CN218715195U - Boom system and operation machine - Google Patents

Abstract

The utility model provides a cantilever crane system and operation machinery belongs to operation machinery technical field. The system comprises: the device comprises a boom, a first sensor, a first actuating mechanism and a controller; the arm support is formed by sequentially hinging a plurality of arm support sections, and the first sensor is arranged on the tail end arm support section so as to acquire pose information of the tail end arm support section; the first actuating mechanism is connected to the tail end arm frame section so as to adjust the pose of the tail end arm frame section; the controller is in communication with the first sensor and the first actuator, respectively. The utility model provides a cantilever crane system and operation machinery is based on the position appearance information of first sensor control end cantilever crane festival to input the controller and handle, carry control signal to first actuating mechanism through the controller, carry out local motion control with the drive and the end cantilever crane festival that first actuating mechanism is connected. The multi-degree-of-freedom material distribution action can be realized by locally controlling the tail end arm support section, the control precision is improved, and further, the action completion efficiency is improved.

Description

Boom system and operation machine

Technical Field

The utility model relates to an operation machinery technical field especially relates to a cantilever crane system and operation machinery.

Background

At present, the higher the utilization rate of concrete pump trucks in various infrastructures, the development and production capacity of concrete mechanical equipment is also an important standard for judging the development level of the national manufacturing industry.

However, most of concrete pump trucks are manually distributing materials in the distributing process, the utilization rate of personnel is high, and when the distributing position needs to be changed in the distributing process, the turntable needs to be rotated to drive the arm support to rotate due to the weight and the structure of the arm support, so that the motion range is large, the energy loss is high, the control precision is low, and the overall distributing efficiency is influenced.

SUMMERY OF THE UTILITY MODEL

The utility model provides a cantilever crane system and operation machinery for solve among the prior art to carry out the action and need carry out the defect that the track planning arouses that the calculated amount is big low-efficient to all parts in the boom structure, the cantilever crane needs cooperative control's quantity less in fact, reduces and calculates boundary condition in coordination, promotes the computational rate, shortens reaction time, promotes pumping efficiency.

The utility model provides a cantilever crane system, include: the device comprises a boom, a first sensor, a first actuating mechanism and a controller;

the arm support is formed by sequentially hinging a plurality of arm support sections, and the first sensor is arranged on the tail end arm support section so as to acquire pose information of the tail end arm support section;

the first actuating mechanism is connected to the tail end arm frame section so as to adjust the pose of the tail end arm frame section;

the controller is respectively connected with the first sensor and the first actuating mechanism in a communication mode.

According to the utility model provides a pair of cantilever crane system, first actuating mechanism includes one or more in rotary hydraulic cylinder, flexible pneumatic cylinder and the lifting hydraulic cylinder.

According to the utility model provides a boom system, further comprising a second sensor and a second actuating mechanism;

the second sensor is arranged on a non-tail-end arm support section to acquire pose information of the non-tail-end arm support section;

the second actuating mechanism is connected to the non-tail end arm frame section so as to adjust the pose of the non-tail end arm frame section;

the controller is in communication connection with the second sensor and the second actuator, respectively.

According to the utility model provides a pair of cantilever crane system, second actuating mechanism includes one or more in rotary hydraulic cylinder, flexible pneumatic cylinder and the lifting hydraulic cylinder.

According to the utility model provides a boom system, further comprising an input module;

the input module is in communication connection with the controller, and acquires execution information and transmits the execution information to the controller.

According to the utility model provides a pair of cantilever crane system, terminal cantilever crane festival includes two at least cantilever crane sections, and is adjacent install rotary hydraulic cylinder and/or flexible pneumatic cylinder on the cantilever crane section.

According to the utility model provides a pair of cantilever crane system, it is adjacent install the hydraulic cylinder that lifts between the cantilever crane festival.

According to the utility model provides a pair of cantilever crane system, first sensor includes one kind in angle sensor, rotary encoder and the first displacement sensor at least.

According to the utility model provides a pair of cantilever crane system, first actuating mechanism is hydraulic cylinder, install the second displacement sensor in the hydraulic cylinder.

The utility model also provides an operation machine, include as above arbitrary the cantilever crane system.

The utility model provides a cantilever crane system and operation machinery is based on the position appearance information of first sensor control end cantilever crane festival to input the controller and handle, carry control signal to first actuating mechanism through the controller, carry out local motion control with the drive and the end cantilever crane festival that first actuating mechanism is connected. The multi-degree-of-freedom material distribution action can be realized by locally controlling the tail end arm support section, the control precision is improved, and further, the action completion efficiency is improved.

Drawings

In order to more clearly illustrate the technical solutions of the present invention or the prior art, the following briefly introduces the drawings required for the embodiments or the prior art descriptions, and obviously, the drawings in the following description are some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to the drawings without creative efforts.

Fig. 1 is one of schematic structural diagrams of a boom system provided in the present invention;

fig. 2 is a second schematic structural diagram of the boom system provided in the present invention;

fig. 3 is a schematic structural diagram of a working machine according to the present invention.

Detailed Description

To make the objects, technical solutions and advantages of the present invention clearer, the drawings of the present invention are combined to clearly and completely describe the technical solutions of the present invention, and obviously, the described embodiments are some embodiments of the present invention, not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by a person skilled in the art without making creative efforts belong to the protection scope of the present invention.

