WO2018170982A1 - 一种绝缘高空作业车及其绝缘工作平台自动限幅方法 - Google Patents

一种绝缘高空作业车及其绝缘工作平台自动限幅方法 Download PDF

Info

Publication number
WO2018170982A1
WO2018170982A1 PCT/CN2017/081205 CN2017081205W WO2018170982A1 WO 2018170982 A1 WO2018170982 A1 WO 2018170982A1 CN 2017081205 W CN2017081205 W CN 2017081205W WO 2018170982 A1 WO2018170982 A1 WO 2018170982A1
Authority
WO
WIPO (PCT)
Prior art keywords
detecting sensor
upper arm
insulating
arm
insulated
Prior art date
Application number
PCT/CN2017/081205
Other languages
English (en)
French (fr)
Inventor
李培启
丁剑平
苑登波
郑磊
张泽华
Original Assignee
徐州海伦哲专用车辆股份有限公司
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by 徐州海伦哲专用车辆股份有限公司 filed Critical 徐州海伦哲专用车辆股份有限公司
Priority to ES201990071A priority Critical patent/ES2737844B2/es
Priority to US16/485,170 priority patent/US10815107B2/en
Priority to JP2019542577A priority patent/JP6811871B2/ja
Publication of WO2018170982A1 publication Critical patent/WO2018170982A1/zh

Links

Images

Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
    • B66C23/00—Cranes comprising essentially a beam, boom, or triangular structure acting as a cantilever and mounted for translatory of swinging movements in vertical or horizontal planes or a combination of such movements, e.g. jib-cranes, derricks, tower cranes
    • B66C23/18—Cranes comprising essentially a beam, boom, or triangular structure acting as a cantilever and mounted for translatory of swinging movements in vertical or horizontal planes or a combination of such movements, e.g. jib-cranes, derricks, tower cranes specially adapted for use in particular purposes
    • B66C23/36—Cranes comprising essentially a beam, boom, or triangular structure acting as a cantilever and mounted for translatory of swinging movements in vertical or horizontal planes or a combination of such movements, e.g. jib-cranes, derricks, tower cranes specially adapted for use in particular purposes mounted on road or rail vehicles; Manually-movable jib-cranes for use in workshops; Floating cranes
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66F—HOISTING, LIFTING, HAULING OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD
    • B66F17/00—Safety devices, e.g. for limiting or indicating lifting force
    • B66F17/006—Safety devices, e.g. for limiting or indicating lifting force for working platforms
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
    • B66C13/00—Other constructional features or details
    • B66C13/18—Control systems or devices
    • B66C13/22—Control systems or devices for electric drives
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
    • B66C23/00—Cranes comprising essentially a beam, boom, or triangular structure acting as a cantilever and mounted for translatory of swinging movements in vertical or horizontal planes or a combination of such movements, e.g. jib-cranes, derricks, tower cranes
    • B66C23/62—Constructional features or details
    • B66C23/64—Jibs
    • B66C23/68—Jibs foldable or otherwise adjustable in configuration
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
    • B66C23/00—Cranes comprising essentially a beam, boom, or triangular structure acting as a cantilever and mounted for translatory of swinging movements in vertical or horizontal planes or a combination of such movements, e.g. jib-cranes, derricks, tower cranes
    • B66C23/88—Safety gear
    • B66C23/90—Devices for indicating or limiting lifting moment
    • B66C23/905—Devices for indicating or limiting lifting moment electrical
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66F—HOISTING, LIFTING, HAULING OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD
    • B66F11/00—Lifting devices specially adapted for particular uses not otherwise provided for
    • B66F11/04—Lifting devices specially adapted for particular uses not otherwise provided for for movable platforms or cabins, e.g. on vehicles, permitting workmen to place themselves in any desired position for carrying out required operations
    • B66F11/044—Working platforms suspended from booms
    • B66F11/046—Working platforms suspended from booms of the telescoping type
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
    • G01B5/00—Measuring arrangements characterised by the use of mechanical techniques
    • G01B5/02—Measuring arrangements characterised by the use of mechanical techniques for measuring length, width or thickness
    • G01B5/04—Measuring arrangements characterised by the use of mechanical techniques for measuring length, width or thickness specially adapted for measuring length or width of objects while moving
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
    • G01B5/00—Measuring arrangements characterised by the use of mechanical techniques
    • G01B5/02—Measuring arrangements characterised by the use of mechanical techniques for measuring length, width or thickness
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C9/00—Measuring inclination, e.g. by clinometers, by levels

