to each other with the input end of described voltage comparator (26) respectively, the mouth of described voltage comparator (26) links to each other with the input end of described driving circuit (28), and the mouth of described driving circuit (28) links to each other with proportion electro-magnet in the described solenoid-operated proportional change-over valve (14).
Further, described error amplifier (25), voltage comparator (26) and driving circuit (28) are two groups, the negative input end of first group error amplifier (25) links to each other with described VREF (Voltage Reference) setting apparatus (24) with described single-axis bidirectional obliquity sensor (16) respectively with positive input terminal, the mouth of the mouth of described first group error amplifier (25) and described sawtooth oscillator (27) links to each other with negative input end with the positive input terminal of first group voltage comparator (26) respectively, the mouth of described first group voltage comparator (26) links to each other with the input end of first group driving circuit (28), and the mouth of described first group driving circuit (28) links to each other with the proportion electro-magnet in described solenoid-operated proportional change-over valve (14) left side; The positive input terminal of second group error amplifier (25) links to each other with described VREF (Voltage Reference) setting apparatus (24) with described single-axis bidirectional obliquity sensor (16) respectively with negative input end, the mouth of the mouth of described second group error amplifier (25) and described sawtooth oscillator (27) links to each other with negative input end with the positive input terminal of second group voltage comparator (26) respectively, the mouth of described second group voltage comparator (26) links to each other with the input end of second group driving circuit (28), and the mouth of described second group driving circuit (28) links to each other with the proportion electro-magnet on described solenoid-operated proportional change-over valve (14) right side.
For achieving the above object, the utility model provides a kind of folding arm aerial platform, comprise car body, be connected the following folding arm (22) on the described car body, the last folding arm (21) that links to each other with the described end of folding arm (22) down, the lift arm (20) that links to each other with the described end of going up folding arm (21) and the bucket (23) of working, wherein, also comprise aforesaid work bucket leveling system.
Based on technique scheme, the levelling gear that the utility model adopts is the linkwork that comprises four revolute pairs, the leveling cyclinder that the cylinder barrel end is hinged on the lift arm passes through flexible piston rod, make rocking bar guide to the hinge that leveling cyclinder is centered around lift arm and make circular movement, promote connecting rod simultaneously, connecting rod drives its hinged carriage and makes circular movement around the hinge of lift arm bracket and lift arm, and then the fixing work bucket of drive and carriage is made circular movement equally around the hinge of lift arm bracket and lift arm, and because the distance between each hinge of linkwork satisfies DE+GE the relation of DF+GF, therefore can make leveling cyclinder promote connecting rod and drive carriage turns and be no less than 180 ° angle, thereby the carriage tape that has satisfied folding arm aerial platform is started building to struggle against and rotated 160 ° and the operating needs at dead point do not occur; In another embodiment, driving levelling gear by control subsystem and hydraulic subsystem makes the work bucket realize real-time leveling, and further adopt bidirectional balanced valve, utilize bidirectional balanced valve can make the two-way at an arbitrary position pinning of work bucket, the danger that elimination work bucket is oppositely tumbled, the life security of guarantee operating personal.
Description of drawings
Accompanying drawing described herein is used to provide further understanding of the present utility model, constitutes the application's a part, and illustrative examples of the present utility model and explanation thereof are used for explaining the utility model, do not constitute improper restriction of the present utility model.In the accompanying drawings:
Fig. 1 is the structural representation of existing folding arm aerial platform.
Fig. 2 is the structural representation of an embodiment of the utility model work bucket leveling system.
Fig. 3 is the concrete structure scheme drawing of levelling gear among the utility model work bucket leveling system embodiment.
Fig. 4 A is the structural representation of LOOK LEFT degree of the levelling gear of Fig. 3 embodiment
Fig. 4 B is for removing the A-A schematic cross-section of bracket portion among Fig. 3.
Fig. 4 C is B-B schematic cross-section among Fig. 3.
Fig. 4 D is for removing the C-C schematic cross-section of rocking bar among Fig. 4 A.
Fig. 5 is the scheme drawing of a kind of concrete structure of hydraulic subsystem among the utility model work bucket leveling system embodiment.
Fig. 6 is the scheme drawing of the another kind of concrete structure of hydraulic subsystem among the utility model work bucket leveling system embodiment.
Fig. 7 is the scheme drawing of another concrete structure of hydraulic subsystem among the utility model work bucket leveling system embodiment.