The terms first, second and the like in the description and in the claims of the present application are used for distinguishing between similar elements and not necessarily for describing a particular sequential or chronological order. It will be appreciated that the data so used may be interchanged under appropriate circumstances such that embodiments of the application may be practiced in sequences other than those illustrated or described herein, and that the terms "first," "second," and the like are generally used herein in a generic sense and do not limit the number of terms, e.g., the first term can be one or more than one.

It is to be understood that the terminology used in the description of the invention herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention. As used in the specification and the appended claims, the singular forms "a", "an", and "the" are intended to include the plural forms as well, unless the context clearly indicates otherwise.

The terms "comprises" and "comprising" indicate the presence of the described features, integers, steps, operations, elements, and/or components, but do not preclude the presence or addition of one or more other features, integers, steps, operations, elements, components, and/or groups thereof.

Fig. 1 is one of the schematic structural diagrams of the boom system provided by the present invention. As shown in fig. 1, an embodiment of the present invention provides a boom system, including: boom 110, first sensor 120, first actuator 130, and controller 140.

It should be noted that the control target of the controller 140 in the boom system is the first actuator 130.

The application scenes of the arm support system are as follows: the controller 140 in the boom system drives the first actuator 130 to perform an opening corresponding to the expected action, and drives the end boom section in the boom 110 to move correspondingly, thereby changing the material distribution manner.

Specifically, the boom system includes a boom 110, a first sensor 120, a first actuator 130, and a controller 140.

The boom 110 is formed by sequentially hinging a plurality of boom sections, and the first sensor 120 is installed on the tail end boom section to acquire pose information of the tail end boom section.

The first actuator 130 is attached to the distal boom section to adjust the attitude of the distal boom section.

The controller 140 is communicatively coupled to the first sensor 120 and the first actuator 130, respectively.

It should be noted that the boom 110 includes a plurality of boom sections, and two adjacent boom sections are connected in a combined manner by means of a hinge shaft, a link mechanism, and the like.

Different arm frame section quantity, length and combination mode are set up in the cantilever crane, can make the cantilever crane have different home range when expanding the operation, the utility model discloses do not specifically limit to this.

Optionally, the number of boom sections of the boom may be less than or equal to 4 sections.

Illustratively, arm support sections in the arm support are combined by a Z-shaped arm support structure, the structure is simple, the occupied space of the whole arm support is small, meanwhile, the Z-shaped arm support is firstly opened to be a section of arm at the tail end, and then other arm support sections are unfolded section by section, so that the unfolding speed of the structure is fastest.

Illustratively, arm support sections in the arm support are combined by an R-shaped arm support structure, the folding mode of the whole arm support is in a 'return' shape design, the structure is relatively compact, and the overall height of the arm support is lower. Meanwhile, the R-type boom requires that each boom section be completely unfolded layer by layer. Therefore, the unfolding speed of the structure is the slowest and the stability is higher.

Optionally, the number of boom sections of the boom may be greater than 4.

Illustratively, arm support sections in the arm support are combined in an RZ type arm support structure, arm support sections close to the large arm adopt an R type combination, and arm support sections close to the tail end hose adopt a Z type combination. The structure is relatively complicated, but the skill ensures that the overall unfolding speed is high, and the stability of the tail end unfolding is realized.

It is understood that as the number of arm support sections increases, various combinations of ZRZ, RZR, ZZR, ZRR, RRZ, etc. may be used to achieve a greater range of motion after deployment and more flexibility.

Specifically, in the boom 110, a boom section connected to the turntable is used as a head end boom section, and in the sequential sorting in the boom 110, the first sensor 120 is correspondingly arranged on the boom section at the tail end, so as to obtain the pose information of the tail end boom section in the actual operation process of the boom.

The pose information of the tail boom section refers to sensing information acquired by the corresponding first sensor 120 during the operation of the tail boom section.

The embodiment of the present invention does not specifically limit the configuration of the first sensor 120.

Alternatively, the first sensor 120 may be an integrated sensor located in the distal boom section near the joint.

For example, the first sensor 120 may be a high performance three-dimensional motion attitude measurement system based on MEMS technology. The system comprises motion sensors such as a three-axis gyroscope, a three-axis accelerometer and a three-axis electronic compass, and data such as a three-dimensional attitude, an azimuth and the like subjected to temperature compensation are obtained through an embedded low-power ARM processor. And outputting zero-drift three-dimensional attitude and azimuth data expressed by quaternion and Euler angle in real time by using a quaternion-based three-dimensional algorithm and a special data fusion technology.

Meanwhile, the first actuator 130 may be mechanically connected to the end arm support section through a connecting member such as a link mechanism or a hinge shaft, and the embodiment of the present invention is not limited to the number of the first actuator 130.

Optionally, the number of the actuating mechanisms may be 1, and the actuating mechanisms are mechanically connected to the arm support section at the end, and may continuously control the pressure, flow rate, and flow direction of the fluid flow in proportion to the input control signal, to generate a mechanical transmission, so as to drive the arm support section at the end to execute the motion in a certain dimension.

Optionally, the number of the actuators may be multiple, and the actuators may be mechanically connected to the arm support sections at the end at different mounting positions, respectively, and may continuously control the pressure, flow rate, and flow direction of the fluid flow in proportion to respective input control signals, so that the different actuators generate mechanical transmission to drive the arm support sections at the end to perform a combined action in multiple dimensions.

