CN221251035U - Distributed electrical control system of electric telescopic arm type omnidirectional operation platform - Google Patents
Distributed electrical control system of electric telescopic arm type omnidirectional operation platform Download PDFInfo
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- CN221251035U CN221251035U CN202322639959.7U CN202322639959U CN221251035U CN 221251035 U CN221251035 U CN 221251035U CN 202322639959 U CN202322639959 U CN 202322639959U CN 221251035 U CN221251035 U CN 221251035U
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
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- Y02P90/00—Enabling technologies with a potential contribution to greenhouse gas [GHG] emissions mitigation
- Y02P90/02—Total factory control, e.g. smart factories, flexible manufacturing systems [FMS] or integrated manufacturing systems [IMS]
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Abstract
The distributed electrical control system of the electric telescopic boom type omnidirectional operation platform comprises a man-machine interaction control unit, a running control unit and an upper operation control unit, wherein the man-machine interaction control unit is an upper computer, the running control unit and the upper operation control unit are lower computers, and the running control unit and the upper operation control unit are respectively connected with the man-machine interaction control unit in a CAN bus communication mode. The utility model has the beneficial effects that: compared with the prior art, the distributed electrical control system provided by the utility model can realize unmanned and intelligent upgrading and transformation without changing a controller, does not influence the control of each action unit of equipment, and effectively improves the actual use efficiency and maintenance guarantee performance of the electric telescopic arm type omnidirectional operation platform.
Description
Technical Field
The utility model relates to an electrical control system in an engineering machinery vehicle, in particular to a distributed electrical control system of an electric telescopic arm type omnidirectional operation platform.
Background
At present, electric engineering machinery vehicles are widely put into market, an electric telescopic arm type omnidirectional operation platform belongs to a new star product in the field, at present, an electric control system of the electric telescopic arm type omnidirectional operation platform generally adopts a centralized electric control mode, namely all components required by electric control are intensively connected to a whole vehicle controller, and the whole vehicle controller is used for completing the work of equipment such as whole signal acquisition, calculation, operation, instruction control and the like. The centralized electrical control system has the advantages that components used by the equipment are connected to the whole vehicle controller for centralized control, so that the calculated data size of the whole vehicle controller is large, the resolving period is long, the real-time performance of the electrical control system is poor, the driving and installing mechanisms are slow in response, the action has a large delay phenomenon, and if the driving unit or the installing mechanism action unit is required to be used independently, or the original whole vehicle controller needs to be replaced when the demands of an unmanned control module, an intelligent control module and the like are increased in upgrading and optimizing manners. After the new function is added, the electric control system needs to be newly designed to adapt to a new vehicle controller, and a large amount of operation data is added, so that the operation period of a control program is further improved, and the instantaneity of the electric control system is reduced.
The centralized electrical control system performs centralized control on the running action of the equipment and the action of the loading mechanism, if the action unit of the loading mechanism fails during actual use, the equipment can enter a guaranteed state, all actions are stopped, the equipment can only wait for maintenance and troubleshooting in situ, normal running and use of other equipment are blocked, and at the moment, the equipment is required to leave automatically and check in a maintenance area.
Disclosure of utility model
The utility model aims to solve the technical problems of further improving the instantaneity of an electric control system of the electric telescopic boom type omnidirectional operation platform, the running stability of mechanism actions and the adaptability of subsequent unmanned and intelligent upgrading and reconstruction, and provides a distributed electric control system which meets the requirements of the electric telescopic boom type omnidirectional operation platform and realizes that a running unit can be continuously used when an upper loading operation unit fails.
The object of the utility model is achieved in the following way:
The distributed electrical control system of the electric telescopic boom type omnidirectional operation platform comprises a man-machine interaction control unit, a running control unit and an upper operation control unit, wherein the man-machine interaction control unit is an upper computer, the running control unit and the upper operation control unit are lower computers, and the running control unit and the upper operation control unit are respectively connected with the man-machine interaction control unit in a CAN bus communication mode.
The man-machine interaction control unit comprises a whole vehicle controller, a sensor module and a display, wherein the sensor module and the display are connected with the whole vehicle controller through CAN communication.