Fig. 8 is a kind of concrete structure scheme drawing of control subsystem among the utility model work bucket leveling system embodiment.
Fig. 9 is the another kind of concrete structure scheme drawing of control subsystem among the utility model work bucket leveling system embodiment.
Figure 10 is the structural representation of an embodiment of the folding arm aerial platform of the utility model.
The specific embodiment
Below by drawings and Examples, the technical solution of the utility model is described in further detail.
As shown in Figure 2, be the structural representation of an embodiment of the utility model work bucket leveling system.In the present embodiment, work bucket leveling system comprises hydraulic subsystem 18, control subsystem 19 and is installed in levelling gear 17 on the lift arm 20.
Fig. 3 has provided the concrete structure of levelling gear 17, in conjunction with Fig. 4 A-4D, can see that levelling gear 17 comprises carriage 6, rocking bar 2, connecting rod 3 and leveling cyclinder 9, wherein the cylinder barrel end of leveling cyclinder 9 is hinged by bearing pin 8 and lift arm 20, carriage 6 is fixed on the work bucket 23, carriage 6 is hinged at hinge G by bearing pin 1 with lift arm 20, one end of rocking bar 2, one end of connecting rod 3 and the rod end of leveling cyclinder 9 are hinged at hinge D by bearing pin 4, the other end of rocking bar 2 and lift arm 20 are hinged at hinge E by bearing pin 7, the other end of connecting rod 3 and carriage 6 are hinged at hinge F by bearing pin 5, distance between each hinge satisfies DE+GE〉relation of DF+GF, levelling gear 17 rotates with respect to lift arm 20 by the driven bracket 6 that stretches of leveling cyclinder 9, comes work bucket 23 is carried out leveling.
Can see that from Fig. 4 A rocking bar 2, connecting rod 3 and leveling cyclinder 9 are arranged on the hollow space of lift arm 20, carriage 6 sheathed lift arm 20, rocking bar 2 and connecting rod 3, each member interferes when avoiding rotating.
As can see from Figure 2, carriage 6, rocking bar 2, connecting rod 3 and leveling cyclinder 9 have been formed the hinged four bar levelling gears with four revolute pairs, by length and hinge G and the position of hinge F on carriage 6 that rocking bar 2 and connecting rod 3 are set, make the distance between each hinge satisfy DE+GE〉relation of DF+GF, so just can make hinged four bar levelling gears under the promotion of leveling cyclinder 9, make connecting rod 3 drive the hinge G rotational angle of carriages 6 on the lift arm 〉=180 °, the carriage 6 that so just can satisfy folding arm aerial platform fully drives work buckets 23 and rotates 160 ° and the operating needs at dead point can not occur, also with regard to solved folding arm aerial platform change angle when big the leveling of work bucket the problem at dead point appears easily.
The flexible of leveling cyclinder 9 realized by hydraulic subsystem 18, feed the function that pressure oil stretches leveling cyclinder 9 realizations by rodless cavity or the rod chamber of giving leveling cyclinder 9, and can adjust the stretching speed of leveling cyclinder 9 by the pressure that change is input to the rodless cavity of leveling cyclinder 9 or the pressure oil in the rod chamber, thereby the work of realization bucket 23 rapidly and the pulsation-free angle of inclination is regulated.
Fig. 5 has provided the scheme drawing of a kind of concrete structure of hydraulic subsystem among the utility model work bucket leveling system embodiment.In the present embodiment, hydraulic subsystem can adopt and have pressure compensated electro-hydraulic proportional system.Hydraulic subsystem 18 comprises solenoid-operated proportional change-over valve 14 and by pass valve 11.Solenoid-operated proportional change-over valve 14 comprises oil inlet, return opening, first actuator port and second actuator port, the oil inlet of solenoid-operated proportional change-over valve 14, return opening and two actuator ports communicate with the rodless cavity of chargine line P, oil return line T, leveling cyclinder 9 and the rod chamber of leveling cyclinder 9 respectively, the oil inlet of by pass valve 11 communicates with chargine line P, the oil outlet of by pass valve 11 communicates with oil return line T, keying and the aperture size of 19 pairs of solenoid-operated proportional change-over valves 14 of control subsystem are controlled, and adjust direction and speed that leveling cyclinder 9 stretches.