The first sensor 120 is connected to the controller 140 to obtain control parameters of the actuator based on the real-time pose information of the end boom section. The embodiment of the utility model provides a do not do specific limit to actuating mechanism's control parameter type.

For example, the control parameter of the actuator may be a current value or a voltage value.

The controller 140 is connected to the first actuator 130 mounted on the end boom section, so that the controller 140 outputs the control parameter and drives the first actuator 130 to perform a corresponding opening degree.

The embodiment of the present invention does not specifically limit the working machine where the boom 110 is located.

Optionally, the working machine may be a concrete pump truck, the hose for distributing material is connected to the end boom section of the boom 110, and during the working of the working machine, the controller 140 calculates an actual trajectory according to the received pose information of the end boom section acquired by the first sensor 120 in real time, corrects the calculated actual trajectory with reference to an overall expected trajectory of the boom planned according to an actual working task, and uses the corresponding control parameter of the first actuator 130 as the current control signal according to the correspondence between the correction amount and the control parameter of the first actuator 130.

A control signal for causing the first actuator 130 to adjust the spool opening in accordance with the commanded control parameter.

The controller 140 is connected to the first actuator 130 on the end boom section, so that after the controller 130 outputs the control signal, the first actuator 130 is driven to open according to the adjustment amount indicated by the control signal. So that the tail end arm support section moves according to the corresponding track, and the hose is driven to carry out uniform distribution in a specified range.

Optionally, the boom 110 may be used as a boom structure in a working machine, and during the working process, the controller 140 corrects the actual trajectory calculated according to the received pose information of the end boom section acquired by the first sensor 120 in real time, and then uses the corresponding control parameter of the first actuator 130 as the current control signal according to the corresponding relationship between the correction amount and the control parameter of the first actuator 130. To drive the first actuator 130 to open by the amount of adjustment indicated by the control signal. So that the arm support section at the tail end moves according to the corresponding track.

It is understood that the integration manner of the controller 130 with respect to the boom system includes, but is not limited to, a stand-alone type, a distributed type, or an integrated type, and the embodiment of the invention is not limited thereto.

The embodiment of the utility model provides a do not specifically limit to its communication mode.

Optionally, the controller 140 may employ wired communication techniques for signaling with the first sensor 120 and the first actuator 130, respectively, for efficient, loss-free transmission.

Wherein, the wired communication technology includes but not limited to EtherNet (EtherNet), M-BUS, universal Serial BUS (USB), RS-485 interface, RS-232 Serial communication interface, etc., and the utility model discloses do not do specifically limit to this.

Optionally, the controller 140 performs signaling transmission with the first sensor 20 and the first actuator 130 by using a wireless communication technology, so as to avoid winding of a line when the boom executes an action, and shorten the service life.

Wherein, the wireless communication technology includes but not limited to infrared technology, bluetooth, zigbee, WIFI wireless cellular signal (2G, 3G, 4G, 5G) and so on, the utility model discloses do not do specifically limit to this.

In the prior art, a spring is generally arranged on a conveying hose on the basis of the existing arm support structure, and the direction of the spring is controlled to enable the tail end of the arm support and the conveying hose to form different angles, so that the material distribution mode is changed. Further, uniform distribution according to a certain track is further realized through the unfolding mode of the traditional arm support.

And the utility model discloses then need not additionally to set up other parts at the delivery hose, only through carrying out aperture control to actuating mechanism, some cantilever crane festival in the control cantilever crane moves according to appointed angle and distance, not only can make and be different angles between cantilever crane end and the delivery hose, and still the cantilever crane carries the in-process of delivery hose pump sending concrete, changes holistic movement track through local control, avoids unnecessary action energy consumption.

The embodiment of the utility model provides a position appearance information based on first sensor control terminal cantilever crane festival to input the controller and handle, carry control signal to first actuating mechanism through the controller, carry out local motion control with the terminal cantilever crane festival that the drive is connected with first actuating mechanism. The multi-degree-of-freedom material distribution action can be realized by locally controlling the tail end arm support section, the control precision is improved, and further, the action completion efficiency is improved.

In any of the above embodiments, the first actuator 130 includes at least one or more of a rotary hydraulic cylinder, a telescopic hydraulic cylinder, and a lifting hydraulic cylinder.

Specifically, the first actuator 130 converts the hydraulic pressure energy corresponding to the control signal into mechanical energy according to the control signal, and transmits the mechanical energy to the connected end arm frame section through the link mechanism or the hinge shaft, so as to drive the end arm frame section to perform a corresponding action.

The embodiment of the present invention does not specifically limit the kind and function of the first actuator 130.

Alternatively, the first actuator 130 may be a hydraulic cylinder, and the valve opening of the hydraulic cylinder is adjusted according to the control signal to generate mechanical energy of different degrees. Wherein, according to the different functions of carrying out, can divide into with the pneumatic cylinder:

and the rotary hydraulic cylinder is used for driving the arm frame joint to execute rotary motion or pitching motion on three degrees of freedom.

And the telescopic hydraulic cylinder is used for driving the arm frame joint to perform telescopic action in a horizontal plane where the arm frame joint is positioned.

And the lifting hydraulic cylinder is used for driving the arm frame joint to perform lifting action in the vertical plane where the arm frame joint is located.

Alternatively, the first actuator 130 may be a hydraulic motor, and the torque and rotational speed of the hydraulic motor may be adjusted according to the control signal to generate different degrees of mechanical energy. Among them, the hydraulic motors can be divided into a rotary hydraulic motor, a telescopic hydraulic motor, and a lift hydraulic motor according to different functions performed.