Definitions

  • the invention relates to a height limit working vehicle and a working platform limiting method thereof, in particular to an insulated aerial working vehicle and an automatic limiting method thereof for an insulating working platform, belonging to the technical field of aerial working vehicles.
  • the aerial work vehicle is a special special vehicle for transporting workers and using equipment to the high-altitude equipment for installation, maintenance and cleaning at high altitude. Compared with traditional work methods such as scaffolding and ladders, it has good work performance, high work efficiency and operation. The advantages of safety, etc., are currently widely used in infrastructure industries such as power, transportation, petrochemical, communications, and gardening.
  • Insulated aerial work vehicles are widely used in electric power, telecommunications and other industries; insulated aerial work vehicles are usually painted with insulating paint on the surface, using insulating hydraulic oil, and are classified into 10kv, 35kv, 63kv, 110kv, 220kv insulation grade according to rated voltage.
  • the high-intensity insulated aerial work vehicle usually adopts a double-folding + double-retracting hybrid boom structure, and in order to meet the grounding insulation performance of the live working, the last arm of the upper telescopic arm (the joint arm connected with the working bucket) Generally, it is made of insulating material and is the main insulation end.
  • the basic section arm of the lower telescopic arm (the joint arm connected to the turntable) is generally provided with a section of auxiliary insulation near the turntable.
  • the installation of the auxiliary insulation section makes it impossible to install an electronic sensor on the upper telescopic arm to detect the elevation angle and elongation signal of the upper telescopic arm, so that the real-time monitoring of the amplitude control of the boom working state cannot be realized, and thus the folding arm insulation height is currently
  • the working vehicle has no amplitude limiting function for the insulating arm. It is usually the operator's manual judgment on the working platform based on experience, manual control of the boom to cross obstacles or avoid obstacles. This operation is only based on the operator's operating experience. There is a safety hazard in the safety action, if the operator operates on the site or the work vehicle Cooked vehicle stability will lead to decline, and even the risk of tipping the body.
  • Chinese patent CN104724645A discloses an amplitude limiting system for an insulated aerial work platform, which discloses determining the amount of expansion and contraction of the telescopic arm and the relative to the ground by remotely monitoring the hydraulic pressure of the luffing cylinder and by monitoring the flow of liquid in the luffing cylinder.
  • Angle which in turn enables the detection and control of the working range of the aerial work platform, but the hydraulic pressure and flow
  • the detection is affected by the power supply, the detection accuracy is affected by the accuracy of the sensor, and the signal of the continuously changing output of the boom needs to be continuously stored, and the data throughput is large.
  • the present invention provides an automatic height limiting method for an insulated aerial work vehicle and an insulated working platform thereof, which can realize automatic folding of the folding boom without the provision of a limiting electrical component on the upper insulating folding boom. Ensure the stability of the whole vehicle and prevent the insulation platform from overturning or damage to the boom due to exceeding the range of the operating range.
  • the insulated aerial work vehicle comprises a vehicle body assembly, a turntable, a boom assembly, an insulation working platform and a working platform limiting device;
  • the turntable is mounted on the vehicle body assembly by a slewing bearing and a slewing drive;
  • the boom assembly includes a lower arm portion and an upper arm portion, the lower arm portion includes a base section arm and a base telescopic arm, and the upper arm portion includes a two-section arm and a two-section telescopic arm; and one end of the base section arm is hingedly connected to the turntable, and the base
  • the auxiliary arm is provided with an auxiliary insulating section; the basic telescopic arm is at least one piece, and is telescopically disposed in the base section arm; one end of the two arm is hingedly connected with the end end of the base telescopic arm; and the two telescopic arms are at least one set
  • the telescopic device is disposed in the two-section arm, and the end of the two-section telescopic arm is a main insulation end, and the main insulation end is connected and connected to the insulated working platform through an automatic leveling device;
  • the working platform limiting device comprises a lower arm inclination detecting sensor, a lower arm length detecting sensor, an upper arm amplitude detecting sensor, an upper arm length detecting sensor and an electric control mechanism;
  • a lower arm inclination detecting sensor is disposed on a root metal section of the base section arm located behind the auxiliary insulation section near the hinge position of the turntable;
  • the lower arm length detecting sensor, the upper arm amplitude detecting sensor and the upper arm length detecting sensor respectively comprise an insulating distance measuring rope and an insulation distance measuring rope receiving and measuring mechanism, and one end of each insulating distance measuring rope is fixed and wound and mounted on the corresponding insulation distance measuring.
  • each of the insulating distance measuring rope retracting and measuring mechanisms is disposed on a root metal section of the base section arm located behind the auxiliary insulating section near the hinged position of the turntable, and the insulating distance measuring rope retracting measuring mechanism has self-rewinding
  • the structure, the upper arm amplitude detecting sensor and the upper arm length detecting sensor further comprise an insulated guide sheave, and the two insulated distance measuring rope guiding wheels are respectively erected at an articulated position of the end portion of the base telescopic arm; the lower arm length detecting sensor is insulated and measured.
  • the other end of the rope is connected to the tail end of the base telescopic arm; the other end of the insulating distance measuring rope of the upper arm amplitude detecting sensor is connected to the tail of the two arm by the guiding of the corresponding insulated sheave; the insulation of the upper arm length detecting sensor The other end of the distance measuring rope is connected to the tail end of the main insulating end by the guiding of the corresponding insulated sheave;
  • the electronic control mechanism comprises a central processing unit, a data acquisition feedback loop, an insulation working platform amplitude calculation output loop, a data comparison loop, a limiter control loop and a controller, and the central processor is electrically connected to the lower arm inclination detecting sensor and the controller respectively, and the central unit The processor is electrically connected to the lower arm length detecting sensor, the upper arm amplitude detecting sensor and the upper arm length detecting sensor, and the controller is electrically connected to the vehicle hydraulic system.
  • the lower arm inclination detecting sensor, the lower arm length detecting sensor, the upper arm amplitude detecting sensor and the upper arm length detecting sensor are respectively installed and installed inside the base section arm, and the upper arm amplitude detecting is performed.
  • the mounting position of the other end of the insulated distance measuring rope of the sensor and the upper arm length detecting sensor is disposed inside the upper arm portion.
  • the insulating distance measuring rope of the lower arm length detecting sensor, the insulating distance measuring rope of the upper arm amplitude detecting sensor located in the lower arm portion, and the upper arm length detecting sensor are all disposed parallel to the central axis of the lower arm portion; the insulating distance measuring rope of the upper arm length detecting sensor located in the upper arm portion is disposed parallel to the central axis of the upper arm portion.
  • the insulated sheave of the upper arm luffing detecting sensor and the insulating sheave of the upper arm length detecting sensor are concentrically mounted.
  • the insulated sheave of the upper arm luffing detecting sensor and the insulating sheave of the upper arm length detecting sensor are coaxially mounted, and both are the same size.
  • the other end of the insulated distance measuring rope of the upper arm amplitude detecting sensor is connected to the inner side position of the tail end of the two arm arms which is relatively far from the hinge position.
  • An automatic limiting method for an insulated aerial work platform comprising the following steps:
  • the data acquisition feedback loop works.
  • the central processor of the electronic control mechanism collects the pitch angle of the lower arm part through the lower arm inclination detection sensor in real time, and simultaneously passes the lower arm length detection sensor, the upper arm amplitude change detection sensor, and the upper arm length detection.
  • the sensor's insulated distance measuring rope retracting measuring mechanism detects the extension length of the respective insulating distance measuring rope in real time;
  • the insulation working platform amplitude calculation output circuit works, and the central processing unit of the electronic control mechanism calculates the actual working range of the insulation working platform according to the data feedback and setting procedure;
  • Limiting control When the actual working amplitude is less than the set maximum working amplitude, the central processing unit of the electronic control unit outputs a signal to the controller, allowing the operator to perform an operation action of increasing the working range, when the actual working range is greater than or When it is equal to the set maximum working range, the central processing unit of the electronic control unit outputs a signal to the controller, restricting the operator to perform all operation actions to increase the working range.
  • the starting angle of the upper arm portion and the lower arm portion is set to A 2 , the starting length of the insulating distance measuring rope of the lower arm length detecting sensor is pulled out is L 1 , and the insulating distance measuring rope of the upper arm amplitude detecting sensor is pulled out The starting length is L 2 , and the starting length of the insulating distance measuring rope of the upper arm length detecting sensor is L 3 ;
  • the angle of the upper arm portion and the lower arm portion is set to A 2 ', and the length of the insulating distance measuring rope of the upper arm amplitude detecting sensor is L 2 ', and the insulation of the upper arm length detecting sensor The length of the distance measuring rope is L 3 ';
  • the length of the insulating distance measuring rope of the lower arm length detecting sensor is L 1 ';
  • the angles of the upper arm portion and the lower arm portion are maintained in the initial state, and the m-th arm of the upper arm portion telescopic arm is extended by a distance, the insulating distance measuring rope of the upper arm length detecting sensor is set.
  • Length is L 3 ";
  • L 32 L 3 - L 31 - L 33 ;
  • L 22 L 2 - L 21 - L 23 ;
  • the diameter of the rope groove of the insulating guide sheave of the upper arm amplitude detecting sensor is R 1
  • the diameter of the rope groove of the insulating guide sheave of the upper arm length detecting sensor is R 2 ;
  • the angle of the lower arm portion to the horizontal plane is A 1 '
  • the insulating distance measuring rope of the upper arm amplitude detecting sensor is wound around the insulating guide of the upper arm amplitude detecting sensor.
  • the length L 32 ' on the sheave is
  • the length L 22 ' of the insulating distance measuring rope of the upper arm length detecting sensor wound around the insulating guide sheave of the upper arm length detecting sensor is
  • L above L 0 + [L 3 '-L 3 - (L 1 '-L 1 )-L 32 '];
  • the working platform limiting device of the insulated aerial work vehicle includes a lower arm inclination detecting sensor, a lower arm length detecting sensor, an upper arm amplitude detecting sensor, an upper arm length detecting sensor, and a lower arm length detecting sensor
  • the upper arm amplitude detecting sensor and the upper arm length detecting sensor respectively comprise an insulation distance measuring rope and an insulation distance measuring rope retracting measuring mechanism
  • the lower arm inclination detecting sensor and each of the insulating distance measuring rope retracting measuring mechanisms are disposed at the basic section arm at the auxiliary insulation
  • the actual working width of the insulated working platform is calculated by real-time detecting the extension length of each insulated distance measuring rope.
  • the central processing unit of the electronic control unit When the actual working amplitude is less than the set maximum working range, The central processing unit of the electronic control unit outputs a signal to the controller, allowing the operator to perform an operation action of increasing the working range. When the actual working amplitude is greater than or equal to the set maximum working amplitude, the central processing unit of the electronic control unit outputs a signal to Controller, limit operator to all operations to increase the working range Therefore, it is possible to realize the automatic limiting of the folding boom without laying the limiting electrical component on the upper insulating folding arm frame, thereby realizing the stability of the whole vehicle and preventing the insulating working platform from exceeding the requirements of the working range. Car tipping or boom damage, especially suitable for insulated aerial work vehicles.
  • 1 is a schematic view showing the mounting structure of the limiter device of the working platform of the present invention on the boom assembly;
  • FIG. 2 is a schematic view showing the installation and measurement length of the lower arm length detecting sensor of the present invention
  • FIG. 3 is a schematic view showing the installation and measurement length of the upper arm amplitude detecting sensor of the present invention