As shown in Figure 6, be the scheme drawing of the another kind of concrete structure of hydraulic subsystem among the utility model work bucket leveling system embodiment.Than a last embodiment, present embodiment also comprises pressure compensator 13.From Fig. 6, pressure compensator 13 comprises hydraulic control guiding valve and shuttle valve, the hydraulic control guiding valve comprises oil inlet, oil outlet and two hydraulic control hydraulic fluid ports, the oil inlet of hydraulic control guiding valve and oil outlet communicate with the oil inlet of chargine line P and solenoid-operated proportional change-over valve 14 respectively, shuttle valve comprises two oil inlets and an oil outlet, two oil inlets of shuttle valve communicate with two actuator ports of solenoid-operated proportional change-over valve 14 respectively, the oil outlet of shuttle valve communicates with the hydraulic control hydraulic fluid port of band spring one side of hydraulic control guiding valve, the oil outlet of hydraulic control guiding valve communicates with the hydraulic control hydraulic fluid port of the opposite side of hydraulic control guiding valve, according to the aperture of the oil pressure control hydraulic control guiding valve of two hydraulic control hydraulic fluid ports of hydraulic control guiding valve.
It is constant that pressure compensator 13 can play the pressure reduction of the import and export that guarantee solenoid-operated proportional change-over valve 14, and then guarantee that flow can not cause flow to change because load changes.Specifically, if the load of leveling cyclinder 9 is higher, when causing the oil pressure of the hydraulic oil that feeds leveling cyclinder 9 to be higher than the oil pressure of oil feed line, when just solenoid-operated proportional change-over valve 14 is higher than oil pressure away from a side of leveling cyclinder 9 near the oil pressure of a side of leveling cyclinders 9, the hydraulic oil of elevated pressures flows into the hydraulic control hydraulic fluid port of band spring one side of hydraulic control guiding valve by shuttle valve, overcome the pressure of the hydraulic oil that opposite side hydraulic control hydraulic fluid port enters, make the hydraulic control valve core of the spool valve be moved to the left, valve port opening diminishes, thereby the hydraulic fluid pressure that flows through the hydraulic control guiding valve is increased, thus with the solenoid-operated proportional change-over valve 14 oil pressure balance near a side of leveling cyclinders 9.Otherwise, if the load of leveling cyclinder 9 is lower, when causing the oil pressure of the hydraulic oil that feeds leveling cyclinder 9 to be lower than the oil pressure of oil feed line, the hydraulic control guiding valve can not overcome the oil pressure of hydraulic control hydraulic fluid port of band spring one side of hydraulic control guiding valve and the pressure of spring with the oil pressure of a side of spring so, make the hydraulic control valve core of the spool valve move right, it is big that valve port opening becomes, thereby the hydraulic fluid pressure that flows through the hydraulic control guiding valve is reduced, thus with the oil pressure balance of solenoid-operated proportional change-over valve 14 near a side of leveling cyclinders 9.
Consider that the hydraulic control guiding valve has the certain working pressure scope, therefore can in pressure compensator 13, further add first throttle damping and the second throttling damping, the first throttle damping is arranged on the oil circuit between the hydraulic control hydraulic fluid port of band spring one side of the oil outlet of shuttle valve and hydraulic control guiding valve, the second throttling damping is arranged on the oil circuit between the hydraulic control hydraulic fluid port of opposite side of the oil outlet of hydraulic control guiding valve and hydraulic control guiding valve.
In another embodiment, hydraulic subsystem can also comprise unloading electromagnetic valve 12, unloading electromagnetic valve comprises oil outlet and oil inlet, the oil inlet of unloading electromagnetic valve 12 communicates with chargine line P, the oil outlet of unloading electromagnetic valve 12 communicates with oil return line T, and unloading electromagnetic valve 12 is connected the oil circuit between chargine line P and the oil return line T under the state of dead electricity, getting under the electric state, disconnect the oil circuit between chargine line P and the oil return line T.
Unloading electromagnetic valve 12 is the normal open form, is used for giving when no leveling is moved oil circuit off-load, the heating of minimizing system.Unloading electromagnetic valve 12 and solenoid-operated proportional change-over valve 14 all can be provided with the emergency operation button, the emergency operation when the convenient work initial leveling of bucket and electric-controlled system fault.