The first actuator 130 is disposed at the end arm section, so that the first actuator 130 drives the end arm section to execute a corresponding action according to a control signal output by the controller 140.

For example, in the case of a rotary hydraulic cylinder, one end that performs linear reciprocating motion is fixed to the side of the end boom section, and the other end is fixed to the joint of the end boom section and the boom section immediately before the end boom section. And when the rotary hydraulic cylinder receives the control signal, the rotary hydraulic cylinder performs reciprocating motion to drive the tail end arm frame section to rotate on the three degrees of freedom.

For example, in the case of a telescopic hydraulic cylinder, one end that performs linear reciprocating motion is fixed to the side surface of the last boom section, and the other end is fixed to the side surface of the boom section that is one arm before the last boom section. When the telescopic hydraulic cylinder receives the control signal, the telescopic hydraulic cylinder carries out reciprocating motion to drive the tail end arm frame section to stretch relative to the previous arm frame section.

For example, in the case of a lifting cylinder, one end that makes a linear reciprocating motion is fixed to the lower surface of the last boom section, and the other end is fixed to the lower surface of the preceding boom section. And when the lifting hydraulic cylinder receives the control signal, the lifting hydraulic cylinder performs reciprocating motion to drive the tail end arm frame section to pitch relative to the previous arm frame section.

The embodiment of the utility model provides a based on rotary hydraulic cylinder, flexible pneumatic cylinder and the hydraulic lifting cylinder that sets up different executive function, through the control signal of controller output, the drive carries out corresponding motion control with the terminal cantilever crane festival that first actuating mechanism is connected. The multi-degree-of-freedom material distribution action can be realized by locally controlling the arm support, the control precision is improved, and further, the action completion efficiency is improved.

On the basis of any one of the above embodiments, the device further comprises a second sensor and a second actuator.

The second sensor is installed on the non-tail-end arm frame section to acquire pose information of the non-tail-end arm frame section.

The second actuating mechanism is connected to the non-tail-end arm frame section so as to adjust the pose of the non-tail-end arm frame section.

The controller is in communication connection with the second sensor and the second actuator, respectively.

Specifically, second sensors may be correspondingly disposed on non-end boom sections, and the state of boom sections other than the end boom section in the boom 110 in the actual operation process may be monitored in real time according to pose information of the non-end boom sections acquired by each second sensor.

The pose information of the non-tail-end arm frame sections refers to sensing information acquired by second sensors arranged on the non-tail-end arm frame sections.

The embodiment of the utility model provides a do not do specifically and restrict the constitution of second sensor.

Alternatively, the second sensor may be an integrated sensor disposed in the head end boom section or the middle boom section proximate to the joint.

Optionally, the second sensor may be an integrated component, and a plurality of sensors included in the integrated component may acquire sensing information in a plurality of dimensions, and may represent pose information of the corresponding boom section after integrating the sensing information.

And aiming at the arm support sections at different positions, the corresponding sensing data dimensions are different.

The pose information about the end boom sections includes both sensory data in the distance dimension and the angle dimension, whereas for pose information about the non-end boom sections other than the end boom sections, only information in the angle dimension needs to be retrieved from the sensory data.

And then, the controller calculates an actual track according to the received pose information of the non-end arm support section acquired by the second sensor in real time, corrects the calculated actual track by referring to the overall expected track of the arm support planned according to the actual operation task, and takes the corresponding control parameter of the second actuating mechanism as a current control signal according to the corresponding relation between the correction quantity and the control parameter of the second actuating mechanism.

And the control signal is used for enabling the second actuating mechanism to adjust the opening degree of the valve core according to the indicated control parameter.

And the controller is connected with the second actuating mechanism on the non-tail-end arm frame section, so that the controller outputs a control signal and then drives the second actuating mechanism to open according to the adjustment amount indicated by the control signal. So that the non-end arm support section moves according to the corresponding track to drive the arm support to generate displacement change.

Correspondingly, the controller 140 may also divide independent calculation logics for different boom sections, and the embodiment of the present invention does not specifically limit the logic architecture of the controller 140.

Preferably, the controller 140 divides the arm support section at the end into the independent calculation units a by performing the calculation of the three-degree-of-freedom rotational motion. And the extension of the rest non-end arm frame section is divided into independent calculation units B, and the rotary table is set as an independent calculation unit C.

And inputting the pose information of the tail end arm frame section and the pose information of the non-tail end arm frame section, which are respectively collected by the first sensor and the second sensor in the actual arm frame execution process, to each independent calculation unit (A, B and C) for independent calculation, and calculating by mutual superposition to obtain an actual track and a corresponding motion range, and storing the actual track and the corresponding motion range.

Wherein, cloth mode in the local range includes but not limited to with sharp cloth, pitch arc cloth, mode such as check mode cloth, broken line mode cloth, the embodiment of the utility model provides a do not do specifically to this and restrict.

It is to be understood that the above-described process of the controller 130 generating the control signal based on the pose information of each boom section, the angle information input by the user, and the distance information is processed based on an existing trajectory planning algorithm.

The embodiment of the utility model provides a based on the position appearance information of the non-terminal cantilever crane festival of second sensor control to input the controller and handle, control signal drive actuating mechanism through the controller output carries out local motion control with the non-terminal cantilever crane festival that the drive is connected with actuating mechanism. The multi-degree-of-freedom material distribution action can be realized by locally controlling each arm support section, the control precision is improved, and further, the action completion efficiency is improved.