  • FIG. 4 is a schematic view showing the installation and measurement length of the upper arm length detecting sensor of the present invention.
  • FIG. 5 is a schematic view showing the measured length of the lower arm length detecting sensor after the amplitude change of the insulating working platform of the present invention
  • FIG. 6 is a schematic view showing the measured length of the upper arm variable amplitude detecting sensor after the amplitude change of the insulating working platform of the present invention
  • FIG. 7 is a schematic view showing the measured length of the upper arm length detecting sensor after the amplitude change of the insulating working platform of the present invention.
  • FIG. 8 is a control flow chart of an automatic limiting method for an insulated working platform of an insulated aerial work vehicle according to the present invention.
  • the insulated aerial work vehicle includes a vehicle body assembly, a turntable, a boom assembly, an insulation working platform and a working platform limiting device.
  • the turret is mounted on the vehicle body assembly by a slewing ring and a slewing drive.
  • the boom assembly includes a lower arm portion including a base section arm 1 and a base telescopic arm 2, and an upper arm portion including a two-section arm 3 and a two-section telescopic arm 4;
  • One end of the arm 1 is hingedly connected to the turntable, and the base arm 1 is provided with an auxiliary insulating section 11;
  • the base telescopic arm 2 is at least one piece, and is telescopically disposed in the base section arm 1; one end of the two arm 3 and the base telescopic
  • the end of the end of the arm 2 is hingedly connected;
  • the two telescopic arms 4 are at least one piece, telescopically disposed in the two arms 3, the last section of the two telescopic arms 4 is the main insulating end 41, and the main insulating end 41 is automatically leveled.
  • the device is mounted and connected to the insulated working platform.
  • the working platform limiting device comprises a lower arm inclination detecting sensor 5, a lower arm length detecting sensor 6, an upper arm amplitude detecting sensor 7, an upper arm length detecting sensor 8, and an electric control mechanism;
  • the lower arm inclination detecting sensor 5 is disposed on the root metal section of the base section arm 1 located behind the auxiliary insulating section 11 near the hinge position of the turntable;
  • the lower arm length detecting sensor 6, the upper arm amplitude detecting sensor 7 and the upper arm length detecting sensor 8 each include an insulating distance measuring rope and an insulation distance measuring rope retracting measuring mechanism, and the length and diameter of the insulating rope are not changed after being tensioned.
  • One end of each of the insulated distance measuring ropes is fixed and wound and mounted on the corresponding insulation distance measuring rope retracting and measuring mechanism, and each of the insulating distance measuring rope retracting and measuring mechanisms is disposed near the turntable of the basic section arm 1 located behind the auxiliary insulating section 11.
  • the insulation distance measuring rope retracting measuring mechanism has a self-rewinding structure, the upper arm amplitude detecting sensor 7 and the upper arm length detecting transmission
  • the sensor 8 further comprises an insulated guide rope wheel, and the two insulated distance measuring rope guiding wheels are respectively erected at an articulated position of the end portion of the base telescopic arm 2; the other end of the insulating distance measuring rope of the lower arm length detecting sensor 6 and the base telescopic
  • the tail end of the arm 2 is connected, and the insulating telemetry rope of the lower arm length detecting sensor 6 can be pulled during the extension of the base telescopic arm 2; the other end of the insulating distance measuring rope of the upper arm amplitude detecting sensor 7 passes through the corresponding insulating guide
  • the guide of the sheave is connected with the tail of the two arm 3, and the insulating distance measuring rope of the upper arm amplitude detecting sensor 7 can be pulled during the turning of the two arm 3; the other end of the insulating measuring rope
  • the electronic control mechanism comprises a central processing unit, a data acquisition feedback loop, an insulation working platform amplitude calculation output loop, a data comparison loop, a limiter control loop and a controller, and the central processor is electrically connected to the lower arm inclination detecting sensor 5 and the controller, respectively.
  • the central processor is electrically connected to the lower arm length detecting sensor 6, the upper arm amplitude detecting sensor 7, and the upper arm length detecting sensor 8, respectively, and the controller is electrically connected to the vehicle hydraulic system.
  • the lower arm inclination detecting sensor 5, the lower arm length detecting sensor 6, the upper arm amplitude detecting sensor 7, and the upper arm length detecting sensor 8 are erected and mounted inside the base section arm 1, the upper arm amplitude detecting sensor 7 and The mounting position of the other end of the insulating distance measuring rope of the upper arm length detecting sensor 8 is disposed inside the upper arm portion.
  • the insulation distance measuring rope of the lower arm length detecting sensor 6, the upper arm amplitude detecting sensor 7 The insulating distance measuring rope located in the lower arm portion, the insulating distance measuring rope of the upper arm length detecting sensor 8 located in the lower arm portion are all disposed parallel to the central axis of the lower arm portion; the upper arm length detecting sensor 8 The insulated distance measuring rope located in the upper arm portion is disposed parallel to the central axis of the upper arm portion.
  • the insulated sheave of the upper arm luffing detecting sensor 7 and the insulating sheave of the upper arm length detecting sensor 8 are concentrically mounted.
  • the insulated guide sheave of the upper arm luffing detecting sensor 7 and the insulating sheave of the upper arm length detecting sensor 8 are coaxial. Installed and the two are the same size.
  • the upper arm becomes The other end of the insulating distance measuring rope of the web detecting sensor 7 is connected to the inner side of the tail portion of the two arm 3 which is relatively far from the hinge position.
  • the working platform limiting device always works in the variable amplitude control process of the insulated aerial work vehicle.
  • the data acquisition feedback loop works first, and the central processing unit of the electronic control mechanism collects the lower arm in real time through the lower arm inclination detecting sensor 5.
  • Partial pitch angle at the same time, through the lower arm length detecting sensor 6, the upper arm amplitude detecting sensor 7, the upper arm length detecting sensor 8, the insulating distance measuring rope retracting measuring mechanism detects the protruding length of the respective insulated measuring rope in real time;
  • the operating platform amplitude calculation output circuit works, the central processing unit of the electronic control unit calculates the actual working range of the insulated working platform according to the data feedback and setting program; then the data comparison loop and the limiter control loop work, the central processing unit of the electronic control mechanism Comparing the actual working range of the insulated working platform with the maximum working amplitude of the set insulating working platform and outputting the comparison result; when the actual working amplitude is less than the set maximum working amplitude, the central processing unit outputs the signal to the control , allowing the operator to perform operations that increase the working range, The actual work of a magnitude greater than or equal to the set maximum working range, the central processor output signal to the electronic control means of the controller, limit the operator performs all operations of the operation increases operating
  • the reading angle of the lower arm inclination detecting sensor 5 is A 1 .
  • the starting angle of the upper arm portion and the lower arm portion is set to A 2 .
  • the starting length of the insulating distance measuring rope of the lower arm length detecting sensor 6 is pulled out is L 1
  • the upper arm amplitude detecting sensor 7 The initial length of the insulated distance measuring rope is pulled out is L 2
  • the initial length of the insulating distance measuring rope of the upper arm length detecting sensor 8 is pulled out is L 3 .
  • the angle of the upper arm portion and the lower arm portion is set to A 2 ', and the length of the insulating distance measuring rope of the upper arm amplitude detecting sensor 7 is L 2 ', and the upper arm length detecting sensor 8
  • the length of the insulated distance measuring rope is L 3 ';
  • the length of the insulating distance measuring rope of the lower arm length detecting sensor 6 is L 1 ';
  • the insulation distance measurement of the upper arm length detecting sensor 8 is set after the total length of the lower arm portion is maintained in the initial state, the angles of the upper arm portion and the lower arm portion are maintained in the initial state, and the m-th arm of the upper arm portion telescopic arm 4 is extended by a distance.
  • the length of the rope is L 3 ";
  • the upper arm amplitude detecting sensor 7 is set to the insulating measuring rope exit position of the insulating distance measuring rope retracting measuring mechanism to the tangent point of the insulating guide sheave of the insulating distance measuring rope and the upper arm amplitude detecting sensor 7.
  • the distance between the upper arm is between L 31 and the end of the insulated measuring distance of the upper arm amplitude detecting sensor 7 and the tail of the two arm 3 to the point tangential point d between the insulating measuring rope and the insulating guide wheel of the upper arm amplitude detecting sensor 7.
  • the distance L 33 is the length L 32 of the insulating distance measuring rope of the upper arm amplitude detecting sensor 7 around the insulating sheave of the upper arm amplitude detecting sensor 7 when both the upper arm portion and the lower arm portion are in the initial state.
  • L 32 L 3 - L 31 - L 33 ;
  • the upper arm length detecting sensor 8 is disposed between the insulating distance measuring rope exiting position of the insulating distance measuring rope receiving and measuring mechanism to the point tangent point a between the insulating measuring distance rope and the insulating guide wheel of the upper arm length detecting sensor 8.
  • the upper arm length detector 8 ranging insulating rope end 41 connected to the tail end of the main insulation to the insulating rope guide sheave insulating distance detecting sensor 8 and the upper arm length distance between the tangential point b is L 23 , then, when the upper arm portion and the lower arm portion are both in the initial state, the length L 22 of the insulating distance measuring rope of the upper arm length detecting sensor 8 wound around the insulating guide sheave of the upper arm length detecting sensor 8 is
  • L 22 L 2 - L 21 - L 23 ;
  • the diameter of the rope groove of the insulating sheave of the upper arm width detecting sensor 7 is set to R 1
  • the diameter of the rope groove of the insulating sheave of the upper arm length detecting sensor 8 is R 2 .
  • the angle of the lower arm portion to the horizontal plane is A 1 '
  • the insulating distance measuring rope of the upper arm amplitude detecting sensor 7 is wound around the upper arm.
  • the length L 32 ' of the insulating guide sheave of the variable width detecting sensor 7 is
  • the length L 22 ' of the insulating distance measuring rope of the upper arm length detecting sensor 8 wound around the insulating sheave of the upper arm length detecting sensor 8 is
  • L above L 0 + [L 3 '-L 3 - (L 1 '-L 1 )-L 32 '];
  • the maximum working range of the insulated working platform of the insulated aerial work vehicle is R 0 .
  • the central processing unit calculates the output working circuit according to the amplitude of the insulating working platform, the actual working amplitude R is less than the set maximum working amplitude R 0 , the central processing The output signal is sent to the controller, allowing the operator to perform an operation action for increasing the working range; when the central processor calculates the actual working amplitude R of the output loop calculation feedback according to the insulation working platform amplitude is greater than or equal to the set maximum working amplitude R 0 The central processor outputs a signal to the controller, limiting the operator to perform all operational actions to increase the working range.
  • the working platform limiting device of the insulated aerial work vehicle includes a lower arm inclination detecting sensor 5, a lower arm length detecting sensor 6, an upper arm amplitude detecting sensor 7, and an upper arm length detecting sensor 8, and the lower arm length detecting sensor 6 and the upper arm are changed.
  • the amplitude detecting sensor 7 and the upper arm length detecting sensor 8 each include an insulating distance measuring rope and an insulation distance measuring rope retracting measuring mechanism, and the lower arm inclination detecting sensor 5 and each of the insulating distance measuring rope retracting measuring mechanisms are disposed at the base section arm 1
  • the actual working range of the insulating working platform is calculated by real-time detecting the protruding length of each insulating distance measuring rope, when the actual working range is smaller than the set maximum working In the amplitude, the central processing unit of the electronic control unit outputs a signal to the controller, allowing the operator to perform an operation action of increasing the working range.
  • the central processing unit of the electronic control mechanism Output signals to the controller, limiting the operator to perform all operational actions to increase the working range,
  • the automatic limiting of the folding boom can be realized without laying the limiting electrical component on the upper insulating folding arm frame, thereby realizing the stability of the whole vehicle and preventing the insulation working platform from tipping over due to exceeding the working range range. Or the arm frame is damaged, especially suitable for insulated aerial work vehicles.