The whole vehicle controller adopts a double CPU architecture and comprises an analog signal, a switching value signal, CAN communication, LIN communication and 485 serial port communication interfaces.
The sensor module comprises an active ranging sensor, a panoramic view sensor and a moment monitoring sensor, and feeds back real-time information to the whole vehicle controller through the CAN bus.
The running control unit comprises a running controller, a steering wheel, a running motor driver connected with the running motor, a steering motor and a steering motor driver connected with the steering motor; the driving motor driver and the steering motor driver are communicated with the driving controller in a CAN communication mode; the steering wheel adopts an absolute value high-precision encoder to feed back a direction value, is connected with a running controller by CAN communication and is not connected with wheels of equipment; and the running controller is in communication connection with the whole vehicle controller.
The running controller is of a double-CPU architecture, is provided with CAN communication, analog signals and switching value signal interfaces, CAN be compatible with various driver communication signals, is connected with a running motor driver through a CAN1 bus, is connected with a steering wheel and a steering motor driver through a CAN2 bus, and is communicated with a whole vehicle controller through a CAN3 bus.
The upper mounting operation control unit comprises a hydraulic motor, a hydraulic motor driver connected with the hydraulic motor, an operating handle and an upper mounting operation controller; the hydraulic motor driver and the operating handle are in communication connection with the upper operating controller in a CAN communication mode, and the upper operating controller is in communication connection with the whole vehicle controller.
The upper working controller comprises a CAN bus, an analog signal and a switching value signal communication interface, and is in communication connection with the hydraulic motor driver and the operating handle through the CAN bus.
The utility model has the beneficial effects that: compared with the prior art, the distributed electrical control system provided by the utility model can realize independent resolving operation of each action unit, integrally improve the real-time performance of the system, improve the response speed of the system, realize unmanned and intelligent upgrading and reconstruction without changing a controller, and not influence the control of each action unit of the equipment, thereby effectively improving the actual use efficiency and maintenance guarantee performance of the electric telescopic arm type omnidirectional operation platform.
Drawings
Fig. 1 is a block diagram of a distributed electrical control system of an electric telescopic boom omnidirectional operating platform;
FIG. 2 is a block diagram of distributed control communications;
FIG. 3 is a block diagram of a vehicle controller interface;
FIG. 4 is a block diagram of a travel controller interface;
FIG. 5 is a block diagram of an upper-level operations controller interface;
fig. 6 is a front view of the motorized telescopic boom omnidirectional exercise platform of the present utility model;
FIG. 7 is a rear view of FIG. 6;
FIG. 8 is a front view of a generic platform;
FIG. 9 is a cross-sectional view of an arm set;
FIG. 10 is a front view of an accessory module;
Fig. 11 is a side view of fig. 10.
Detailed Description
The utility model will be described in further detail with reference to the drawings and the detailed description.
It should be noted that the following detailed description is exemplary and is intended to provide further explanation of the application. Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application belongs.
As shown in FIG. 1, the distributed electrical control system of the electric telescopic boom type omnidirectional operation platform comprises a man-machine interaction control unit, a running control unit and an upper operation control unit, wherein the man-machine interaction control unit is an upper computer, the running control unit and the upper operation control unit are lower computers, and the running control unit and the upper operation control unit are respectively connected with the man-machine interaction control unit in a CAN bus communication mode.
The man-machine interaction control unit comprises a whole vehicle controller, a sensor module and a display, wherein the sensor module and the display are connected with the whole vehicle controller through CAN communication. The human and interactive control unit mainly completes the functions of information transmission, instruction issuing, data display and the like, has various external channels, and reserves interfaces for unmanned control, intelligent upgrading and reconstruction and the like, as shown in fig. 3.
The whole vehicle controller adopts a double CPU architecture and comprises an analog signal, a switching value signal, CAN communication, LIN communication and 485 serial port communication interfaces. The whole vehicle controller is mainly used for the operation state display of equipment, the information calculation of various sensors and the like, and the operation and operation safety of the equipment are ensured through information data analysis and decision making.
The sensor module comprises an active ranging sensor, a panoramic view sensor and a moment monitoring sensor, the sensor module feeds back real-time information to the whole vehicle controller through the CAN bus, and the whole vehicle controller forms a control instruction through resolving the information and simultaneously gives control actions to the running control unit and the upper loading operation control unit.