On the basis of any embodiment, the second actuating mechanism at least comprises one or more of a rotating hydraulic cylinder, a telescopic hydraulic cylinder and a lifting hydraulic cylinder.

Specifically, the second actuator converts the hydraulic pressure energy corresponding to the control signal into mechanical energy according to the control signal, and transmits the mechanical energy to the first-end arm support section or the middle arm support section through the link mechanism or the hinge shaft, so as to drive the corresponding arm support section to execute corresponding actions.

The embodiment of the utility model provides a second actuating mechanism quantity and the position that set up on each non-terminal cantilever crane festival do not do specifically prescribe a limit to.

Optionally, an actuator is disposed at the first-end boom section, so that the second actuator drives the first-end boom section to execute a corresponding action according to the control signal output by the controller 140.

For example, in the case of a rotary hydraulic cylinder, one end that performs linear reciprocating motion is fixed to the side surface of the head arm section, and the other end is fixed to the upper surface of the turntable. And when the rotary hydraulic cylinder receives the control signal, the rotary hydraulic cylinder performs reciprocating motion to drive the head end arm frame section to rotate on the three degrees of freedom.

For example, in the case of a telescopic hydraulic cylinder, one end that performs linear reciprocating motion is fixed to the side surface of the head boom section, and the other end is fixed to the upper surface of the turntable. When the telescopic hydraulic cylinder receives the control signal, the telescopic hydraulic cylinder performs reciprocating motion to drive the head end cantilever crane section to stretch relative to the rotary table.

For example, in the case of a lifting hydraulic cylinder, one end that performs linear reciprocating motion is fixed to the lower surface of the head arm section, and the other end is fixed to the upper surface of the turn table. And when the lifting hydraulic cylinder receives the control signal, the lifting hydraulic cylinder performs reciprocating motion to drive the head end arm frame section to pitch relative to the rotary table.

Alternatively, a second actuator may be provided at the intermediate boom section that is not connected to either the delivery hose or the turntable, such that the second actuator drives the intermediate boom section to perform a corresponding action in response to a control signal output by the controller 140.

For example, for a rotary hydraulic cylinder, one end of the linear reciprocating motion is fixed on the side surface of the middle arm frame section, and the other end of the linear reciprocating motion is fixed at the joint of the middle arm frame section and the adjacent previous arm frame section. And when the rotary hydraulic cylinder receives the control signal, the rotary hydraulic cylinder performs reciprocating motion to drive the middle arm frame section to rotate on the three degrees of freedom.

For example, in the case of a telescopic hydraulic cylinder, one end that performs linear reciprocating motion is fixed to the side surface of the intermediate boom section, and the other end is fixed to the side surface of the boom section preceding the intermediate boom section. When the telescopic hydraulic cylinder receives the control signal, the telescopic hydraulic cylinder carries out reciprocating motion to drive the middle arm frame section to stretch relative to the previous arm frame section.

For example, in the case of a lifting cylinder, one end of the linear reciprocating motion is fixed to the lower surface of the middle boom section, and the other end is fixed to the lower surface of the preceding boom section. And when the lifting hydraulic cylinder receives the control signal, the lifting hydraulic cylinder performs reciprocating motion to drive the middle arm frame section to pitch relative to the previous arm frame section.

Fig. 2 is a second schematic structural diagram of the boom system provided in the present invention. As shown in fig. 2, on the basis of any of the above embodiments, a lifting hydraulic cylinder 220 is disposed in the head-end boom section 210, a rotary hydraulic cylinder 240 is disposed in the tail-end boom section 230, and a telescopic hydraulic cylinder 260 is disposed in the middle boom section 250.

The specific implementation process is that one end of the lifting hydraulic cylinder 220, which performs linear reciprocating motion, is fixed on the lower surface of the next middle arm support 250 adjacent to the first-end arm support section 210, and the other end of the lifting hydraulic cylinder is fixed on the lower surface of the first-end arm support section 210, and when the lifting hydraulic cylinder 220 receives a control signal, the lifting hydraulic cylinder performs reciprocating motion to drive the middle arm support section 250 to pitch relative to the adjacent first-end arm support section 210. One end of the rotary hydraulic cylinder 240 which does linear reciprocating motion is fixed on the side surface of the tail-end arm frame section 230, and the other end of the rotary hydraulic cylinder is fixed at the joint of the tail-end arm frame section 230 and the middle-section arm frame 250, and when the rotary hydraulic cylinder 240 receives a control signal, the rotary hydraulic cylinder performs reciprocating motion to drive the tail-end arm frame section 230 to rotate in three degrees of freedom.

One end of the telescopic hydraulic cylinder 260, which performs linear reciprocating motion, is fixed on the upper surface of the middle boom section 250, and the other end of the telescopic hydraulic cylinder 260 is fixed on the upper surface of the previous middle boom section 250 adjacent to the middle boom section 250, and when the telescopic hydraulic cylinder 260 receives a control signal, the telescopic hydraulic cylinder performs reciprocating motion to drive the middle boom section 250 to extend and retract in three degrees of freedom relative to the previous boom section.