Abstract

一种绝缘高空作业车及其绝缘工作平台自动限幅方法，绝缘高空作业车包括作业平台限幅装置，作业平台限幅装置包括下臂倾角检测传感器(5)和均包括绝缘测距绳和绝缘测距绳收放测量机构的下臂长度检测传感器(6)、上臂变幅检测传感器(7)、上臂长度检测传感器(8)；采用实时检测各个绝缘测距绳的伸出长度来换算成绝缘作业平台的实际工作幅度，当实际工作幅度小于设定的最大工作幅度时允许操作者进行增大工作幅度的操作动作，当实际工作幅度大于或等于设定的最大工作幅度时限制操作者进行增大工作幅度的所有操作动作，进而实现保证整车的稳定性、防止绝缘作业平台因超过作业幅度范围要求出现整车倾翻或臂架损坏。

Description

一种绝缘高空作业车及其绝缘工作平台自动限幅方法 技术领域
本发明涉及一种高空作业车及其工作平台限幅方法，具体是一种绝缘高空作业车及其绝缘工作平台自动限幅方法，属于高空作业车技术领域。
背景技术
高空作业车是运送工作人员和使用器材至高空对位于高空的设备进行安装、维护、清洗的专用特种车辆，与搭脚手架、梯子等传统的作业方式相比具有作业性能好、作业效率高、作业安全等优点，目前广泛应用于电力、交通、石化、通信、园林等基础设施行业。
随着经济和社会的发展，人们对电力供应的维护与快速响应的要求不断提高，能够快速响应并具有作业效率高、升空便利、作业范围大、电气绝缘性能好等优点和能够带电作业的绝缘高空作业车在电力、电信等行业广泛应用；绝缘高空作业车通常表面涂刷绝缘漆、使用绝缘性液压油，并按照额定电压分为10kv、35kv、63kv、110kv、220kv等绝缘等级。
现有技术中大高度绝缘高空作业车通常采用双折叠+双伸缩的混合臂架结构形式，而且为了满足带电作业的对地绝缘性能，上伸缩臂的末节臂(与工作斗相连接的节臂)一般采用绝缘材料制作、为主绝缘端，为了满足低空带电体对地面作业人员的保护，下伸缩臂的基础节臂(与转台相连接的节臂)一般在接近转台处设有一段辅助绝缘段，辅助绝缘段的设置造成无法在上伸缩臂上安装电子传感器来检测上伸缩臂的仰角和伸长量信号，进而无法实现对臂架作业状态进行幅度控制的实时监测，因而目前折叠臂绝缘高空作业车针对绝缘臂均没有幅度限制功能，通常是操作人员在工作平台上根据经验进行人工判断、手动控制臂架跨越障碍物或避让障碍物操作的安全动作，此只凭借操作人员的操作经验进行安全动作存在安全隐患，若操作人员对现场工况或作业车操作不熟会导致整车稳定性下降、发生危险甚至车体倾翻。
中国专利CN104724645A公开了一种绝缘高空作业平台的幅度限制系统，其公开了通过远程监测变幅油缸的液压压力和通过监测变幅油缸内的液体流量而确定伸缩臂的伸缩量以及相对于地面的角度，进而实现高空作业平台作业幅度的检测和控制，但液压压力和流量 的检测受电力供应的影响、检测精度受传感器精度的影响，且需要对臂架连续变化输出的信号进行连续存储，数据吞吐量较大。
发明内容
针对上述问题，本发明提供一种绝缘高空作业车及其绝缘工作平台自动限幅方法，可以无需在上绝缘折叠臂架上布设限幅电器元件的前提下实现折叠臂架自动限幅，进而实现保证整车的稳定性、防止绝缘作业平台因超过作业幅度范围要求出现整车倾翻或臂架损坏。
为实现上述目的，本绝缘高空作业车包括车体总成、转台、臂架总成、绝缘作业平台和作业平台限幅装置；
所述的转台通过回转支承和回转驱动安装在车体总成上；
所述的臂架总成包括下臂部分和上臂部分，下臂部分包括基础节臂和基础伸缩臂，上臂部分包括二节臂和二节伸缩臂；基础节臂一端与转台铰接安装连接，基础节臂上设有辅助绝缘段；基础伸缩臂至少设置为一件、伸缩设置在基础节臂内；二节臂的一端与基础伸缩臂的末节端部铰接连接；二节伸缩臂至少设置为一件、伸缩设置在二节臂内，二节伸缩臂的末节是主绝缘端，主绝缘端通过自动调平装置与所述的绝缘作业平台安装连接；
所述的作业平台限幅装置包括下臂倾角检测传感器、下臂长度检测传感器、上臂变幅检测传感器、上臂长度检测传感器和电控机构；
下臂倾角检测传感器设置在基础节臂位于辅助绝缘段后方的靠近转台铰接位置的根部金属段上；
下臂长度检测传感器、上臂变幅检测传感器和上臂长度检测传感器均包括绝缘测距绳和绝缘测距绳收放测量机构，各个绝缘测距绳的一端均固定并缠绕安装在对应的绝缘测距绳收放测量机构上，各个绝缘测距绳收放测量机构均设置在基础节臂位于辅助绝缘段后方的靠近转台铰接位置的根部金属段上，绝缘测距绳收放测量机构具有自回卷结构，上臂变幅检测传感器和上臂长度检测传感器还包括绝缘导绳轮，两件绝缘测距绳导向轮均架设安装在基础伸缩臂末节端部的铰接位置；下臂长度检测传感器的绝缘测距绳的另一端与基础伸缩臂末节的尾部连接；上臂变幅检测传感器的绝缘测距绳的另一端通过与其对应的绝缘导绳轮的导向与二节臂的尾部连接；上臂长度检测传感器的绝缘测距绳的另一端通过与其对应的绝缘导绳轮的导向与主绝缘端的尾部连接；
电控机构包括中央处理器、数据采集反馈回路、绝缘作业平台幅度计算输出回路、数据比较回路、限幅控制回路和控制器，中央处理器分别与下臂倾角检测传感器和控制器电连接，中央处理器分别与下臂长度检测传感器、上臂变幅检测传感器和上臂长度检测传感器的绝缘测距绳收放测量机构电连接，控制器与车载液压系统电连接。
作为本发明的进一步改进方案，所述的下臂倾角检测传感器、下臂长度检测传感器、上臂变幅检测传感器和上臂长度检测传感器均架设安装在基础节臂的内部，所述的上臂变幅检测传感器和上臂长度检测传感器的绝缘测距绳的另一端的安装位置均设置在上臂部分内部。
作为本发明的进一步改进方案，所述的下臂长度检测传感器的绝缘测距绳、所述的上臂变幅检测传感器的位于下臂部分内的绝缘测距绳、所述的上臂长度检测传感器的位于下臂部分内的绝缘测距绳均平行于下臂部分的中心轴线设置；所述的上臂长度检测传感器的位于上臂部分内的绝缘测距绳平行于上臂部分的中心轴线设置。
作为本发明的进一步改进方案，所述的上臂变幅检测传感器的绝缘导绳轮和上臂长度检测传感器的绝缘导绳轮同心安装。
作为本发明的进一步改进方案，所述的上臂变幅检测传感器的绝缘导绳轮和上臂长度检测传感器的绝缘导绳轮同轴安装、且二者尺寸相同。
作为本发明的进一步改进方案，所述的上臂变幅检测传感器的绝缘测距绳的另一端与二节臂尾部的相对远离铰接位置的内侧面位置连接。
一种绝缘高空作业车工作平台自动限幅方法，具体包括以下步骤：
a.数据采集：数据采集反馈回路工作，电控机构的中央处理器实时通过下臂倾角检测传感器采集下臂部分的俯仰角度，同时通过下臂长度检测传感器、上臂变幅检测传感器、上臂长度检测传感器的绝缘测距绳收放测量机构实时检测各自的绝缘测距绳的伸出长度；
b.数据计算：绝缘作业平台幅度计算输出回路工作，电控机构的中央处理器根据数据反馈和设定程序计算出绝缘作业平台的实际工作幅度；
c.数据比较与输出：数据比较回路和限幅控制回路工作，电控机构的中央处理器将绝缘作业平台的实际工作幅度与设定的绝缘作业平台的最大工作幅度进行比较并输出比较结果；
d.限幅控制：当实际工作幅度小于设定的最大工作幅度时，电控机构的中央处理器输出信号给控制器、允许操作者进行增大工作幅度的操作动作，当实际工作幅度大于或等于设定的最大工作幅度时，电控机构的中央处理器输出信号给控制器、限制操作者进行增大工作幅度的所有操作动作。
作为本发明的绝缘作业平台实际工作幅度的确定方案，按照以下步骤：
设定基础伸缩臂和二节伸缩臂处于完全缩入的初始状态时下臂部分初始长度为L0下，上臂部分初始长度为L0上，下臂部分与水平面起始角度为A1，此时下臂倾角检测传感器读取角度为A1；
