CN106476771A - A kind of arm support equipment and its support and control system - Google Patents
A kind of arm support equipment and its support and control system Download PDFInfo
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- CN106476771A CN106476771A CN201611140636.1A CN201611140636A CN106476771A CN 106476771 A CN106476771 A CN 106476771A CN 201611140636 A CN201611140636 A CN 201611140636A CN 106476771 A CN106476771 A CN 106476771A
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- supporting leg
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- pendulum angle
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60S—SERVICING, CLEANING, REPAIRING, SUPPORTING, LIFTING, OR MANOEUVRING OF VEHICLES, NOT OTHERWISE PROVIDED FOR
- B60S9/00—Ground-engaging vehicle fittings for supporting, lifting, or manoeuvring the vehicle, wholly or in part, e.g. built-in jacks
- B60S9/02—Ground-engaging vehicle fittings for supporting, lifting, or manoeuvring the vehicle, wholly or in part, e.g. built-in jacks for only lifting or supporting
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D3/00—Control of position or direction
- G05D3/12—Control of position or direction using feedback
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- Automation & Control Theory (AREA)
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Abstract
The present invention proposes a kind of arm support equipment and its support and control system, and this support and control system includes：Detection module, for obtaining the extension elongation of each supporting leg or/and the pendulum angle of support system；Processing module, is connected with detection module, is computed or looked up boom system in the interval maximum horizontal operating distance in different angles of revolution for the extension elongation according to each supporting leg or/and pendulum angle；Output module, is connected with processing module, for receiving boom system in the interval maximum horizontal operating distance in different angles of revolution, and is exported by way of sound or/and screen display.The support and control system of the present invention, manipulator is after the supporting leg completing arm support equipment supports, just can relatively accurately obtain the maximum horizontal operating distance that the arm support tail end of arm support equipment can work in each orientation, avoid the micro-judgment of manipulator, thus understanding the construction ability of equipment in time, ensure to complete to expect construction requirement, reduce equipment and move or support adjustment number of times.
Description
Technical field
The present invention relates to engineering mechanical device field, more specifically, it is related to a kind of arm support equipment and its support and control system
System.
Background technology
Arm support equipment is the common equipment of engineering machinery field, such as concrete mixer, crane, fire fighting truck truck-mounted crane
Deng due to arm support equipment operationally, the action of its arm support will cause being widely varied of car load center of gravity, stable for ensureing car load
Property, it is unlikely to topple over there is security incident, generally, arm support equipment is provided with various forms of supporting legs, such as telescopic outrigger, pendulum
Dynamic supporting leg, swinging, telescopic supporting leg etc., before arm support equipment work, first launch each supporting leg, arm support equipment are supported, then
Operate arm support action again.
At present, conventional supporting leg expansion mode is according to construction demand, rule of thumb launches supporting leg manually by manipulator
(being to launch each supporting leg one by one mostly), when arm support equipment holding area is spacious, for ensureing car load safety, manipulator does the best will
Supporting leg is expanded to maximum support position, is subject in limited time, supporting leg to be expanded to maximum as far as possible in arm support equipment holding area, so that arm support
End farther, the current mode that can work is primarily present following problem：
Firstth, in the case of limited by place, before arm support equipment action, manipulator is difficult to estimate the arm of arm support equipment
How far frame end can work in each orientation, thus, easily when controlling arm support, do not reach desired operating distance (maximum
Horizontal operation distance), need to re-move device location or again launch supporting leg, impact construction；Second, rule of thumb launch to prop up
Lower limb, is easily limited to the experience of manipulator, for the manipulator lacking experience it is difficult to find suitable parking spot it is impossible to very
The good safety holding support；3rd, the maximum horizontal operating distance demand that manipulator can not be according to arm support in each orientation,
Reliably control the expansion of supporting leg.
Content of the invention
In view of this, it is an object of the invention to, provide a kind of arm support equipment and its support and control system, so that manipulator
It is anticipated that the maximum horizontal operating distance in each orientation for the arm support before operation arm support.
The invention provides a kind of support and control system of arm support equipment, described arm support equipment includes boom system and support
System, described support system includes multiple supporting legs for supporting described boom system, including：
Detection module, for obtaining the extension elongation of each supporting leg or/and the pendulum angle of described support system；
Processing module, is connected with described detection module, based on the extension elongation according to each supporting leg or/and pendulum angle
Calculate or search described boom system in the interval maximum horizontal operating distance in different angles of revolution；
Output module, is connected with described processing module, for receiving described boom system in different angles of revolution interval
Maximum horizontal operating distance, and exported by way of sound or/and screen display.