For example, if the vertical height of the end boom section 230 is increased by a small distance without changing the horizontal position, the action of only changing the height can be easily implemented by moving the lifting of the middle boom section 250 mechanically connected to the head end boom section 210 and cooperating with the length of the retracting boom section of the middle boom section 250 mechanically connected to the end boom section 230, so as to reduce the number of boom sections to be cooperatively controlled, reduce the boundary conditions of cooperative calculation, increase the calculation speed, shorten the reaction time, and increase the pumping efficiency.

It can be understood that there are various relative combination modes between the actuating mechanism and the arm support sections to implement actions of different arm support sections in corresponding motion ranges.

The embodiment of the utility model provides a based on rotary hydraulic cylinder, flexible pneumatic cylinder and the lifting hydraulic cylinder that sets up different executive function, through the control signal of controller output, corresponding motion control is carried out to head end cantilever crane festival or middle cantilever crane festival that the drive is connected with second actuating mechanism. The multi-degree-of-freedom material distribution action can be realized by locally controlling the arm support, the control precision is improved, and further, the action completion efficiency is improved.

On the basis of any one of the above embodiments, the system further comprises an input module.

The input module is communicatively coupled to the controller 140, and the input module obtains the execution information and transmits the execution information to the controller 140.

It should be noted that, the execution information means that the user needs to input the relevant parameters of the operation actions to be executed for completing the material distribution task in the operation interface of the remote terminal according to the actual material distribution task requirement in advance, and the embodiment of the present invention is not specifically limited to this.

Optionally, the performance information may include angle information to indicate an angle formed by the end boom sections in boom 110 and the delivery hose connection.

Alternatively, the execution information may include distance information indicating position information to be reached by the delivery hose connected to the end boom section in boom 110 in a coordinate system in which the work machine fixing position is the origin.

Specifically, the input module 110 receives angle information and distance information input by a user according to actual task requirements. And transmits the execution information to the controller 140 to fit the expected trajectory, and then quickly determines the required independent calculation unit by comparing the movement ranges of the expected trajectory and the actual trajectory and according to the calculation modes of the action speed, the movement precision and the like.

And finally, after the required independent computing unit is determined, a corresponding path is specifically planned according to the track, a corresponding control signal is generated, a corresponding executing mechanism (a first executing mechanism and/or a second executing mechanism) is driven to complete the action, and automatic material distribution is carried out in a local range.

It can be understood that, in the process of comparing the motion ranges of the expected track and the actual track, if the error between the two is greater than or equal to a certain preset threshold value, that is, it indicates that the motion track performed by the boom of the current work machine has deviated from the expected track required by the task, the user is alerted.

Illustratively, the alarm information is sent to a serial port message through the development board, and front-end display and acousto-optic alarm processing of the central control screen are carried out.

It is understood that the communication between the input module 110 and the controller 130 may also include wired communication and wireless communication.

The embodiment of the utility model provides a based on the position appearance information of each cantilever crane festival, the executive information who acquires with input module together inputs the controller and handles, the control signal drive first actuating mechanism and/or the second actuating mechanism through the controller output to the drive carries out local motion control with each cantilever crane festival that corresponds actuating mechanism and be connected. The multi-degree-of-freedom material distribution action can be realized by locally controlling the arm support, the control precision is improved, and further, the action completion efficiency is improved.

On the basis of any one of the above embodiments, the tail end boom section at least comprises two boom sections, and a rotary hydraulic cylinder and/or a telescopic hydraulic cylinder are/is installed on the adjacent boom sections.

Specifically, the boom sections are segmented parts sequentially hinged in the same boom section, any two adjacent boom sections are not folded, after the whole boom 110 is folded, the adjacent boom sections are in opposite directions, and the directions of the boom sections in the same boom section are basically the same.

And install first actuating mechanism 130 on one or more cantilever crane sections in the end cantilever crane festival, the embodiment of the utility model provides a do not do specifically and restrict the first actuating mechanism of cantilever crane section installation.

Optionally, a rotary hydraulic cylinder and/or a telescopic hydraulic cylinder is provided at the hinge joint of two adjacent boom sections, so that the controller 140 controls the telescopic movement or the rotary movement between the adjacent boom sections in the end boom section.

The embodiment of the utility model provides a based on set up a plurality of arm supports sections in the tail end arm support festival, through rotary hydraulic cylinder and/or flexible pneumatic cylinder, carry out corresponding motion control to two adjacent arm supports sections that this actuating mechanism connects. The multi-degree-of-freedom and high-fineness material distribution action can be realized by locally controlling the arm support, the control precision is improved, and the action completion efficiency is further improved.

On the basis of any one of the above embodiments, a lifting hydraulic cylinder is installed between adjacent boom sections.

Specifically, in the boom 110, a lifting hydraulic cylinder is disposed at a hinge joint of any two adjacent boom sections, so that after the work machine completes the work, a certain boom section performs a lifting action in a vertical plane where the boom section is located relative to its adjacent boom section through the controller 140 until the boom section is folded on its adjacent boom section in an opposite direction.

The embodiment of the utility model provides a based on set up the hydraulic cylinder that lifts between two adjacent arm support festival, through controller control hydraulic cylinder that lifts, carry out corresponding motion control to two adjacent arm support festival that this actuating mechanism connects, realize after accomplishing the operation, can fold each arm support festival in proper order to retrieve the cantilever crane, avoid adopting visual method to judge it, the efficiency of execution is low, and personnel's occupancy is high, is not convenient for operation mechanical folding and traveling.