The active ranging sensor adopts a combination mode of millimeter wave radars and ultrasonic radars, 2 ultrasonic radars are respectively placed in front of and behind a platform, millimeter wave radars are respectively installed at four corners of the platform, and the distance between surrounding obstacles and the device is sensed in a multi-layer omnibearing manner through combination application; the panoramic vision sensor adopts wide-angle, short-focal length and long-depth-of-field cameras which are respectively arranged at the front, rear, left and right positions of the equipment protecting frame to display the surrounding environment image of the equipment; the moment monitoring sensor adopts a high-sensitivity and high-resolution strain gauge module which is arranged at the main stress part of the arm head of the equipment, and the strain gauge module can feed back the change of the load force of the arm head in real time.
The display receives the data of the whole vehicle controller in a CAN communication mode and displays information such as the running state, faults and the like of the forklift truck with the electric telescopic boom in real time.
The running control unit comprises a running controller, a steering wheel, a running motor driver connected with the running motor, a steering motor and a steering motor driver connected with the steering motor; the running control unit mainly completes the functions of resolving and controlling the driving running, resolving and controlling the steering, and converting the running mode, as shown in fig. 4.
The running controller selects a microprocessor integrated board card, has the functions of high-efficiency operation, millisecond-level clock, on-line monitoring and fault diagnosis, and is provided with a 3-path CAN communication interface, a 2-path LIN communication interface, a 2-path analog signal interface and a 10-path switching value signal interface.
The driving motor driver and the steering motor driver are communicated with the driving controller through a CAN communication mode, so that the driving and driving functions of the equipment are completed; the electric telescopic arm type omnidirectional operation platform comprises four wheels, wherein the four wheels can be used as driving wheels, all-electric driving is adopted, and a steering wheel of a driving control unit is used for controlling a wheel steering motor to realize omnidirectional driving actions such as straight running, inclined running, in-situ rotation and the like; the steering wheel adopts an absolute value high-precision encoder to feed back a direction value, is connected with a running controller by CAN communication, and calculates a direction angle in real time by the running controller without being connected with wheels of equipment; and the running controller is in communication connection with the whole vehicle controller.
The running controller is of a double-CPU architecture, is provided with CAN communication, analog signals and switching value signal interfaces, CAN be compatible with various driver communication signals, is connected with a running motor driver through a CAN1 bus, is connected with a steering wheel and a steering motor driver through a CAN2 bus, and is communicated with a whole vehicle controller through a CAN3 bus; and after receiving the steering wheel angle and resolving, the running controller sends a steering control instruction to the steering motor to complete steering control.
The upper mounting operation control unit comprises a hydraulic motor, a hydraulic motor driver connected with the hydraulic motor, an operating handle and an upper mounting operation controller; the hydraulic motor driver and the operating handle are in communication connection with the upper operating controller in a CAN communication mode, and the upper operating controller is in communication connection with the whole vehicle controller. The upper operation control unit mainly completes the functions of hydraulic motor operation, hydraulic proportional valve group action and working mode switching, as shown in fig. 5.
The hydraulic motor uses servo drive control, has the characteristics of wide speed regulation range, high response speed, strong overload capacity and the like, and uses a CAN communication mode to communicate with an upper operating controller.
The operating handle CAN be operated in a single shaft or multiple shafts by using a holding rod type handle, and is provided with 5 button switches of 2 shift switch boxes and is communicated with the upper operating controller by using a CAN communication mode.
The upper operating controller is connected with the hydraulic motor driver and the operating handle through the CAN bus in a communication way, calculates the action information of the operating handle in real time, sends a control instruction to the hydraulic motor driver, and completes the action of the telescopic boom set mechanism and the switching control function of the working mode.
The upper computer and the lower computer adopt a CAN communication mode, and point-to-point data communication is carried out, as shown in figure 2. When the subsequent unmanned and intelligent upgrading and reconstruction are carried out, the interface channels are needed to be connected to the whole vehicle controller of the upper computer, a new controller is not needed to be replaced, and the running controller and the upper operation controller of the lower computer are not affected. If the upper working controller fails and stops, the running controller can still be normally used, so that the upper electric telescopic arm forklift can automatically leave and go to a maintenance area for troubleshooting and repairing.