As the improvement on the one hand of above-mentioned support and control system it is preferable that also including：
Input module, for arranging the range of activity of boom system, described range of activity includes the angle of revolution of boom system
Degree interval and the maximum horizontal operating distance in described angle of revolution interval；
Described processing module is also connected with described input module, and interval for the angle of revolution according to described boom system
And maximum horizontal operating distance is computed or looked up the extension elongation needed for each supporting leg or/and pendulum angle scope；Described output
Module, is additionally operable to receive the extension elongation needed for each supporting leg or/and pendulum angle scope, and is shown by sound or/and screen
The mode shown exports；Or/and, for controlling the flexible of each supporting leg or/and swinging.
As the improvement on the one hand of above-mentioned support and control system it is preferable that described processing module is additionally operable to real-time reception
The testing result of described detection module, and described testing result is converted into extension elongation or/and pendulum angle scope to feed back
To output module, described output module is additionally operable to by way of sound or/and screen display point out stretching in real time of each supporting leg
Go out length or/and pendulum angle scope.
As the improvement on the one hand of above-mentioned support and control system it is preferable that described output module includes：
Performance element, is electrically connected with described processing module, and each supporting leg drive connection, and described performance element is used for receiving
Extension elongation needed for each supporting leg or/and pendulum angle range data, and control the flexible of each supporting leg or/and swing.
As the improvement on the one hand of above-mentioned support and control system it is preferable that described output module is included for showing
State the display screen in the interval maximum horizontal operating distance in described angle of revolution for the boom system, described input module and described display
Screen is integrated into human-computer interaction device；Or/and,
Described output module also includes PA-system, and described PA-system is used for reporting described boom system in described revolution
The suggestion voice of the maximum horizontal operating distance of angular interval, or launch the warning letter of situation for reporting described boom system
Breath.
As the improvement on the one hand of above-mentioned support and control system it is preferable that described processing module includes supporting database
And control unit, determine when each supporting leg is under different extension elongations or/and pendulum angle in described supporting database, institute
State boom system in the interval maximum horizontal operating distance in different angles of revolution, described control unit is used for existing according to each supporting leg
Different extension elongations or/and pendulum angle, search boom system in the interval maximum horizontal operating distance in different angles of revolution,
And feed back to output module.
As above-mentioned support and control system improving it is preferable that the angle of revolution of described boom system is interval on the one hand
Including multiple revolution subintervals, the maximum horizontal operating distance of described boom system includes the maximum horizontal in each revolution subinterval
Operating distance.
As the improvement on the one hand of above-mentioned support and control system it is preferable that described input module be provided with available
Automatic mode and manual mode and for selecting the button of manual mode and automatic mode；
In automatic mode, described output module is used for the extension elongation according to needed for each supporting leg receiving or angle of oscillation
Degree scope, controls the flexible of each supporting leg or/and swings；Or, described output module is used for according to needed for each supporting leg receiving
Extension elongation or pendulum angle scope, control the flexible of each supporting leg or/and swing, and pass through sound or/and screen display
Mode point out the extension elongation needed for each supporting leg or pendulum angle scope；
In a manual mode, described output module is used for the extension elongation according to needed for each supporting leg receiving or angle of oscillation
Degree scope, points out the extension elongation needed for each supporting leg or pendulum angle scope by way of sound or/and screen display.