设定上臂部分与下臂部分的起始角度为A2，下臂长度检测传感器的绝缘测距绳被拉出的起始长度为L1，上臂变幅检测传感器的绝缘测距绳被拉出的起始长度为L2，上臂长度检测传感器的绝缘测距绳被拉出的起始长度为L3；
当下臂部分抬起后，设定下臂部分与水平面的角度为A1'；
当上臂部分相对于下臂部分抬起后，设定上臂部分与下臂部分的角度为A2'，上臂变幅检测传感器的绝缘测距绳的长度为L2'，上臂长度检测传感器的绝缘测距绳的长度为L3'；
设定下臂部分基础伸缩臂的第n节臂伸出一段距离后，下臂长度检测传感器的绝缘测距绳的长度为L1'；
在下臂部分总长度保持初始状态、上臂部分和下臂部分的角度保持初始状态、上臂部分二节伸缩臂的第m节臂伸出一段距离后，设定上臂长度检测传感器的绝缘测距绳的长度为L3"；
设定上臂变幅检测传感器绝缘测距绳收放测量机构的绝缘测距绳出口位置至绝缘测距绳与上臂变幅检测传感器的绝缘导绳轮相切点c之间的距离为L31，上臂变幅检测传感器与二节臂尾部连接的绝缘测距绳末端至绝缘测距绳与上臂变幅检测传感器的绝缘导绳轮相切点d之间的距离为L33，则，在上臂部分和下臂部分均位于初始状态时，上臂变幅检测传感器的绝缘测距绳绕在上臂变幅检测传感器的绝缘导绳轮上的长度L32为
L32＝L3－L31－L33；
设定上臂长度检测传感器绝缘测距绳收放测量机构的绝缘测距绳出口位置至绝缘测距绳与上臂长度检测传感器的绝缘导绳轮相切点a之间的距离为L21，上臂长度检测传感器与 主绝缘端尾部连接的绝缘测距绳末端至绝缘测距绳与上臂长度检测传感器的绝缘导绳轮相切点b之间的距离为L23，则，在上臂部分和下臂部分均位于初始状态时，上臂长度检测传感器的绝缘测距绳绕在上臂长度检测传感器的绝缘导绳轮上的长度L22为
L22＝L2－L21－L23；
设定上臂变幅检测传感器的绝缘导绳轮的绳槽中径为R1，上臂长度检测传感器的绝缘导绳轮的绳槽中径为R2；
当上臂部分和下臂部分从初始状态变化到某一位置时，下臂部分与水平面角度为A1'，此时上臂变幅检测传感器的绝缘测距绳绕在上臂变幅检测传感器的绝缘导绳轮上的长度L32'为
Figure PCTCN2017081205-appb-000001
此时上臂长度检测传感器的绝缘测距绳绕在上臂长度检测传感器的绝缘导绳轮上的长度L22'为
L22'＝L2'-[L21+(L1'-L1)]-L23；
此时上臂部分相对于下臂部分的角度变化为
Figure PCTCN2017081205-appb-000002
此时下臂部分长度为L下＝L0下+(L1'-L1)；
此时上臂部分长度为
L上＝L0上+[L3′-L3-（L1′-L1）-L32′]；
则，绝缘高空作业平台的实际工作幅度R，
当0°≤A′1≤90°，A′1＜A2′时
R＝|L下·cosA1′-L上·cos(A1′-A2′)|；
当0°≤A′1≤90°，A′1＞A2′时
R＝|L下·cosA1′-L上·cos(A2′-A1′)|；
当90°＜A′1＜180°，A′1＜A2′时
R＝L下·cosA1′+L上·cos(180°-A1′-A2′)
当90°＜A′1＜180°，A′1＞A2′时
R＝L下·cosA1′+L上·cos(A1′-A2′)。
与现有技术相比，本绝缘高空作业车的作业平台限幅装置由于包括下臂倾角检测传感器、下臂长度检测传感器、上臂变幅检测传感器、上臂长度检测传感器，且下臂长度检测传感器、上臂变幅检测传感器和上臂长度检测传感器均包括绝缘测距绳和绝缘测距绳收放测量机构，下臂倾角检测传感器和各个绝缘测距绳收放测量机构均设置在基础节臂位于辅助绝缘段后方的靠近转台铰接位置的根部金属段上，采用实时检测各个绝缘测距绳的伸出长度来计算换算成绝缘作业平台的实际工作幅度，当实际工作幅度小于设定的最大工作幅度时，电控机构的中央处理器输出信号给控制器、允许操作者进行增大工作幅度的操作动作，当实际工作幅度大于或等于设定的最大工作幅度时，电控机构的中央处理器输出信号给控制器、限制操作者进行增大工作幅度的所有操作动作，因此能够无需在上绝缘折叠臂架上布设限幅电器元件的前提下实现折叠臂架的自动限幅，从而实现保证整车的稳定性、防止绝缘作业平台因超过作业幅度范围要求出现整车倾翻或臂架损坏，特别适用于绝缘高空作业车。
附图说明
图1是本发明作业平台限幅装置在臂架总成上的安装结构示意图；
图2是本发明下臂长度检测传感器的安装及测量长度示意图；
图3是本发明上臂变幅检测传感器的安装及测量长度示意图；
图4是本发明上臂长度检测传感器的安装及测量长度示意图；
图5是本发明绝缘作业平台幅度变化后下臂长度检测传感器的测量长度示意图；
图6是本发明绝缘作业平台幅度变化后上臂变幅检测传感器的测量长度示意图；
图7是本发明绝缘作业平台幅度变化后上臂长度检测传感器的测量长度示意图；
图8是本发明绝缘高空作业车绝缘工作平台自动限幅方法的控制流程图。
图中：1、基础节臂，11、辅助绝缘段，2、基础伸缩臂，3、二节臂，4、二节伸缩臂，41、主绝缘端，5、下臂倾角检测传感器，6、下臂长度检测传感器，7、上臂变幅检测传感器，8、上臂长度检测传感器。
具体实施方式
下面结合附图对本发明做进一步说明。
本绝缘高空作业车包括车体总成、转台、臂架总成、绝缘作业平台和作业平台限幅装置。
所述的转台通过回转支承和回转驱动安装在车体总成上。
如图1所示，所述的臂架总成包括下臂部分和上臂部分，下臂部分包括基础节臂1和基础伸缩臂2，上臂部分包括二节臂3和二节伸缩臂4；基础节臂1一端与转台铰接安装连接，基础节臂1上设有辅助绝缘段11；基础伸缩臂2至少设置为一件、伸缩设置在基础节臂1内；二节臂3的一端与基础伸缩臂2的末节端部铰接连接；二节伸缩臂4至少设置为一件、伸缩设置在二节臂3内，二节伸缩臂4的末节是主绝缘端41，主绝缘端41通过自动调平装置与所述的绝缘作业平台安装连接。
所述的作业平台限幅装置包括下臂倾角检测传感器5、下臂长度检测传感器6、上臂变幅检测传感器7、上臂长度检测传感器8和电控机构；
下臂倾角检测传感器5设置在基础节臂1位于辅助绝缘段11后方的靠近转台铰接位置的根部金属段上；
下臂长度检测传感器6、上臂变幅检测传感器7和上臂长度检测传感器8均包括绝缘测距绳和绝缘测距绳收放测量机构，绝缘绳受力张紧后长度和直径均不发生变化，各个绝缘测距绳的一端均固定并缠绕安装在对应的绝缘测距绳收放测量机构上，各个绝缘测距绳收放测量机构均设置在基础节臂1位于辅助绝缘段11后方的靠近转台铰接位置的根部金属段上，绝缘测距绳收放测量机构具有自回卷结构，上臂变幅检测传感器7和上臂长度检测传 感器8还包括绝缘导绳轮，两件绝缘测距绳导向轮均架设安装在基础伸缩臂2末节端部的铰接位置；下臂长度检测传感器6的绝缘测距绳的另一端与基础伸缩臂2末节的尾部连接，基础伸缩臂2伸出过程中可牵拉下臂长度检测传感器6的绝缘测距绳；上臂变幅检测传感器7的绝缘测距绳的另一端通过与其对应的绝缘导绳轮的导向与二节臂3的尾部连接，二节臂3翻转过程中可牵拉上臂变幅检测传感器7的绝缘测距绳；上臂长度检测传感器8的绝缘测距绳的另一端通过与其对应的绝缘导绳轮的导向与主绝缘端41的尾部连接，二节伸缩臂4伸出过程中可牵拉上臂长度检测传感器8的绝缘测距绳；
电控机构包括中央处理器、数据采集反馈回路、绝缘作业平台幅度计算输出回路、数据比较回路、限幅控制回路和控制器，中央处理器分别与下臂倾角检测传感器5和控制器电连接，中央处理器分别与下臂长度检测传感器6、上臂变幅检测传感器7和上臂长度检测传感器8的绝缘测距绳收放测量机构电连接，控制器与车载液压系统电连接。