As shown in Figure 7, be the scheme drawing of another concrete structure of hydraulic subsystem among the utility model work bucket leveling system embodiment.Compare with a last embodiment, hydraulic subsystem 18 in the present embodiment also comprises bidirectional balanced valve 15, bidirectional balanced valve 15 comprises two actuator ports that are in leveling cyclinder 9 one sides and two actuator ports that are in solenoid-operated proportional change-over valve 14 1 sides, two actuator ports that are in leveling cyclinder 9 one sides of bidirectional balanced valve 15 communicate with rodless cavity and the rod chamber of leveling cyclinder 9 respectively, and two actuator ports that are in solenoid-operated proportional change-over valve 14 1 sides of bidirectional balanced valve 15 communicate with two actuator ports of solenoid-operated proportional change-over valve 14 respectively.
Solenoid-operated proportional change-over valve 14 adopts the Y type, bidirectional balanced valve 15 can be in the leveling course of action, perhaps under the state that leveling stops, guarantee that the fluid in the leveling cyclinder 9 pins, even if the situation of flexible pipe explosion takes place, bidirectional balanced valve 15 can be by pinning the fluid in the leveling cyclinder 9, and the work bucket 23 of guaranteeing folding arm aerial platform at an arbitrary position can bidirectional locking, avoids the job safety problem of oppositely tumbling that occurs easily in the prior art.
The control of 18 pairs of leveling cyclinders 9 of hydraulic subsystem is that the driving signal that sends by control subsystem 19 is realized, describes below by a kind of concrete structure of control subsystem among the utility model work of Fig. 8 bucket leveling system embodiment.
In Fig. 8, control subsystem 19 comprises single-axis bidirectional obliquity sensor 16, VREF (Voltage Reference) setting apparatus 24, error amplifier 25, voltage comparator 26, sawtooth oscillator 27 and driving circuit 28.Control subsystem 19 can adopt based on the PLC programable controller system of CAN bus and realize.
Single-axis bidirectional obliquity sensor 16 adopts the obliquity sensor of aanalogvoltage output, and its maximum detection angles can reach 90 °, angle signal can be converted to voltage signal output.Single-axis bidirectional obliquity sensor 16 is arranged on the work bucket 23 and (for example is arranged on the positions such as bottom of work bucket 23 among Fig. 9), the input end of error amplifier 25 links to each other with VREF (Voltage Reference) setting apparatus 24 with single-axis bidirectional obliquity sensor 16 respectively, the mouth of the mouth of error amplifier 25 and sawtooth oscillator 27 links to each other with the input end of voltage comparator 26 respectively, the mouth of voltage comparator 26 links to each other with the input end of driving circuit 28, and the mouth of driving circuit 28 links to each other with proportion electro-magnet in the solenoid-operated proportional change-over valve 14.
VREF (Voltage Reference) setting apparatus 24 is responsible for setting a fixing voltage reference value U1, U1=0 for example, the angle of inclination of 23 pairs of level grounds of its magnitude of voltage representative work bucket is so that the voltage signal U2 that exports according to the angle of inclination of work bucket 23 with single-axis bidirectional obliquity sensor 16 compares.Error amplifier 25 can be to the difference DELTA U(Δ U=U2-U1 of voltage signal U2 and voltage reference value U1) amplify, and judge polarity and which position to carry out work in order to connect solenoid-operated proportional change-over valve 14 in.
The effect of voltage comparator 26 is that the error signal that error amplifier 25 is sent here is converted to corresponding impulse singla under the sawtooth voltage effect of sawtooth oscillator 27, so that keying and the aperture size of control solenoid-operated proportional change-over valve 14.The size that sawtooth oscillator 27 is regulated sawtooth voltage by the variation of its potentiometer resistance is to reach the purpose of adjusting sensitivity.
For the direction of tilt according to the work bucket carries out corresponding leveling operation, as shown in Figure 9, provided the another kind of concrete structure scheme drawing of control subsystem among the utility model work bucket leveling system embodiment.Compare with a last embodiment, error amplifier 25 in the present embodiment, voltage comparator 26 and driving circuit 28 are two groups, the negative input end of first group error amplifier 25 links to each other with VREF (Voltage Reference) setting apparatus 24 with single-axis bidirectional obliquity sensor 16 respectively with positive input terminal, the mouth of first group error amplifier 25 and the mouth of sawtooth oscillator 27 link to each other with negative input end with the positive input terminal of first group voltage comparator 26 respectively, the mouth of first group voltage comparator 26 links to each other with the input end of first group driving circuit 28, and the mouth of first group driving circuit 28 links to each other with the proportion electro-magnet in solenoid-operated proportional change-over valve 14 left sides; The positive input terminal of second group error amplifier 25 links to each other with VREF (Voltage Reference) setting apparatus 24 with single-axis bidirectional obliquity sensor 16 respectively with negative input end, the mouth of second group error amplifier 25 and the mouth of sawtooth oscillator 27 link to each other with negative input end with the positive input terminal of second group voltage comparator 26 respectively, the mouth of second group voltage comparator 26 links to each other with the input end of second group driving circuit 28, and the mouth of second group driving circuit 28 links to each other with the proportion electro-magnet on solenoid-operated proportional change-over valve 14 right sides.