Support and control system proposed by the present invention, by detection module, can get each supporting leg of support system
Extension elongation or/and pendulum angle, are extension elongations for telescopic outrigger, are pendulum angles for oscillating support leg, for swing
Telescopic outrigger, existing extension elongation also has pendulum angle；Meanwhile, by processing module, length can be stretched out according to each supporting leg
Degree or/and pendulum angle are computed or looked up boom system in the interval maximum horizontal operating distance in different angles of revolution, angle of revolution
Degree interval is each interval when the overall centre of gyration O around frame system of boom system turns round residing, can be 1 (360 ° of model
Enclose) or multiple, maximum horizontal operating distance refer to maximum horizontal that the arm support tail end of boom system can reach away from
From；By calculation, scope can be supported according to determined by each supporting leg, determine the safety zone that car load center of gravity allows,
Thus calculating boom system when different angle of revolution, the allowed band of each arm joint total centre of gravity, thus obtain boom system not
With the maximum horizontal operating distance that angle of revolution is interval.By way of lookup, presetting database in processing module in advance, data
When storehouse is set up, the extension elongation of each supporting leg or/and pendulum angle can presuppose, in various the stretching out of each supporting leg supposition
When length or/and pendulum angle, boom system can be determined in the interval maximum in different angles of revolution by above-mentioned computational methods
Horizontal operation distance.Meanwhile, by output module, boom system can be received in the interval maximum horizontal work in different angles of revolution
Make distance, and exported by way of sound or/and screen display.By the program, manipulator completes propping up of arm support equipment
It is possible to relatively accurately obtain the maximum horizontal work that can work in each orientation of arm support tail end of arm support equipment after lower limb supports
Make distance, it is to avoid the micro-judgment of manipulator, thus understanding the construction ability of equipment in time it is ensured that completing to expect construction requirement,
Minimizing equipment is mobile or supports adjustment number of times.
In preferred scheme, calculate in the angle of revolution interval according to boom system and maximum horizontal operating distance or look into
When looking for extension elongation or/and the pendulum angle scope needed for each supporting leg, manipulator does not need rule of thumb to launch supporting leg, but
Extension elongation according to output module prompting or/and pendulum angle scope launch supporting leg, so can ensure that arm support equipment supports
Safety, when boom system launches in the interval maximum horizontal operating distance by setting in specified angle of revolution, Bu Huiyin
The accident tumbled occurs for underbraced.
On the other hand, a kind of arm support equipment proposed by the present invention, including boom system and support system, described support system
Including multiple supporting legs for supporting described boom system it is characterised in that also including the support of any of the above-described kind of arm support equipment
Control system.
As the improvement on the one hand of above-mentioned arm support equipment it is preferable that also include wheeled chassis, be arranged on described feasible
Sail the controller on chassis and described for controlling the remote control of arm support action, described boom system and support system to be arranged at
On wheeled chassis, described support system can support described wheeled chassis, and the input module of described support and control system is extremely
At least a portion of few a part of and/or described output module is arranged on described remote control, and at least the one of described processing module
Part is integrated in described controller.
Arm support equipment proposed by the present invention, due to including above-mentioned support and control system, manipulator completes arm support equipment
Supporting leg support after it is possible to relatively accurately obtain the flood that can work in each orientation of arm support tail end of arm support equipment
Flat operating distance, it is to avoid the micro-judgment of manipulator, thus understand the construction ability of equipment in time it is ensured that completing to expect that construction will
Ask.
Brief description
The accompanying drawing constituting the part of the present invention is used for providing a further understanding of the present invention, the schematic reality of the present invention
Apply example and its illustrate, for explaining the present invention, not constituting inappropriate limitation of the present invention.
Fig. 1 provides a kind of schematic diagram of supporting leg form for the embodiment of the present invention；
Fig. 2 is a kind of schematic diagram of the support and control system of arm support equipment provided in an embodiment of the present invention；
Fig. 3 is the schematic diagram of the support and control system of another kind arm support equipment provided in an embodiment of the present invention.
Specific embodiment
It should be noted that in the case of not conflicting, the embodiment in the present invention and the feature in embodiment can phases
Mutually combine.To describe the present invention below with reference to the accompanying drawings and in conjunction with the embodiments in detail.
Boom system is the critical component of arm support equipment, as shown in figure 1, generally, the boom system of arm support equipment passes through machine
Frame 1 is connected with multiple supporting legs, and O point is the centre of gyration of whole boom system, and supporting leg generally includes 4 supporting legs, have telescopic outrigger,
The supporting leg forms such as oscillating support leg, swinging, telescopic supporting leg, the supporting leg in Fig. 1 include front two telescopic outriggers (left front supporting leg 2,
Right anterior branch lower limb 3) and rear two oscillating support legs (left back supporting leg 4, right rear support leg 5), its maximum support scope be outermost
Shown in dotted line, arm support equipment can also adopt other types of supporting leg, can be with similar process under the design of the present invention.
Refer to Fig. 2, a kind of support and control system of arm support equipment that the present invention provides, arm support equipment includes boom system
And support system, support system includes multiple supporting legs for supporting arm frame system, including：
Detection module, for obtaining the extension elongation of each supporting leg or/and the pendulum angle of support system；
Processing module, is connected with detection module, calculate for the extension elongation according to each supporting leg or/and pendulum angle or
Search boom system in the interval maximum horizontal operating distance in different angles of revolution；
Output module, is connected with processing module, for receiving boom system in the interval maximum horizontal in different angles of revolution
Operating distance, and exported by way of sound or/and screen display.