为了实现保护下臂倾角检测传感器5、下臂长度检测传感器6、上臂变幅检测传感器7和上臂长度检测传感器8，防止意外损伤而无法检测，且实现外观美观，作为本发明的进一步改进方案，所述的下臂倾角检测传感器5、下臂长度检测传感器6、上臂变幅检测传感器7和上臂长度检测传感器8均架设安装在基础节臂1的内部，所述的上臂变幅检测传感器7和上臂长度检测传感器8的绝缘测距绳的另一端的安装位置均设置在上臂部分内部。
为了便于相对简单地采集长度信息、且保证采集长度信息的准确性，作为本发明的进一步改进方案，所述的下臂长度检测传感器6的绝缘测距绳、所述的上臂变幅检测传感器7的位于下臂部分内的绝缘测距绳、所述的上臂长度检测传感器8的位于下臂部分内的绝缘测距绳均平行于下臂部分的中心轴线设置；所述的上臂长度检测传感器8的位于上臂部分内的绝缘测距绳平行于上臂部分的中心轴线设置。
为了实现便于安装、且便于相对简单地采集长度信息，作为本发明的进一步改进方案，所述的上臂变幅检测传感器7的绝缘导绳轮和上臂长度检测传感器8的绝缘导绳轮同心安装。
为了进一步实现便于安装、且更相对简单地采集长度信息，作为本发明的进一步改进方案，所述的上臂变幅检测传感器7的绝缘导绳轮和上臂长度检测传感器8的绝缘导绳轮同轴安装、且二者尺寸相同。
为了减少上臂变幅检测传感器7的绝缘测距绳与绝缘导绳轮的接触面积，进而减小绝缘导绳轮对绝缘测距绳的磨损，作为本发明的进一步改进方案，所述的上臂变幅检测传感器7的绝缘测距绳的另一端与二节臂3尾部的相对远离铰接位置的内侧面位置连接。
本绝缘高空作业车在变幅控制过程中作业平台限幅装置始终工作，如图8所示，首先数据采集反馈回路工作，电控机构的中央处理器实时通过下臂倾角检测传感器5采集下臂部分的俯仰角度，同时通过下臂长度检测传感器6、上臂变幅检测传感器7、上臂长度检测传感器8的绝缘测距绳收放测量机构实时检测各自的绝缘测距绳的伸出长度；然后绝缘作业平台幅度计算输出回路工作，电控机构的中央处理器根据数据反馈和设定程序计算出绝缘作业平台的实际工作幅度；然后数据比较回路和限幅控制回路工作，电控机构的中央处理器将绝缘作业平台的实际工作幅度与设定的绝缘作业平台的最大工作幅度进行比较并输出比较结果；当实际工作幅度小于设定的最大工作幅度时，电控机构的中央处理器输出信号给控制器、允许操作者进行增大工作幅度的操作动作，当实际工作幅度大于或等于设定的最大工作幅度时，电控机构的中央处理器输出信号给控制器、限制操作者进行增大工作幅度的所有操作动作。
设定基础伸缩臂2和二节伸缩臂4处于完全缩入的初始状态时下臂部分初始长度为L0下，上臂部分初始长度为L0上，下臂部分与水平面起始角度为A1，此时下臂倾角检测传感器5读取角度即为A1。
设定上臂部分与下臂部分的起始角度为A2，如图2所示，下臂长度检测传感器6的绝缘测距绳被拉出的起始长度为L1，上臂变幅检测传感器7的绝缘测距绳被拉出的起始长度为L2，上臂长度检测传感器8的绝缘测距绳被拉出的起始长度为L3。
当下臂部分抬起后，设定下臂部分与水平面的角度为A1'。
当上臂部分相对于下臂部分抬起后，设定上臂部分与下臂部分的角度为A2'，上臂变幅检测传感器7的绝缘测距绳的长度为L2'，上臂长度检测传感器8的绝缘测距绳的长度为L3'；
如图5所示，设定下臂部分基础伸缩臂2的第n节臂伸出一段距离后，下臂长度检测传感器6的绝缘测距绳的长度为L1'；
在下臂部分总长度保持初始状态、上臂部分和下臂部分的角度保持初始状态、上臂部分二节伸缩臂4的第m节臂伸出一段距离后，设定上臂长度检测传感器8的绝缘测距绳的长度为L3"；
如图3所示，设定上臂变幅检测传感器7绝缘测距绳收放测量机构的绝缘测距绳出口位置至绝缘测距绳与上臂变幅检测传感器7的绝缘导绳轮相切点c之间的距离为L31，上臂变幅检测传感器7与二节臂3尾部连接的绝缘测距绳末端至绝缘测距绳与上臂变幅检测传感器7的绝缘导绳轮相切点d之间的距离为L33，则，在上臂部分和下臂部分均位于初始状态时，上臂变幅检测传感器7的绝缘测距绳绕在上臂变幅检测传感器7的绝缘导绳轮上的长度L32为
L32＝L3－L31－L33；
如图4所示，设定上臂长度检测传感器8绝缘测距绳收放测量机构的绝缘测距绳出口位置至绝缘测距绳与上臂长度检测传感器8的绝缘导绳轮相切点a之间的距离为L21，上臂长度检测传感器8与主绝缘端41尾部连接的绝缘测距绳末端至绝缘测距绳与上臂长度检测传感器8的绝缘导绳轮相切点b之间的距离为L23，则，在上臂部分和下臂部分均位于初始状态时，上臂长度检测传感器8的绝缘测距绳绕在上臂长度检测传感器8的绝缘导绳轮上的长度L22为
L22＝L2－L21－L23；
设定上臂变幅检测传感器7的绝缘导绳轮的绳槽中径为R1，上臂长度检测传感器8的绝缘导绳轮的绳槽中径为R2。
如图6所示，当上臂部分和下臂部分从初始状态变化到某一位置时，下臂部分与水平面角度为A1'，此时上臂变幅检测传感器7的绝缘测距绳绕在上臂变幅检测传感器7的绝缘导绳轮上的长度L32'为
Figure PCTCN2017081205-appb-000003
如图7所示，此时上臂长度检测传感器8的绝缘测距绳绕在上臂长度检测传感器8的绝缘导绳轮上的长度L22'为
L22'＝L2'-[L21+(L1'-L1)]-L23；
此时上臂部分相对于下臂部分的角度变化为
Figure PCTCN2017081205-appb-000004
此时下臂部分长度为L下＝L0下+(L1'-L1)；
此时上臂部分长度为
L上＝L0上+[L3′-L3-（L1′-L1）-L32′]；
绝缘高空作业平台的实际工作幅度R
当0°≤A′1≤90°，A′1＜A2′时
R＝|L下·cosA1′-L上·cos(A1′-A2′)|；
当0°≤A′1≤90°，A′1＞A2′时
R＝|L下·cosA1′-L上·cos(A2′-A1′)|；
当90°＜A′1＜180°，A′1＜A2′时
R＝L下·cosA1′+L上·cos(180°-A1′-A2′)
当90°<A′1<180°，A′1＞A2′时
R＝L下·cosA1′+L上·cos(A1′-A2′)。
本绝缘高空作业车绝缘作业平台的设定最大工作幅度为R0，当中央处理器根据绝缘作业平台幅度计算输出回路计算反馈的实际工作幅度R小于设定的最大工作幅度R0时，中央处理器输出信号给控制器、允许操作者进行增大工作幅度的操作动作；当中央处理器根据绝缘作业平台幅度计算输出回路计算反馈的实际工作幅度R大于或等于设定的最大工作幅度R0时，中央处理器输出信号给控制器、限制操作者进行增大工作幅度的所有操作动作。
本绝缘高空作业车的作业平台限幅装置由于包括下臂倾角检测传感器5、下臂长度检测传感器6、上臂变幅检测传感器7、上臂长度检测传感器8，且下臂长度检测传感器6、上臂变幅检测传感器7和上臂长度检测传感器8均包括绝缘测距绳和绝缘测距绳收放测量机构，下臂倾角检测传感器5和各个绝缘测距绳收放测量机构均设置在基础节臂1位于辅助绝缘段11后方的靠近转台铰接位置的根部金属段上，采用实时检测各个绝缘测距绳的伸出长度来计算换算成绝缘作业平台的实际工作幅度，当实际工作幅度小于设定的最大工作幅度时，电控机构的中央处理器输出信号给控制器、允许操作者进行增大工作幅度的操作动作，当实际工作幅度大于或等于设定的最大工作幅度时，电控机构的中央处理器输出信号给控制器、限制操作者进行增大工作幅度的所有操作动作，因此能够无需在上绝缘折叠臂架上布设限幅电器元件的前提下实现折叠臂架的自动限幅，从而实现保证整车的稳定性、防止绝缘作业平台因超过作业幅度范围要求出现整车倾翻或臂架损坏，特别适用于绝缘高空作业车。