The utility model decomposes the whole operation data volume of the centralized control system, reduces the operation information data volume of the controller, improves the calculation speed, and effectively improves the action response speed and the running stability of the mechanism.
The utility model adopts the single-core processor, has the millisecond real-time clock function and the micro integrated controller with high-efficiency calculation, so that the response period of the electric control system reaches 5ms, and the real-time performance of the electric control system is effectively improved.
The utility model solves the problem of self-leaving when the upper operating unit fails in actual use, and effectively improves the operating efficiency of the equipment.
The utility model solves the problem of new design of the electric control system when the electric telescopic arm type omnidirectional operation platform is subsequently upgraded and reformed.
The electric telescopic boom type omnidirectional operation platform can refer to fig. 6-fig. 6, comprises a universal platform 1, and further comprises a telescopic boom set 2, a cab 3, an upper bracket 4, an electric system 5, a hydraulic system 6 and an accessory module 7 which are arranged on the universal platform 1. The telescopic boom set 2 is arranged on the right side of the universal platform 1, the cab 3 is arranged on the left side of the universal platform 1, the upper bracket 4 is arranged on the rear part of the universal platform 1, the telescopic boom set 2 is provided with an accessory connecting piece 24, and the accessory module 7 is connected with the accessory connecting piece 24.
The universal platform 1 comprises a frame 8, the frame 8 is a box body structure made of plates, an upper plane provides an installation plane of each upper assembly part, a right local area of the frame 8 adopts a sinking structure to provide installation space for a hydraulic motor oil pump and a hydraulic valve group, wheels 9 are arranged at four corners of the frame 8, each wheel 9 can independently complete steering and linear driving and has omnidirectional driving, damping and braking functions, a balancing weight 10 is arranged at the rear part of the frame 8, a front support 11 is arranged at the front end of the frame 8, and the front support 11 is matched with a guide rail 12 arranged on the frame and can move along the guide rail 12.
The telescopic arm set 2 consists of a telescopic arm mounting seat 14, a supporting seat 15, a basic arm 16, a primary arm 17, a secondary arm 18, an arm head 19, a front pulley 20, a rear pulley 21, a rope 22, a guide block 23, an accessory connecting piece 24 and the like. The telescopic arm mounting seat 14 and the supporting seat 15 are arranged on the right side of the universal platform 1, the supporting seat 15 is positioned in front of the telescopic arm mounting seat 14, the rear end of the basic arm 16 is hinged with the telescopic arm mounting seat 14, the front end of the basic arm 16 can be supported on the supporting seat 15, the primary arm 17 and the secondary arm 18 are nested layer by layer with the basic arm 16, sliding blocks 23 are arranged among the basic arm 16, the primary arm 17 and the secondary arm 18, and the layer by layer is realized through the supporting and guiding of the sliding blocks 23; the front end of the primary arm 17 is provided with a front pulley 20, the rear end is provided with a rear pulley 21, two ends of a rope 22 bypass the front pulley 20 and the rear pulley 21 and are respectively fixed at the front end and the rear end of the base arm 16, the front end of the secondary arm 18 is fixed with an arm head 19, an accessory connecting piece 24 is hinged on the arm head 19, the hinging shaft is used as a circle center, the rotating action can be completed, and a hydraulic quick-change connector and an electric quick-change connector are arranged on the accessory connecting piece 24.
The driver's cabin 3 sets up in the left side of general platform 1, its bottom links firmly with general platform 1, upper bracket 4, the open frame construction of driver's cabin 3 adoption steel pipe welded, the top sets up the protection network, right side is provided with glass plate 25 in the driver's cabin 3, seat 26 sets up at the driver's cabin 3 middle part, its right side handrail sets up operation control box 27, the place ahead of seat 26 sets up running control mechanism 28, acceleration and parking mechanism 29, display screen 30 sets up in the place ahead right of seat 26, running control mechanism 28 adopts the steering wheel form unanimous with ordinary vehicle to carry out directional control.