Technical scheme, by detection module, can get the extension elongation of each supporting leg of support system
Or/and pendulum angle, it is extension elongation for telescopic outrigger, be pendulum angle for oscillating support leg, for swinging, telescopic supporting leg,
Existing extension elongation also has pendulum angle；Meanwhile, by processing module, can be according to the extension elongation of each supporting leg or/and pendulum
, in the interval maximum horizontal operating distance in different angles of revolution, angle of revolution interval is arm for dynamic angle calculation or lookup boom system
During the overall centre of gyration O revolution around frame system of frame system, residing each is interval, can be 1 (360 ° of scopes) it is also possible to
It is multiple, such as front, rear, left and right four revolution interval, certainly can also arrange 6,8 and even more turn round interval, maximum
Horizontal operation distance refers to the maximum horizontal range that the arm support tail end of boom system can reach；By calculation, permissible
Support scope according to determined by each supporting leg, determine the safety zone that car load center of gravity allows, thus calculating boom system not
During with angle of revolution, the allowed band of each arm joint total centre of gravity (generally, arm support equipment in addition to boom system, the center of gravity of other parts
Constant, the quality of other departments can be known simultaneously, and the length of each arm joint of boom system, weight, arm joint are with respect to ground
Angle can also know, angle can pass through the detection means measure such as angular transducer), thus obtaining boom system in difference
The interval maximum horizontal operating distance in angle of revolution.By way of lookup, presetting database in processing module in advance, data base
When setting up, the extension elongation of each supporting leg or/and pendulum angle can presuppose, and various in the supposition of each supporting leg stretch out length
When degree or/and pendulum angle, boom system can be determined in the interval flood in different angles of revolution by above-mentioned computational methods
Flat operating distance.Meanwhile, by output module, boom system can be received in the interval maximum horizontal work in different angles of revolution
Distance, and exported by way of sound or/and screen display.By the program, manipulator completes the supporting leg of arm support equipment
It is possible to the maximum horizontal that the arm support tail end relatively accurately obtaining arm support equipment can work in each orientation works after support
Distance, it is to avoid the micro-judgment of manipulator, thus understanding the construction ability of equipment in time it is ensured that completing to expect construction requirement, subtracts
Few equipment is mobile or supports adjustment number of times.
Above-mentioned support and control system is it is preferable that as shown in figure 3, this system also includes：
Input module, for arranging the range of activity of boom system, range of activity includes the angle of revolution area of boom system
Between and in the interval maximum horizontal operating distance in angle of revolution；
Aforementioned processing module is also connected with input module, and for the angle of revolution interval according to boom system and flood
Flat operating distance is computed or looked up extension elongation or/and pendulum angle scope needed for each supporting leg；Aforementioned output module is also used
In the extension elongation receiving needed for each supporting leg or/and pendulum angle scope and defeated by way of sound or/and screen display
Go out；Or/and, for controlling the flexible of each supporting leg or/and swinging.
In this programme, by input module, such as touch screen, manipulator can arrange the range of activity of boom system, including
The angle of revolution interval of boom system and the maximum horizontal operating distance in angle of revolution interval, meanwhile, processing module can root
Angle of revolution according to boom system is interval and maximum horizontal operating distance be computed or looked up extension elongation needed for each supporting leg or/
With pendulum angle scope, in addition, output module receives extension elongation or/and the pendulum angle scope needed for each supporting leg, and lead to
Cross sound or/and the mode of screen display exports；Or/and, for controlling the flexible of each supporting leg or/and swinging, so, operation
Handss do not need rule of thumb to launch supporting leg, but the extension elongation according to output module prompting or/and pendulum angle scope are launched
Supporting leg, so can ensure that the safety that arm support equipment supports, when boom system in specified angle of revolution interval by setting
When maximum horizontal operating distance is launched, the accident (situation about certainly, allowing in place tumbled will not occur because of underbraced
Under, supporting leg can be expanded to maximum support energy according to the extension elongation of prompting or/and pendulum angle scope by manipulator as far as possible
Power, is further ensured that safety).Meanwhile, exported by way of sound or/and screen display, manipulator is easy to receive.Separately
Outward, when output module directly controls the flexible of each supporting leg or/and swings, manipulator can also be avoided to launch supporting leg manually, remove
Have high degree of automation outer additionally it is possible to ensure that the supporting leg launching meets construction requirement.