Above-mentioned each work bucket leveling system all can be applicable in the folding arm aerial platform, and Figure 10 has provided the structural representation of an embodiment of the folding arm aerial platform of the utility model.In the present embodiment, folding arm aerial platform comprises car body, is connected the following folding arm 22 on the described car body, the last folding arm 21 that links to each other with the end of following folding arm 22, the lift arm 20 that links to each other with the end of last folding arm 21 and work and struggle against 23, and various work bucket leveling system described above.
The embodiment that is directed to a kind of folding arm aerial platform below comes work bucket leveling process is described:
During state of equilibrium, the inclination angle beta of work bucket baseplane and horizontal surface is in 0.5 ° that allows, and system does not have the leveling action.
When last folding arm, following folding arm or lift arm move and cause that work bucket position changes, the work bucket changes with the inclination angle beta of horizontal surface, the single-axis bidirectional obliquity sensor that is installed in work bucket bottom detects the variation of this angle in real time, and the inclination angle beta value is converted into output voltage U 2 constantly sends to control system, with the voltage reference value U1(of VREF (Voltage Reference) setting apparatus 16 outputs U1=0 for example is set) compare.
When angle of inclination value | β | in the time of＞0.5 °, the i.e. difference DELTA U(U2-U1=Δ U of U2 and set angle voltage signal U1) reach setting value, control system is moved, and difference DELTA U is sent to error amplifier is amplified.If Δ U is negative value, namely the U2 angle is negative value, the output voltage error amplifier signal on the left side, namely judge the left side electromagnetic valve work of 3-position 4-way solenoid-operated proportional change-over valve in this hydraulic subsystem, the solenoid-operated proportional change-over valve is in position, a left side, and pressure oil enters the rod chamber of leveling cyclinder, impels the oil cylinder retraction; If Δ U be on the occasion of, namely the U2 angle is on the occasion of, the output voltage error amplifier signal on the right, namely judge the right electromagnetic valve work of solenoid-operated proportional change-over valve in this hydraulic subsystem, the solenoid-operated proportional change-over valve is in right position, and pressure oil enters the rodless cavity of leveling cyclinder, impels oil cylinder to stretch out.
Difference DELTA U is amplified into voltage comparator through error amplifier, difference DELTA U after will amplifying under the sawtooth voltage effect of voltage comparator in sawtooth oscillator is converted to corresponding impulse singla, the number of its pulse and width are directly proportional with the numerical value of difference DELTA U, so just can realize keying and the aperture size of solenoid-operated proportional change-over valve in the hydraulic subsystem.Difference DELTA U sends to driving circuit after voltage comparator converts impulse singla to, driving circuit adopts pulse-width modulation type (PWM) power amplifier, impulse singla can be converted to enough big drive current, to drive the proportion electro-magnet in the solenoid-operated proportional change-over valve in the hydraulic efficiency pressure system, make the spool of this valve produce displacement, pressure oil output, the flow of pressure oil is directly proportional with drive current, and namely the inclination angle beta with the work bucket is directly proportional.
When inclination angle beta＞0.5 ° and when triggering controller action, the control subsystem also unloading electromagnetic valve in the hydraulic subsystem is sent signal, makes unloading electromagnetic valve get electric closing, and pressure oil enters the solenoid-operated proportional change-over valve behind pressure compensator like this.
If the left side electromagnetic valve work of solenoid-operated proportional change-over valve, namely going up folding arm or lift arm rotates counterclockwise and is in extended configuration, or folding arm rotates counterclockwise the decline state that is in down, drive work bucket rotates counterclockwise, this moment, U2 was negative value, Δ U also is negative value, then the solenoid-operated proportional change-over valve is in position, a left side, pressure oil enters the rod chamber of leveling cyclinder behind bidirectional balanced valve, impel the oil cylinder retraction, and start building to do bucket by carriage tape and clockwise rotate around G point, stop with after interior 0.5 ° of permission until inclination angle beta.