The upper bracket 4 is arranged at the rear part of the universal platform 1, adopts section welding to form a layered frame structure, the bottom of the upper bracket is fixed with the universal platform 1, and the upper bracket 4 provides a mounting plane for the seat 26 and other parts.
The electrical system 5 is formed by connecting a driver box 31, a battery pack 32 and a junction box 33, wherein the battery pack 32 adopts a rechargeable battery, the driver box 31, the battery pack 32 and the junction box 33 are fixed in a layered structure inside the upper mounting bracket 4, and the junction box 33 can be arranged below a seat.
The hydraulic system 6 consists of an oil tank 34, a motor pump 35, a valve group 36, an amplitude changing oil cylinder 37, an amplitude changing oil cylinder mounting seat 38, a telescopic oil cylinder 39, a swinging oil cylinder 40, a leveling oil cylinder 41 and the like. The oil tank 34 is arranged in the frame 8 below the seat 26 and plays a part of a counterweight role, the motor pump 35, the valve group 36 and the luffing cylinder 37 are arranged in a sinking space on the right side of the frame 8, the luffing cylinder mounting seat 38 is fixed on the frame 8, the cylinder body of the luffing cylinder 37 is hinged with the luffing cylinder mounting seat 38, and the piston rod of the luffing cylinder is hinged with the base arm 16; the telescopic cylinder 39 is arranged above the base arm 16, the cylinder body of the telescopic cylinder is fixed with the base arm 16, the piston rod is connected with the primary arm 17, the cylinder body of the swinging cylinder 40 is hinged with the frame 8, the piston rod is hinged with the base arm 16, the cylinder body of the leveling cylinder 41 is hinged with the arm head 19, the piston rod is hinged with the accessory connecting piece 24, the swinging cylinder 40 and the leveling cylinder 41 adopt the same structure, the rod cavity of the swinging cylinder 40 is connected with the rod cavity of the leveling cylinder 41 through an oil pipe, the rod-free cavity of the swinging cylinder 40 is connected with the rod-free cavity of the leveling cylinder 41 through an oil pipe, the piston rod of the swinging cylinder 40 generates certain position change along with the angle change of the base arm 16, the corresponding stroke change of the leveling cylinder 41 is generated through the oil pipe connected with each other, so that the corner of the accessory connecting piece 24 is always kept in a state vertical to the ground, the accessory module 7 connected with the accessory connecting piece 24 is always kept in a horizontal state, and meanwhile, the leveling cylinder 41 can be disconnected with the swinging cylinder 40 on an oil way, and the corner change of the accessory connecting piece 24 and the electromagnetic valve module 7 connected with the leveling cylinder can be independently controlled through the electromagnetic valve. The valve group 36 is formed by combining an amplitude variable electromagnetic valve, a telescopic electromagnetic valve, a swinging electromagnetic valve and an accessory electromagnetic valve, and is provided with an electrohydraulic proportional handle, so that the telescopic arm group 2 can be manually controlled, wherein the accessory electromagnetic valve transmits hydraulic power to a hydraulic executing element 47 on the accessory module 7 through a hydraulic quick-change connector on the accessory connecting piece 24.
The attachment module 7 is a collection of a set of work modules meeting a specific use function, and includes a body 42, a function piece 43, a hydraulic quick-change connector 44, an electric quick-change connector 45, a connector 46, and a hydraulic actuator 47. The connecting body 46 is fixed on the body 42, has a uniform mechanical interface which is meshed with the accessory connecting piece 24, can be aligned and locked quickly, the functional piece 43 and the hydraulic actuating element 47 are arranged on the body 42, the functional piece 43 is a part which is in direct contact with materials and performs operation on the materials, the functional piece 43 can have different forms according to the form and the operation characteristics of the materials, can perform various actions such as translation, rotation and swing on the body 42 under the driving of the hydraulic actuating element 47, the hydraulic quick-change connector 44 and the electric quick-change connector 45 are arranged on the body 42, one end of the hydraulic quick-change connector 44 is connected with the hydraulic actuating element 47 through an oil pipe, and the other end of the hydraulic quick-change connector 44 is in butt joint with the hydraulic connector on the accessory connecting piece 24; one end of the electrical quick-change connector 45 is connected with the hydraulic actuating element 47 through a cable, and the other end is in butt joint with the cable connector on the accessory connector 24. Taking a fork module as an example, the functional piece 43 is a fork, the hydraulic actuating element 47 is an oil cylinder, the cylinder body of the oil cylinder is arranged on the body 42, the piston rod of the oil cylinder is connected with the fork, and the fork can move in parallel on the body 42 along with the movement of the oil cylinder so as to adapt to the forking of cargoes with different sizes.