Understand the real-time extension elongation of supporting leg or/and pendulum angle for ease of manipulator, with reference to shown in Fig. 3, processing module
It is additionally operable to the testing result of real-time reception detection module, and testing result is converted into extension elongation or/and pendulum angle scope
To feed back to output module, output module is additionally operable to by way of sound or/and screen display point out the real-time of each supporting leg
Extension elongation or/and pendulum angle scope.That points out each supporting leg by way of sound or/and screen display stretches out length in real time
Degree or/and pendulum angle scope, manipulator, when launching supporting leg according to prompting, can understand expansion situation in real time, controls more
Convenient.
For ease of the control for supporting leg, above-mentioned support and control system it is preferable that output module includes performance element,
Performance element is electrically connected with processing module, and with each supporting leg drive connection, performance element is for receiving stretching needed for each supporting leg
Go out length or/and pendulum angle range data, and control the flexible of each supporting leg or/and swing.For telescopic outrigger, execute list
Unit can be such as telescopic oil cylinder, driving chain, and only right for swinging, performance element can be telescopic oil cylinder, rotation motor etc.,
Specifically may be referred to prior art.
Above-mentioned support and control system, for different supporting legs, performance element can take different controls, specifically,
When support system includes at least one oscillating support leg, performance element is used for controlling oscillating support leg to be rocked to required pendulum angle
In the range of；Or/and, when support system includes at least one telescopic outrigger, performance element is used for controlling stretching out of telescopic outrigger
Length is more than or equal to required extension elongation；Or/and, when support system includes at least one swinging, telescopic supporting leg, execution
Unit is used for controlling swinging, telescopic supporting leg to be rocked in the range of required pendulum angle, and control swinging, telescopic supporting leg stretch out length
Degree is more than or equal to required extension elongation.When performance element controls oscillating support leg to be rocked to required pendulum angle scope, right
Development distance (maximum horizontal operating distance) required in boom system, the support of arm support equipment is stable.When executing list
After unit controls the extension elongation of telescopic outrigger to be more than or equal to required extension elongation, the stability of arm support equipment can also reach
Even more than support requirement, when performance element controls swinging, telescopic supporting leg to be rocked in the range of required pendulum angle, and control
When the extension elongation of swinging, telescopic supporting leg processed is more than or equal to required extension elongation, arm support equipment also disclosure satisfy that arm support launches
To the requirement supporting.Certainly, in the case of the permission of place, manipulator can be in pendulum angle scope and collapsing length scope
Interior, find an optimum strong point, now, output module, further according to new Support Position, exports boom system and returns different
The interval maximum horizontal operating distance of gyration.
Above-mentioned support and control system, for ease of display boom system in the interval maximum horizontal work in described angle of revolution
Extension elongation needed for distance, or/and each supporting leg or/and pendulum angle scope, output module is included for showing arm support system
System is in the interval maximum horizontal operating distance in different angles of revolution, or/and the extension elongation needed for each supporting leg or/and angle of oscillation
The display screen of degree scope, for simplifying input/output module structure, input module and display screen are integrated into human-computer interaction device, such as aobvious
Show touch screen；Meanwhile, for ease of the maximum horizontal operating distance in different angles of revolution interval by auditory tone cueses boom system,
Or/and the extension elongation needed for each supporting leg or/and pendulum angle scope, output module also includes PA-system, PA-system
For reporting boom system in the interval maximum horizontal operating distance in different angles of revolution, or/and stretching out needed for each supporting leg
Length or/and the suggestion voice of pendulum angle scope, or launch the flexible of situation or/and each supporting leg for reporting boom system
Or/and swing the warning message (prompting such as supporting to place, close to or run into prompting of barrier etc.) of situation.By inputting
Module and display screen are integrated into human-computer interaction device, simplify input/output module, have saved installing space, meanwhile, control and prop up
The expansion of lower limb is also convenient.
It is the maximum horizontal operating distance in different angles of revolution interval for the boom system to be obtained by lookup mode, preferably
Ground, processing module includes supporting database and control unit, determines and stretch out in different when each supporting leg in supporting database
Under length or/and pendulum angle, boom system is used in the interval maximum horizontal operating distance in different angles of revolution, control unit
According to each supporting leg in different extension elongations or/and pendulum angle, search boom system interval in different angles of revolution
Horizontal greatly operating distance, and feed back to output module.By supporting database in advance, boom system in feedback data, computing
Amount is little, and response is fast.