If the right electromagnetic valve work of solenoid-operated proportional change-over valve, namely descend folding arm to clockwise rotate and be in the state of hoisting, last folding arm or lift arm clockwise rotate and are in retracted state, drive work bucket clockwise rotates, this moment U2 be on the occasion of, Δ U also be on the occasion of, then the solenoid-operated proportional change-over valve is in right position, pressure oil enters the rodless cavity of leveling cyclinder behind bidirectional balanced valve, impel oil cylinder to stretch out, and start building to do bucket by carriage tape and rotate counterclockwise around G point, stop with after interior 0.5 ° of permission until angle of inclination value β.
When leveling action or leveling stopped, even the flexible pipe explosion, bidirectional balanced valve also can pin the fluid in the leveling cyclinder, guaranteed folding arm aerial platform work bucket bidirectional locking at an arbitrary position.
Pressure oil promotes the leveling cyclinder fore and aft motion after bidirectional balanced valve enters leveling cyclinder, leveling cyclinder is at D point and rocking bar and rod hinge connection, and promotes rocking bar and link work, owing to rocking bar at the E point and lift arm is hinged, connecting rod is hinged at F point and carriage.Along with stretching of leveling cyclinder, rocking bar guiding leveling cyclinder moves in a circle around the E point on the lift arm, promoting connecting rod drive carriage simultaneously rotates around the G point on the lift arm, making carriage tape start building to struggle against swings to the direction that reduces β, in 0.5 °, system reenters state of equilibrium until β.
As value β in angle of inclination again＞0.5 ° the time, system will repeat said process.Because DE+GE＞DF+GF, this articulated four pole mechanism is under the promotion of leveling cyclinder, be easy to make leveling cyclinder to promote connecting rod and drive the G point rotational angle of carriage on the lift arm 〉=180 °, satisfy 160 ° of operatings needs that the dead point do not occur of folding arm aerial platform work bucket rotation.
Should be noted that at last: above embodiment is only in order to illustrate that the technical solution of the utility model is not intended to limit; Although with reference to preferred embodiment the utility model is had been described in detail, those of ordinary skill in the field are to be understood that: still can make amendment or the part technical characterictic is equal to replacement the specific embodiment of the present utility model; And not breaking away from the spirit of technical solutions of the utility model, it all should be encompassed in the middle of the technical scheme scope that the utility model asks for protection.
Claims (10)
1. work bucket leveling system, comprise hydraulic subsystem (18), control subsystem (19) and be installed in levelling gear (17) on the lift arm (20), it is characterized in that, described levelling gear (17) comprises carriage (6), rocking bar (2), connecting rod (3) and leveling cyclinder (9), the cylinder barrel end of described leveling cyclinder (9) is hinged by bearing pin and described lift arm (20), described carriage (6) is fixed on the work bucket (23), described carriage (6) is hinged at the first hinge G by bearing pin with described lift arm (20), one end of described rocking bar (2), the rod end of one end of described connecting rod (3) and described leveling cyclinder (9) is hinged at the second hinge D by bearing pin, the other end of described rocking bar (2) and described lift arm (20) are hinged at tri-joint mechanism E by bearing pin, the other end of described connecting rod (3) and described carriage (6) are hinged at the 4th hinge F by bearing pin, distance between each hinge satisfies DE+GE〉relation of DF+GF, described levelling gear (17) by described leveling cyclinder (9) stretch drive described carriage (6) and rotate with respect to described lift arm (20), come described work bucket (23) is carried out leveling.
2. work bucket leveling system according to claim 1, it is characterized in that, described hydraulic subsystem (18) comprises solenoid-operated proportional change-over valve (14) and by pass valve (11), described solenoid-operated proportional change-over valve (14) comprises oil inlet, return opening, first actuator port and second actuator port, the oil inlet of described solenoid-operated proportional change-over valve (14), return opening and two actuator ports respectively with chargine line (P), oil return line (T), the rod chamber of the rodless cavity of described leveling cyclinder (9) and described leveling cyclinder (9) communicates, the oil inlet of described by pass valve (11) communicates with described chargine line (P), the oil outlet of described by pass valve (11) communicates with described oil return line (T), described control subsystem (19) is controlled keying and the aperture size of described solenoid-operated proportional change-over valve (14), adjusts described leveling cyclinder (9) flexible direction and speed.