On the basis of any of the above embodiments, the first sensor 120 includes at least one of an angle sensor, a rotary encoder, and a first displacement sensor.

Specifically, one or more first sensors 120 are provided on the distal boom segment to acquire motion vectors of the distal boom segment during execution in real time.

The embodiment of the utility model provides a kind and the mode of laying of first sensor 120 do not do specifically and restrict.

Alternatively, the first sensor 120 may be an angle sensor disposed at the end boom section to acquire an angle vector of the end boom section during execution in real time.

Alternatively, the first sensor 120 may be a rotary encoder disposed at the end boom section to acquire an angular displacement vector and an angular velocity vector of the end boom section in real time during the execution process.

Alternatively, the first sensor 120 may be a first displacement sensor disposed at the end boom section to acquire the displacement vector of the end boom section during execution in real time.

Preferably, as an alternative embodiment, two angle sensors and one displacement sensor are arranged in the arm frame section at the tail end near the joint connected with the hose, so as to obtain the position information (i.e. the sensing information in the distance dimension) and the posture information (i.e. the sensing information in the angle dimension) of the arm frame section at the tail end in three degrees of freedom, and feed back the position information and the posture information to the independent computing unit a of the controller 140 to calculate the motion direction and the motion amount of the arm frame at the tail end during the actual action execution process.

And the positions of the rest non-tail end arm frame sections, which are close to the two joints, are respectively provided with an angle sensor so as to obtain the angle change information of the corresponding arm frame section in the motion process. The coordinate positions of the two ends of the corresponding arm frame section in the actual motion execution process are calculated by feeding the coordinate positions back to the independent calculating unit B of the controller 140, and the pitch angles of the other arm frame sections in the actual motion execution process are calculated by feeding the coordinate positions back to the independent calculating unit C of the controller 130. The arm support is characterized in that the arm support is provided with a plurality of arm support sections, and the arm support sections are connected with the arm support through a connecting piece.

The embodiment of the utility model provides a based on set up angle sensor, rotary encoder and displacement sensor, gather each cantilever crane festival at the motion in-process produced motion vector to feedback to the controller and carry out corresponding processing. The arm support can be locally monitored and independently processed, multi-degree-of-freedom material distribution is achieved, control precision is improved, and then the efficiency of finishing actions is improved.

In any of the above embodiments, the first actuator 130 is a hydraulic cylinder, and a second displacement sensor is installed in the hydraulic cylinder.

It should be noted that, when the boom 110 executes a certain action, the position information of the first actuator 130 currently acquired by the second displacement sensor may be integrated into an information set, which represents a specific gesture corresponding to the action, and is stored in advance in an action library in the memory space of the controller 140.

Specifically, a second displacement sensor is installed in the first actuator 130 (various hydraulic cylinders or hydraulic motors) to acquire position information of each actuator in real time, and transmit the position information to the controller 140, and the controller 140 compares the position information of each actuator with a preset action library, and the comparison results are divided into two types: the comparison was successful and failed.

The successful comparison means that the position information of each executing mechanism is the same as one information group in the action library or the error is within the tolerance range, that is, the action executed by the boom 110 driven by each first executing mechanism 130 is considered to be consistent with the action corresponding to a specific gesture in the action library, and then the gesture planning and the instruction issuing can be completed for the specific gesture quickly.

The failure of the comparison means that the position information of each actuator is different from a certain information group in the action library or the error is out of the tolerance range, that is, the current action performed by the boom 110 driven by each first actuator 130 is not the action corresponding to a certain specific posture in the action library, that is, the corresponding action commands are sequentially issued to the corresponding actuators according to the normal action execution flow.

The embodiment of the present invention is not limited to specific actions.

For example, the specific gesture may be position information of each actuator when the boom 110 is completely folded, and the position information of each actuator in the completely folded state is stored in the controller 140 for action memory. When the boom 110 is in the actual operation process, the position information of each actuator collected by the second displacement sensor is matched with the specific gesture, and then an instruction is quickly sent to plan the boom to be reset, so that the operation machine can be quickly switched to the driving mode.

For example, the specific motion may be the position information of each actuator when the arm performs the motion after the user inputs the designated execution parameter, and the position information of each actuator corresponding to the execution parameter is stored in the controller 140 and the motion is memorized. When the boom 110 performs actual operation with the execution parameters next time, the position information of each execution mechanism acquired by the second displacement sensor is matched with the specific gesture, and then an instruction is quickly sent to plan the boom 110 to execute the action without repeated planning.

It can be understood that the identification of the position information of the hydraulic cylinder can be realized by using a coding cylinder or a visual identification mode and the like.

The embodiment of the utility model provides a based on installation second displacement sensor in hydraulic cylinder, positional information that can real time monitoring hydraulic cylinder matches under the successful condition with the specific gesture of action storehouse storage, directly issues the control signal that corresponds, need not extra planning and deploys, improves control accuracy and efficiency, makes the stability of cantilever crane obtain strengthening.

Fig. 3 is a schematic structural view of the work machine according to the present invention. As shown in fig. 3, the working machine according to the embodiment of the present invention includes the boom system 310 according to the above embodiment.

Specifically, in the working machine, the controller in the boom system 310 may be integrated in a Central control development board in the form of a Central Processing Unit (CPU), a microelectronic element, a Field Programmable Gate Array (FPGA), and the like, to control the original boom of the working machine.