In the such scheme it is preferable that angle of revolution of boom system is interval include multiple revolution subintervals (as shown in figure 1,
Including right side θ yx, the θ qx of front side, the θ zx in left side, rear side θ hx), the maximum horizontal operating distance of boom system includes respectively
The maximum horizontal operating distance in individual revolution subinterval.By the program, in the extension elongation according to each supporting leg or/and angle of oscillation
Degree is computed or looked up boom system in the interval maximum horizontal operating distance in different angles of revolution, can more be visually known
Arm support is in the developing power in each orientation.The angle of revolution according to boom system is interval and maximum horizontal operating distance calculates or
When searching extension elongation or/and the pendulum angle scope needed for each supporting leg, manipulator can be according to the parking side of arm support equipment
Position and operating configurations, setting boom system turns round the maximum horizontal operating distances in subintervals in difference, in the situation of limited space
Under, can be with treatment in accordance with local conditions, meanwhile, turning round subinterval can be self-defined setting interval or pre-set interval, by self-defined setting
The mode in revolution subinterval, control ratio is more flexible, and construction is convenient, by selecting the side in revolution subinterval from pre-set interval
Formula, it is convenient to select, and is suitable for new manipulator's construction.
In such scheme, processing module can be according to the angle of revolution interval of boom system and maximum horizontal operating distance meter
Calculate the extension elongation needed for each supporting leg or/and pendulum angle scope, this work can be interval in manipulator's setting angle of revolution
And completed by processing module calculating after maximum horizontal operating distance.Calculate for simplifying, supporting database can be preset, process mould
Block can search supporting database thus drawing each according to the angle of revolution interval of boom system and maximum horizontal operating distance
Extension elongation needed for supporting leg or/and pendulum angle scope, specifically, input module is preset with multiple revolution subintervals, and
Each revolution subinterval is preset with multiple maximum horizontal operating distances；Processing module includes supporting database and control unit,
Determine when the different maximum horizontal operating distance of each revolution subinterval setting in support data base, stretching needed for each supporting leg
Go out length or/and pendulum angle scope, control unit is used for the flood in each revolution subinterval according to input module setting
Flat operating distance, searches the extension elongation needed for each supporting leg or/and pendulum angle scope, and feeds back to output module.Pass through
Setting supporting database, manipulator directly selects Construction Mode, controls simpler, more convenient to operate.
Above-mentioned support and control system, manipulator can select Automatic-expanding supporting leg it is also possible to select to launch supporting leg manually,
Accordingly, input module is provided with alternative automatic mode and manual mode and is used for selecting manual mode and automatic mold
The button of formula；In automatic mode, output module is used for the extension elongation according to needed for each supporting leg receiving or pendulum angle
Scope, controls the flexible of each supporting leg or/and swings；Or, output module is used for stretching out according to needed for each supporting leg receiving
Length or pendulum angle scope, control the flexible of each supporting leg or/and swing, and by way of sound or/and screen display
Point out the extension elongation needed for each supporting leg or pendulum angle scope；In a manual mode, output module is used for according to reception
Extension elongation needed for each supporting leg or pendulum angle scope, point out each supporting leg by way of sound or/and screen display
Required extension elongation or pendulum angle scope.Therefore, in automatic mode, output module, in addition to Automatic-expanding supporting leg, is gone back
Sound can be passed through simultaneously or screen is reminded and (in addition to the collapsing length of prompting supporting leg and hunting range, can also be reminded scene
Personnel avoid, and remind close to barrier etc.).In a manual mode, output module reminds each supporting leg institute by sound or screen
The extension elongation needing or pendulum angle scope (in addition to the collapsing length of prompting supporting leg and hunting range, can also remind scene
Personnel avoid, and remind close to barrier etc.), manipulator's manual operation, motility is high, and support safety is secure.