3. work bucket leveling system according to claim 2, it is characterized in that, described hydraulic subsystem (18) also comprises pressure compensator (13), described pressure compensator comprises hydraulic control guiding valve and shuttle valve, described hydraulic control guiding valve comprises oil inlet, oil outlet and two hydraulic control hydraulic fluid ports, the oil inlet of described hydraulic control guiding valve and oil outlet communicate with the oil inlet of described chargine line (P) and described solenoid-operated proportional change-over valve (14) respectively, described shuttle valve comprises two oil inlets and an oil outlet, two oil inlets of described shuttle valve communicate with two actuator ports of described solenoid-operated proportional change-over valve (14) respectively, the oil outlet of described shuttle valve communicates with the hydraulic control hydraulic fluid port of band spring one side of described hydraulic control guiding valve, the oil outlet of described hydraulic control guiding valve communicates with the hydraulic control hydraulic fluid port of the opposite side of described hydraulic control guiding valve, controls the aperture of described hydraulic control guiding valve according to the oil pressure of two hydraulic control hydraulic fluid ports of described hydraulic control guiding valve.
4. work bucket leveling system according to claim 3, it is characterized in that, described pressure compensator (13) also comprises first throttle damping and the second throttling damping, described first throttle damping is arranged on the oil circuit between the hydraulic control hydraulic fluid port of band spring one side of the oil outlet of described shuttle valve and described hydraulic control guiding valve, and the described second throttling damping is arranged on the oil circuit between the hydraulic control hydraulic fluid port of opposite side of the oil outlet of described hydraulic control guiding valve and described hydraulic control guiding valve.
5. work bucket leveling system according to claim 2, it is characterized in that, described hydraulic subsystem (18) also comprises unloading electromagnetic valve (12), described unloading electromagnetic valve comprises oil outlet and oil inlet, the oil inlet of described unloading electromagnetic valve (12) communicates with described chargine line (P), the oil outlet of described unloading electromagnetic valve (12) communicates with described oil return line (T), described unloading electromagnetic valve (12) is under the state of dead electricity, connect the oil circuit between described chargine line (P) and the oil return line (T), getting under the electric state, disconnect the oil circuit between described chargine line (P) and the oil return line (T).
6. work bucket leveling system according to claim 5 is characterized in that, described unloading electromagnetic valve (12) and described solenoid-operated proportional change-over valve (14) are equipped with the emergency operation button.
7. according to the arbitrary described work bucket leveling system of claim 2～6, it is characterized in that, described hydraulic subsystem (18) also comprises bidirectional balanced valve (15), described bidirectional balanced valve (15) comprises two actuator ports that are in described leveling cyclinder (9) one sides and two actuator ports that are in described solenoid-operated proportional change-over valve (14) one sides, two actuator ports that are in described leveling cyclinder (9) one sides of described bidirectional balanced valve (15) communicate with rodless cavity and the rod chamber of described leveling cyclinder (9) respectively, and two actuator ports that are in described solenoid-operated proportional change-over valve (14) one sides of described bidirectional balanced valve (15) communicate with two actuator ports of described solenoid-operated proportional change-over valve (14) respectively.
8. work bucket leveling system according to claim 7, it is characterized in that, described control subsystem (19) comprises single-axis bidirectional obliquity sensor (16), VREF (Voltage Reference) setting apparatus (24), error amplifier (25), voltage comparator (26), sawtooth oscillator (27) and driving circuit (28), described single-axis bidirectional obliquity sensor (16) is arranged on the described work bucket (23), the input end of described error amplifier (25) links to each other with VREF (Voltage Reference) setting apparatus (24) with described single-axis bidirectional obliquity sensor (16) respectively, the mouth of the mouth of described error amplifier (25) and described sawtooth oscillator (27) links to each other with the input end of described voltage comparator (26) respectively, the mouth of described voltage comparator (26) links to each other with the input end of described driving circuit (28), and the mouth of described driving circuit (28) links to each other with proportion electro-magnet in the described solenoid-operated proportional change-over valve (14).