Claims (8)

  1. 一种绝缘高空作业车，包括车体总成、转台、臂架总成、绝缘作业平台和作业平台限幅装置；所述的转台通过回转支承和回转驱动安装在车体总成上；所述的臂架总成包括下臂部分和上臂部分，下臂部分包括基础节臂(1)和基础伸缩臂(2)，上臂部分包括二节臂(3)和二节伸缩臂(4)；基础节臂(1)一端与转台铰接安装连接，基础节臂(1)上设有辅助绝缘段(11)；基础伸缩臂(2)至少设置为一件、伸缩设置在基础节臂(1)内；二节臂(3)的一端与基础伸缩臂(2)的末节端部铰接连接；二节伸缩臂(4)至少设置为一件、伸缩设置在二节臂(3)内，二节伸缩臂(4)的末节是主绝缘端(41)，主绝缘端(41)通过自动调平装置与所述的绝缘作业平台安装连接；其特征在于，
    所述的作业平台限幅装置包括下臂倾角检测传感器(5)、下臂长度检测传感器(6)、上臂变幅检测传感器(7)、上臂长度检测传感器(8)和电控机构；
    下臂倾角检测传感器(5)设置在基础节臂(1)位于辅助绝缘段(11)后方的靠近转台铰接位置的根部金属段上；
    下臂长度检测传感器(6)、上臂变幅检测传感器(7)和上臂长度检测传感器(8)均包括绝缘测距绳和绝缘测距绳收放测量机构，各个绝缘测距绳的一端均固定并缠绕安装在对应的绝缘测距绳收放测量机构上，各个绝缘测距绳收放测量机构均设置在基础节臂(1)位于辅助绝缘段(11)后方的靠近转台铰接位置的根部金属段上，绝缘测距绳收放测量机构具有自回卷结构，上臂变幅检测传感器(7)和上臂长度检测传感器(8)还包括绝缘导绳轮，两件绝缘测距绳导向轮均架设安装在基础伸缩臂(2)末节端部的铰接位置；下臂长度检测传感器(6)的绝缘测距绳的另一端与基础伸缩臂(2)末节的尾部连接；上臂变幅检测传感器(7)的绝缘测距绳的另一端通过与其对应的绝缘导绳轮的导向与二节臂(3)的尾部连接；上臂长度检测传感器(8)的绝缘测距绳的另一端通过与其对应的绝缘导绳轮的导向与主绝缘端(41)的尾部连接；
    电控机构包括中央处理器、数据采集反馈回路、绝缘作业平台幅度计算输出回路、数据比较回路、限幅控制回路和控制器，中央处理器分别与下臂倾角检测传感器(5)和控制器电连接，中央处理器分别与下臂长度检测传感器(6)、上臂变幅检测传感器(7)和上臂长度检测传感器(8)的绝缘测距绳收放测量机构电连接，控制器与车载液压系统电连接。
  2. 根据权利要求1所述的绝缘高空作业车，其特征在于，所述的下臂倾角检测传感器(5)、下臂长度检测传感器(6)、上臂变幅检测传感器(7)和上臂长度检测传感器(8)均架设安装在基础节臂(1)的内部，所述的上臂变幅检测传感器(7)和上臂长度检测传感器(8)的绝缘测距绳的另一端的安装位置均设置在上臂部分内部。
  3. 根据权利要求2所述的绝缘高空作业车，其特征在于，所述的下臂长度检测传感器(6)的绝缘测距绳、所述的上臂变幅检测传感器(7)的位于下臂部分内的绝缘测距绳、所述的上臂长度检测传感器(8)的位于下臂部分内的绝缘测距绳均平行于下臂部分的中心轴线设置；所述的上臂长度检测传感器(8)的位于上臂部分内的绝缘测距绳平行于上臂部分的中心轴线设置。
  4. 根据权利要求1或2或3所述的绝缘高空作业车，其特征在于，所述的上臂变幅检测传感器(7)的绝缘导绳轮和上臂长度检测传感器(8)的绝缘导绳轮同心安装。
  5. 根据权利要求4所述的绝缘高空作业车，其特征在于，所述的上臂变幅检测传感器(7)的绝缘导绳轮和上臂长度检测传感器(8)的绝缘导绳轮同轴安装、且二者尺寸相同。
  6. 根据权利要求1或2或3所述的绝缘高空作业车，其特征在于，所述的上臂变幅检测传感器(7)的绝缘测距绳的另一端与二节臂(3)尾部的相对远离铰接位置的内侧面位置连接。
  7. 一种绝缘高空作业车绝缘工作平台自动限幅方法，其特征在于，具体包括以下步骤：
    a.数据采集：数据采集反馈回路工作，电控机构的中央处理器实时通过下臂倾角检测传感器(5)采集下臂部分的俯仰角度，同时通过下臂长度检测传感器(6)、上臂变幅检测传感器(7)、上臂长度检测传感器(8)的绝缘测距绳收放测量机构实时检测各自的绝缘测距绳的伸出长度；
    b.数据计算：绝缘作业平台幅度计算输出回路工作，电控机构的中央处理器根据数据反馈和设定程序计算出绝缘作业平台的实际工作幅度；
    c.数据比较与输出：数据比较回路和限幅控制回路工作，电控机构的中央处理器将绝缘作业平台的实际工作幅度与设定的绝缘作业平台的最大工作幅度进行比较并输出比较结果；
    d.限幅控制：当实际工作幅度小于设定的最大工作幅度时，电控机构的中央处理器输出信号给控制器、允许操作者进行增大工作幅度的操作动作，当实际工作幅度大于或等于设定的最大工作幅度时，电控机构的中央处理器输出信号给控制器、限制操作者进行增大工作幅度的所有操作动作。
  8. 根据权利要求7所述的绝缘高空作业车绝缘工作平台自动限幅方法，其特征在于，步骤b中绝缘作业平台实际工作幅度的确定按照以下步骤：
    设定基础伸缩臂(2)和二节伸缩臂(4)处于完全缩入的初始状态时下臂部分初始长度为L0下，上臂部分初始长度为L0上，下臂部分与水平面起始角度为A1，此时下臂倾角检测传感器(5)读取角度为A1；
    设定上臂部分与下臂部分的起始角度为A2，下臂长度检测传感器(6)的绝缘测距绳被拉出的起始长度为L1，上臂变幅检测传感器(7)的绝缘测距绳被拉出的起始长度为L2，上臂长度检测传感器(8)的绝缘测距绳被拉出的起始长度为L3；
    当下臂部分抬起后，设定下臂部分与水平面的角度为A1'；
    当上臂部分相对于下臂部分抬起后，设定上臂部分与下臂部分的角度为A2'，上臂变幅检测传感器(7)的绝缘测距绳的长度为L2'，上臂长度检测传感器(8)的绝缘测距绳的长度为L3'；
    设定下臂部分基础伸缩臂(2)的第n节臂伸出一段距离后，下臂长度检测传感器(6)的绝缘测距绳的长度为L1'；
    在下臂部分总长度保持初始状态、上臂部分和下臂部分的角度保持初始状态、上臂部分二节伸缩臂(4)的第m节臂伸出一段距离后，设定上臂长度检测传感器(8)的绝缘测距绳的长度为L3"；
    设定上臂变幅检测传感器(7)绝缘测距绳收放测量机构的绝缘测距绳出口位置至绝缘测距绳与上臂变幅检测传感器(7)的绝缘导绳轮相切点c之间的距离为L31，上臂变幅检测传感器(7)与二节臂(3)尾部连接的绝缘测距绳末端至绝缘测距绳与上臂变幅检测传感器(7)的绝缘导绳轮相切点d之间的距离为L33，则，在上臂部分和下臂部分均位于初始状态时，上臂变幅检测传感器(7)的绝缘测距绳绕在上臂变幅检测传感器(7)的绝缘导绳轮上的长度L32为
    L32＝L3－L31－L33；
    设定上臂长度检测传感器(8)绝缘测距绳收放测量机构的绝缘测距绳出口位置至绝缘测距绳与上臂长度检测传感器(8)的绝缘导绳轮相切点a之间的距离为L21，上臂长度检测传感器(8)与主绝缘端(41)尾部连接的绝缘测距绳末端至绝缘测距绳与上臂长度检测传感器(8)的绝缘导绳轮相切点b之间的距离为L23，则，在上臂部分和下臂部分均位于初始状态时，上臂长度检测传感器(8)的绝缘测距绳绕在上臂长度检测传感器(8)的绝缘导绳轮上的长度L22为
    L22＝L2－L21－L23；
    设定上臂变幅检测传感器(7)的绝缘导绳轮的绳槽中径为R1，上臂长度检测传感器(8)的绝缘导绳轮的绳槽中径为R2；
    当上臂部分和下臂部分从初始状态变化到某一位置时，下臂部分与水平面角度为A1'，此时上臂变幅检测传感器(7)的绝缘测距绳绕在上臂变幅检测传感器(7)的绝缘导绳轮上的长度L32'为
    Figure PCTCN2017081205-appb-100001
    此时上臂长度检测传感器(8)的绝缘测距绳绕在上臂长度检测传感器(8)的绝缘导绳轮上的长度L22'为
    L22'＝L2'-[L21+(L1'-L1)]-L23；
    此时上臂部分相对于下臂部分的角度变化为
    Figure PCTCN2017081205-appb-100002
    此时下臂部分长度为L下＝L0下+(L1'-L1)；
    此时上臂部分长度为
    L上＝L0上+[L3′-L3-(L1′-L1)-L32′]；
    则，绝缘高空作业平台的实际工作幅度R，
    当0°≤A′1≤90°，A′1＜A2′时
    R＝|L下·cosA1′-L上·cos(A1′-A2′)|；
    当0°≤A′1≤90°，A′1＞A2′时
    R＝|L下·cosA1′-L上·cos(A2′-A1′)|；
    当90°<A′1<180°，A′1＜A2′时
    R＝L下·cosA1′+L上·cos(180°-A1′-A2′)
    当90°<A′1<180°，A′1＞A2′时
    R＝L下·cosA1′+L上·cos(A1′-A2′)。
PCT/CN2017/081205 2017-03-24 2017-04-20 一种绝缘高空作业车及其绝缘工作平台自动限幅方法 WO2018170982A1 (zh)

Priority Applications (3)

Application Number Priority Date Filing Date Title
ES201990071A ES2737844B2 (es) 2017-03-24 2017-04-20 Vehiculo aislado montado con plataforma de trabajo aereo y metodo de limitacion automatica de radio para la plataforma de trabajo aislada
US16/485,170 US10815107B2 (en) 2017-03-24 2017-04-20 Vehicle mounted with insulated aerial work platform and automatic radius limiting method for insulated work platform
JP2019542577A JP6811871B2 (ja) 2017-03-24 2017-04-20 絶縁型高所作業車及びその絶縁型作業床の自動幅制限方法

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
CN201710182996.6 2017-03-24
CN201710182996.6A CN106829754B (zh) 2017-03-24 2017-03-24 一种绝缘高空作业车及其绝缘工作平台自动限幅方法

Publications (1)

Publication Number Publication Date
WO2018170982A1 true WO2018170982A1 (zh) 2018-09-27

Family

ID=59130943

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/CN2017/081205 WO2018170982A1 (zh) 2017-03-24 2017-04-20 一种绝缘高空作业车及其绝缘工作平台自动限幅方法

Country Status (5)