The foregoing is merely a preferred embodiment of the present utility model, and it should be noted that it will be apparent to those skilled in the art that several changes and modifications can be made without departing from the general inventive concept, and these should also be regarded as the scope of the utility model.
Claims (8)
1. An electric telescopic boom type omni-directional operation platform distributed electrical control system is characterized in that: the system comprises a man-machine interaction control unit, a running control unit and an upper operation control unit, wherein the man-machine interaction control unit is an upper computer, the running control unit and the upper operation control unit are lower computers, and the running control unit and the upper operation control unit are respectively connected with the man-machine interaction control unit in a CAN bus communication mode.
2. The electric telescopic boom type omni-directional work platform distributed electrical control system according to claim 1, wherein: the man-machine interaction control unit comprises a whole vehicle controller, a sensor module and a display, wherein the sensor module and the display are connected with the whole vehicle controller through CAN communication.
3. The electric telescopic boom type omni-directional work platform distributed electrical control system according to claim 2, wherein: the whole vehicle controller adopts a double CPU architecture and comprises an analog signal, a switching value signal, CAN communication, LIN communication and 485 serial port communication interfaces.
4. The electric telescopic boom type omni-directional work platform distributed electrical control system according to claim 2, wherein: the sensor module comprises an active ranging sensor, a panoramic view sensor and a moment monitoring sensor, and feeds back real-time information to the whole vehicle controller through the CAN bus.
5. The electric telescopic boom type omni-directional work platform distributed electrical control system according to claim 2, wherein: the running control unit comprises a running controller, a steering wheel, a running motor driver connected with the running motor, a steering motor and a steering motor driver connected with the steering motor; the driving motor driver and the steering motor driver are communicated with the driving controller in a CAN communication mode; the steering wheel adopts an absolute value high-precision encoder to feed back a direction value, is connected with a running controller by CAN communication and is not connected with wheels of equipment; and the running controller is in communication connection with the whole vehicle controller.
6. The electric telescopic boom type omni-directional work platform distributed electrical control system according to claim 5, wherein: the running controller is of a double-CPU architecture, is provided with CAN communication, analog signals and switching value signal interfaces, CAN be compatible with various driver communication signals, is connected with a running motor driver through a CAN1 bus, is connected with a steering wheel and a steering motor driver through a CAN2 bus, and is communicated with a whole vehicle controller through a CAN3 bus.
7. The electric telescopic boom type omni-directional work platform distributed electrical control system according to claim 2, wherein: the upper mounting operation control unit comprises a hydraulic motor, a hydraulic motor driver connected with the hydraulic motor, an operating handle and an upper mounting operation controller; the hydraulic motor driver and the operating handle are in communication connection with the upper operating controller in a CAN communication mode, and the upper operating controller is in communication connection with the whole vehicle controller.
8. The electric telescopic boom type omni-directional work platform distributed electrical control system according to claim 7, wherein: the upper working controller comprises a CAN bus, an analog signal and a switching value signal communication interface, and is in communication connection with the hydraulic motor driver and the operating handle through the CAN bus.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202322639959.7U CN221251035U (en) | 2023-09-27 | 2023-09-27 | Distributed electrical control system of electric telescopic arm type omnidirectional operation platform |
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| Application Number | Priority Date | Filing Date | Title |
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| CN202322639959.7U CN221251035U (en) | 2023-09-27 | 2023-09-27 | Distributed electrical control system of electric telescopic arm type omnidirectional operation platform |
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| CN221251035U true CN221251035U (en) | 2024-07-02 |
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| CN202322639959.7U Active CN221251035U (en) | 2023-09-27 | 2023-09-27 | Distributed electrical control system of electric telescopic arm type omnidirectional operation platform |
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