9. work bucket leveling system according to claim 8, it is characterized in that, described error amplifier (25), voltage comparator (26) and driving circuit (28) are two groups, the negative input end of first group error amplifier (25) links to each other with described VREF (Voltage Reference) setting apparatus (24) with described single-axis bidirectional obliquity sensor (16) respectively with positive input terminal, the mouth of the mouth of described first group error amplifier (25) and described sawtooth oscillator (27) links to each other with negative input end with the positive input terminal of first group voltage comparator (26) respectively, the mouth of described first group voltage comparator (26) links to each other with the input end of first group driving circuit (28), and the mouth of described first group driving circuit (28) links to each other with the proportion electro-magnet in described solenoid-operated proportional change-over valve (14) left side; The positive input terminal of second group error amplifier (25) links to each other with described VREF (Voltage Reference) setting apparatus (24) with described single-axis bidirectional obliquity sensor (16) respectively with negative input end, the mouth of the mouth of described second group error amplifier (25) and described sawtooth oscillator (27) links to each other with negative input end with the positive input terminal of second group voltage comparator (26) respectively, the mouth of described second group voltage comparator (26) links to each other with the input end of second group driving circuit (28), and the mouth of described second group driving circuit (28) links to each other with the proportion electro-magnet on described solenoid-operated proportional change-over valve (14) right side.
10. folding arm aerial platform, comprise car body, be connected the following folding arm (22) on the described car body, the last folding arm (21) that links to each other with the described end of folding arm (22) down, the lift arm (20) that links to each other with the described end of going up folding arm (21) and the bucket (23) of working, it is characterized in that, also comprise the arbitrary described work bucket leveling system of claim 1～9.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 201320023109 CN203048526U (en) | 2013-01-16 | 2013-01-16 | Working hopper leveling system and high-altitude operation vehicle with folding arm |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 201320023109 CN203048526U (en) | 2013-01-16 | 2013-01-16 | Working hopper leveling system and high-altitude operation vehicle with folding arm |
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| Publication Number | Publication Date |
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| CN203048526U true CN203048526U (en) | 2013-07-10 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN 201320023109 Withdrawn - After Issue CN203048526U (en) | 2013-01-16 | 2013-01-16 | Working hopper leveling system and high-altitude operation vehicle with folding arm |
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| CN (1) | CN203048526U (en) |
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103676973A (en) * | 2013-12-11 | 2014-03-26 | 长沙中联消防机械有限公司 | Working platform leveling control device, method and system and overhead working truck |
| CN103754804A (en) * | 2014-01-23 | 2014-04-30 | 杭州爱知工程车辆有限公司 | Buffer control system of hydraulic aerial cage |
| CN103922250A (en) * | 2013-01-16 | 2014-07-16 | 徐州徐工随车起重机有限公司 | Work hopper leveling system and folding arm overhead working truck |
| CN106865460A (en) * | 2017-03-25 | 2017-06-20 | 山东交通学院 | A kind of cnc mechanism formula two-freedom crank arm type lifts robot |
| CN108726447A (en) * | 2018-04-23 | 2018-11-02 | 连超强 | A kind of adhesion type lifting highrise operation device |
| CN113582095A (en) * | 2021-06-30 | 2021-11-02 | 江苏徐工工程机械研究院有限公司 | Self-adaptive control method, system and device for stability of working platform of elevating fire truck |
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2013
- 2013-01-16 CN CN 201320023109 patent/CN203048526U/en not_active Withdrawn - After Issue
Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103922250A (en) * | 2013-01-16 | 2014-07-16 | 徐州徐工随车起重机有限公司 | Work hopper leveling system and folding arm overhead working truck |
| CN103922250B (en) * | 2013-01-16 | 2016-09-14 | 徐州徐工随车起重机有限公司 | Working bucket leveling system and folding arm high-altitude operation vehicle |
| CN103676973A (en) * | 2013-12-11 | 2014-03-26 | 长沙中联消防机械有限公司 | Working platform leveling control device, method and system and overhead working truck |
| CN103754804A (en) * | 2014-01-23 | 2014-04-30 | 杭州爱知工程车辆有限公司 | Buffer control system of hydraulic aerial cage |
| CN103754804B (en) * | 2014-01-23 | 2016-08-24 | 杭州爱知工程车辆有限公司 | A kind of Buffer control system of hydraulic aerial cage |
| CN106865460A (en) * | 2017-03-25 | 2017-06-20 | 山东交通学院 | A kind of cnc mechanism formula two-freedom crank arm type lifts robot |
| CN108726447A (en) * | 2018-04-23 | 2018-11-02 | 连超强 | A kind of adhesion type lifting highrise operation device |
| CN113582095A (en) * | 2021-06-30 | 2021-11-02 | 江苏徐工工程机械研究院有限公司 | Self-adaptive control method, system and device for stability of working platform of elevating fire truck |
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| C14 | Grant of patent or utility model | ||
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| AV01 | Patent right actively abandoned |
Granted publication date: 20130710 Effective date of abandoning: 20160914 |
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| C25 | Abandonment of patent right or utility model to avoid double patenting |