The specific implementation process is as follows:

the tail end arm frame section in the arm frame system 310 is connected with the first sensor, and other non-tail end arm frame sections are connected with the corresponding second sensors, and the state of the arm frame in the actual operation process is monitored in real time through the position and posture information of the tail end arm frame section and the position and posture information of the non-tail end arm frame sections acquired by the sensors. And the input module receives the angle information and the distance information input by the user according to the actual task requirement. Inputting the pose information of the tail end arm frame section, the pose information of the non-tail end arm frame section and the execution information into a controller, planning an expected track of the whole arm frame of the operation machine by the controller according to the execution information, calculating an actual track by using the pose information of each arm frame section for correction, and taking the control parameter of the corresponding execution mechanism as a current control signal according to the corresponding relation between the correction amount and the control parameter of the execution mechanism so as to drive the corresponding arm frame section to move according to the specified track and uniformly distribute materials in a specified range.

Preferably, in the work machine 300, the controller calculates and acquires the actual trajectory and the corresponding rotational movement range, the telescopic movement range, and the pitching movement range by mutually superimposing the acquired sensing information by using a built-in independent calculation unit. And after an expected track is fitted according to the execution information, the required independent computing unit is quickly determined by comparing the motion ranges of the expected track and the actual track and according to the computing modes of the action speed, the motion precision and the like. And finally, after the needed independent calculation unit is determined, a corresponding path is specifically planned according to the track to generate a corresponding control signal, when the rotary hydraulic cylinder receives the control signal, the head-end arm frame section is driven to rotate in three degrees of freedom, when the telescopic hydraulic cylinder receives the control signal, the head-end arm frame section is driven to perform length stretching in different degrees relative to the adjacent middle arm frame section, when the lifting hydraulic cylinder receives the control signal, the middle arm frame section is driven to perform pitching in different degrees in cooperation with the adjacent tail-end arm frame section, so that the combination action is completed, and automatic material distribution is performed in a local range.

The embodiment of the utility model provides a position appearance information based on first sensor control terminal cantilever crane festival to input the controller and handle, carry control signal to first actuating mechanism through the controller, carry out local motion control with the terminal cantilever crane festival that the drive is connected with first actuating mechanism. The multi-degree-of-freedom material distribution action can be realized by locally controlling the tail end arm support section, the control precision is improved, and further, the action completion efficiency is improved.

The above-described embodiments of the apparatus are merely illustrative, and the units described as separate parts may or may not be physically separate, and parts displayed as units may or may not be physical units, may be located in one place, or may be distributed on a plurality of network units. Some or all of the modules may be selected according to actual needs to achieve the purpose of the solution of the present embodiment. One of ordinary skill in the art can understand and implement it without inventive effort.

Through the above description of the embodiments, those skilled in the art will clearly understand that each embodiment can be implemented by software plus a necessary general hardware platform, and certainly can also be implemented by hardware. With this understanding in mind, the above-described technical solutions may be embodied in the form of a software product, which can be stored in a computer-readable storage medium such as ROM/RAM, magnetic disk, optical disk, etc., and includes instructions for causing a computer device (which may be a personal computer, a server, or a network device, etc.) to execute the methods described in the embodiments or some parts of the embodiments.

Finally, it should be noted that: the above embodiments are only used to illustrate the technical solution of the present invention, and not to limit the same; although the present invention has been described in detail with reference to the foregoing embodiments, it should be understood by those skilled in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some technical features may be equivalently replaced; such modifications or substitutions do not depart from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims (10)

1. A boom system, comprising: the device comprises a boom, a first sensor, a first actuating mechanism and a controller;

the arm support is formed by sequentially hinging a plurality of arm support sections, and the first sensor is arranged on the tail end arm support section so as to acquire pose information of the tail end arm support section;

the first actuating mechanism is connected to the tail end arm frame section so as to adjust the pose of the tail end arm frame section;

the controller is respectively connected with the first sensor and the first actuating mechanism in a communication mode.

2. The boom system of claim 1, wherein the first actuator comprises one or more of a rotary hydraulic cylinder, a telescopic hydraulic cylinder, and a lift hydraulic cylinder.

3. The boom system of claim 1, further comprising a second sensor and a second actuator;

the second sensor is arranged on a non-tail-end arm support section to acquire pose information of the non-tail-end arm support section;

the second actuating mechanism is connected to the non-tail end arm frame section so as to adjust the pose of the non-tail end arm frame section;

the controller is in communication connection with the second sensor and the second actuator, respectively.

4. The boom system of claim 3, wherein the second actuator comprises one or more of a rotary hydraulic cylinder, a telescopic hydraulic cylinder, and a lift hydraulic cylinder.

5. The boom system of any of claims 1-4, further comprising an input module;

the input module is in communication connection with the controller, and acquires execution information and transmits the execution information to the controller.

6. The boom system of claim 1, wherein the end boom section comprises at least two boom sections, and a rotary hydraulic cylinder and/or a telescopic hydraulic cylinder is mounted on adjacent boom sections.

7. The boom system of claim 1, wherein a lifting hydraulic cylinder is mounted between adjacent boom sections.

8. The boom system of claim 1, wherein the first sensor comprises at least one of an angle sensor, a rotary encoder, and a first displacement sensor.

9. The boom system of claim 1, wherein the first actuator is a hydraulic ram, and a second displacement sensor is mounted within the hydraulic ram.

10. A working machine, characterized in that it comprises a boom system according to any of claims 1-9.

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