Country Link
US (1) US10815107B2 (zh)
JP (1) JP6811871B2 (zh)
CN (1) CN106829754B (zh)
ES (1) ES2737844B2 (zh)
WO (1) WO2018170982A1 (zh)

Families Citing this family (11)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN108249309B (zh) * 2017-12-12 2020-01-10 湖南百特随车起重机有限公司 一种单缸伸缩吊臂长度传感装置
CN108756781B (zh) * 2018-05-23 2023-07-04 江苏徐工工程机械研究院有限公司 一种车载钻机起重臂控制装置
CN110550586A (zh) * 2018-05-30 2019-12-10 国网福建省电力有限公司龙岩供电公司 一种绝缘斗臂车绝缘臂伸出长度不足报警装置
CN109052261B (zh) * 2018-08-27 2020-04-24 中联重科股份有限公司 高空作业设备调平系统、方法及其高空作业设备
CN110425963B (zh) * 2019-08-05 2021-05-11 中国商用飞机有限责任公司 测量工具
CN110992517A (zh) * 2019-11-13 2020-04-10 中国电力科学研究院有限公司 一种基于机器学习的绝缘臂形变计算的装置及计算方法
CN112092013A (zh) * 2020-09-10 2020-12-18 一路行（北京）科技有限公司 一种臂结构动作限位控制方法及限位控制系统
CN112938853B (zh) * 2021-03-10 2022-05-27 湖南星邦智能装备股份有限公司 高空作业平台实施稳定作业的优化控制方法
CN113955686B (zh) * 2021-10-22 2023-03-28 武汉奋进智能机器有限公司 一种绝缘气柱升降装置
CN114858141B (zh) * 2022-04-24 2023-08-08 深圳供电局有限公司 一种吊装吊车作业伸缩臂监测点的定位装置及其实现方法
CN115406409B (zh) * 2022-11-01 2023-02-24 四川中科川信科技有限公司 一种倾角测量监测设备

Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN2668907Y (zh) * 2003-12-05 2005-01-05 江苏省机电研究所有限公司 伸缩臂式高空作业车幅度控制系统
US8187045B2 (en) * 2007-01-19 2012-05-29 Thibodaux Ronald J Air-propelled vessel with articulating member
CN104591051A (zh) * 2014-12-02 2015-05-06 徐州重型机械有限公司 一种曲臂式高空作业车多模式幅度控制系统
CN104724645A (zh) * 2015-03-27 2015-06-24 江苏省电力公司常州供电公司 绝缘高空作业平台的幅度限制系统
CN106044662A (zh) * 2016-08-17 2016-10-26 徐州海伦哲专用车辆股份有限公司 具有防平台倾翻功能的高空作业车工作平台调平装置
CN206590844U (zh) * 2017-03-24 2017-10-27 徐州海伦哲专用车辆股份有限公司 绝缘高空作业车

Family Cites Families (22)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US3575262A (en) * 1968-12-27 1971-04-20 Transairco Inc Aerial lift apparatus with elevator
US4187927A (en) * 1977-08-12 1980-02-12 UEC Manufacturing Company Remotely actuated auxiliary pressurization system
US4456093A (en) * 1981-06-16 1984-06-26 Interstate Electronics Corp. Control system for aerial work platform machine and method of controlling an aerial work platform machine
NL8203338A (nl) * 1982-08-26 1984-03-16 Swarttouw Frans Bv Hijskraan.
US4676339A (en) * 1986-01-23 1987-06-30 Norpac Engineering, Inc. Self-contained-aerial-maintenance platform
JPH085639B2 (ja) * 1987-07-29 1996-01-24 住友電気工業株式会社 活線作業装置
JPH0651558B2 (ja) * 1990-01-12 1994-07-06 株式会社東芝 活線作業用マニピュレータシステム
US5551527A (en) * 1994-10-03 1996-09-03 Luscombe; Terry Lift device for a three point hitch
US6272413B1 (en) * 1999-03-19 2001-08-07 Kabushiki Kaisha Aichi Corporation Safety system for boom-equipped vehicle
US20040085184A1 (en) * 2000-08-30 2004-05-06 Volker Sigmund Redundant safety system of a vehicle
JP2003252593A (ja) * 2002-03-01 2003-09-10 Aichi Corp 高所作業車の昇降装置
FR2859048B1 (fr) * 2003-08-20 2005-12-23 Electricite De France Dispositif d'isolation electrique pour un engin de manutention
JP4296068B2 (ja) * 2003-09-29 2009-07-15 株式会社アイチコーポレーション 高所作業車の故障検出装置
US8622170B2 (en) * 2004-02-26 2014-01-07 Jlg Industries, Inc. Lift vehicle with multiple capacity envelope control system and method
JP5022626B2 (ja) * 2006-04-28 2012-09-12 株式会社アイチコーポレーション 高所作業車
FR2908119B1 (fr) * 2006-11-07 2009-02-06 Haulotte Group Sa Nacelle elevatrice et procede de commande d'une telle nacelle
CN101284636A (zh) * 2008-05-23 2008-10-15 杭州爱知工程车辆有限公司 高空作业车智能控制系统、高空作业车及其控制方法
CN202322258U (zh) * 2011-11-17 2012-07-11 中联重科股份有限公司 伸缩支腿的监测系统及高空作业车
JP5889688B2 (ja) * 2012-03-26 2016-03-22 株式会社タダノ 作業機械
US9915396B2 (en) * 2014-01-31 2018-03-13 Moisés Castro Salinas Column-levelling system
CN106744557B (zh) * 2017-03-17 2023-02-28 浙江鼎力机械股份有限公司 具有电子感应式安全防护装置的高空作业平台
JP6880884B2 (ja) * 2017-03-22 2021-06-02 日本電気株式会社 車載装置、荷役機、制御回路、制御方法、及びプログラム

Patent Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN2668907Y (zh) * 2003-12-05 2005-01-05 江苏省机电研究所有限公司 伸缩臂式高空作业车幅度控制系统
US8187045B2 (en) * 2007-01-19 2012-05-29 Thibodaux Ronald J Air-propelled vessel with articulating member
CN104591051A (zh) * 2014-12-02 2015-05-06 徐州重型机械有限公司 一种曲臂式高空作业车多模式幅度控制系统
CN104724645A (zh) * 2015-03-27 2015-06-24 江苏省电力公司常州供电公司 绝缘高空作业平台的幅度限制系统
CN106044662A (zh) * 2016-08-17 2016-10-26 徐州海伦哲专用车辆股份有限公司 具有防平台倾翻功能的高空作业车工作平台调平装置
CN206590844U (zh) * 2017-03-24 2017-10-27 徐州海伦哲专用车辆股份有限公司 绝缘高空作业车

Also Published As

Publication number Publication date
US20200039805A1 (en) 2020-02-06
JP2020515483A (ja) 2020-05-28
ES2737844A2 (es) 2020-01-16
ES2737844B2 (es) 2022-02-21
CN106829754B (zh) 2018-05-22
JP6811871B2 (ja) 2021-01-13
CN106829754A (zh) 2017-06-13
US10815107B2 (en) 2020-10-27
ES2737844R1 (es) 2020-11-18

Similar Documents

Publication Publication Date Title
WO2018170982A1 (zh) 一种绝缘高空作业车及其绝缘工作平台自动限幅方法
CN109982958B (zh) 具有锁定系统的可延伸吊杆和用于操作起重机的可延伸吊杆的方法
CN201707453U (zh) 一种隧道壁面雷达无损探测辅助装置
US8720709B2 (en) Crane and method for erecting the crane
CN112424472B (zh) 用于安装风力涡轮机部件的装置和使用所述装置的安装方法
CN206590844U (zh) 绝缘高空作业车
WO2016155561A1 (zh) 绝缘高空作业平台的幅度限制系统
US20160221799A1 (en) Automatic erection of a crane
EP4136348B1 (en) System and method for lightning protection system inspection
EP2684832B1 (en) Working vehicle with jib or boom angle control
CN111362168A (zh) 一种特高压直流互感器校验设备翻转用倒伏式装置
CN206004213U (zh) 一种用于输电线路巡检机器人上下线的上下线装置
CN211450481U (zh) 移动式照明平台
CN110202300A (zh) 风电塔筒门框焊接平台
CN108584826A (zh) 一种绝缘高空作业车及其臂架缓冲控制方法
CN208791121U (zh) 具有臂架缓冲动作控制装置的绝缘高空作业车
CN116959848B (zh) 一种变压器挂装吊架
CN214895302U (zh) 一种混凝土桥墩检测装置
CN210710414U (zh) 一种臂架变幅角度检测装置
CN220580937U (zh) 一种交通高速带监控及信号灯的etc龙门架
CN210062779U (zh) 一种多功能巡检车
CN215711285U (zh) 一种用于测/试井双立柱单臂随车起重机
CN111924719B (zh) 一种用于fast缆索检测的被动行走检测装置
CN210270080U (zh) 一种非接触电路检测装置
CN211619876U (zh) 一种绝缘高空作业车的臂架装置

Legal Events

Date Code Title Description
121 Ep: the epo has been informed by wipo that ep was designated in this application

Ref document number: 17901938

Country of ref document: EP

Kind code of ref document: A1

ENP Entry into the national phase

Ref document number: 2019542577

Country of ref document: JP

Kind code of ref document: A

NENP Non-entry into the national phase

Ref country code: DE

122 Ep: pct application non-entry in european phase

Ref document number: 17901938

Country of ref document: EP

Kind code of ref document: A1