On the other hand, the present invention also proposes a kind of arm support equipment, and including boom system and support system, support system includes
Multiple supporting legs for supporting arm frame system, also include the support and control system of any of the above-described kind of arm support equipment.On including
The support and control system stated, manipulator sets it is possible to relatively accurately obtain arm support after the supporting leg completing arm support equipment supports
The maximum horizontal operating distance that standby arm support tail end can work in each orientation, it is to avoid the micro-judgment of manipulator, thus and
When understand equipment construction ability it is ensured that complete expect construction requirement.Interval and maximum in the angle of revolution according to boom system
When horizontal operation distance is computed or looked up extension elongation or/and pendulum angle scope needed for each supporting leg, manipulator does not need
Rule of thumb launch supporting leg, but the extension elongation according to output module prompting or/and pendulum angle scope launch supporting leg, so
Can ensure that the safety that arm support equipment supports, when boom system is in the interval maximum horizontal work by setting in specified angle of revolution
When making distance expansion, the accident tumbled will not occur because of underbraced.
Above-mentioned arm support equipment it is preferable that also include wheeled chassis, the controller being arranged on wheeled chassis and
For controlling the remote control of arm support action, boom system and support system to be arranged on wheeled chassis, support system can support
Wheeled chassis, at least a portion of input module and/or at least a portion of output module are arranged on remote control, process mould
At least a portion of block is integrated in controller.As on the setting of human-computer interaction device part and remote control, supporting database and holding
Row cell mesh is arranged in the controller of arm support equipment, and the PA-system of certain output module can also be simultaneously located at remote control
On device and controller.
The foregoing is only presently preferred embodiments of the present invention, not in order to limit the present invention, all essences in the present invention
Within god and principle, any modification, equivalent substitution and improvement made etc., should be included within the scope of the present invention.
Claims (10)
1. a kind of support and control system of arm support equipment, described arm support equipment includes boom system and support system, described support
System includes multiple supporting legs for supporting described boom system it is characterised in that including：
Detection module, for obtaining the extension elongation of each supporting leg or/and the pendulum angle of described support system；
Processing module, is connected with described detection module, calculate for the extension elongation according to each supporting leg or/and pendulum angle or
Search described boom system in the interval maximum horizontal operating distance in different angles of revolution；
Output module, is connected with described processing module, for receiving described boom system in the interval maximum in different angles of revolution
Horizontal operation distance, and exported by way of sound or/and screen display.
2. the support and control system of arm support equipment according to claim 1 is it is characterised in that also include：
Input module, for arranging the range of activity of boom system, described range of activity includes the angle of revolution area of boom system
Between and in the interval maximum horizontal operating distance in described angle of revolution；
Described processing module is also connected with described input module, and for interval and according to the angle of revolution of described boom system
Horizontal greatly operating distance is computed or looked up extension elongation or/and pendulum angle scope needed for each supporting leg；Described output module,
It is additionally operable to receive the extension elongation needed for each supporting leg or/and pendulum angle scope, and the side by sound or/and screen display
Formula exports；Or/and, for controlling the flexible of each supporting leg or/and swinging.
3. the support and control system of arm support equipment according to claim 2 is it is characterised in that described processing module is additionally operable to
The testing result of detection module described in real-time reception, and described testing result is converted into extension elongation or/and pendulum angle model
Enclose to feed back to output module, described output module is additionally operable to by way of sound or/and screen display point out each supporting leg
Real-time extension elongation or/and pendulum angle scope.
4. the support and control system of arm support equipment according to claim 2 is it is characterised in that described output module includes：
Performance element, is electrically connected with described processing module, and each supporting leg drive connection, and described performance element is used for receiving each
Extension elongation needed for supporting leg or/and pendulum angle range data, and control the flexible of each supporting leg or/and swing.
5. the support and control system of the arm support equipment according to any one of claim 1-4 is it is characterised in that described output mould
Block includes the display screen for showing described boom system in the interval maximum horizontal operating distance in described angle of revolution, described defeated
Enter module and be integrated into human-computer interaction device with described display screen；Or/and,
Described output module also includes PA-system, and described PA-system is used for reporting described boom system in described angle of revolution
The suggestion voice of interval maximum horizontal operating distance, or launch the warning message of situation for reporting described boom system.
6. the support and control system of the arm support equipment according to any one of claim 1-4 is it is characterised in that described process mould
Block includes supporting database and control unit, determines when each supporting leg is in different extension elongations in described supporting database
Or/and under pendulum angle, described boom system is in the interval maximum horizontal operating distance in different angles of revolution, described control unit
In different extension elongations or/and pendulum angle, search boom system for according to each supporting leg interval in different angles of revolution
Maximum horizontal operating distance, and feed back to output module.
7. the support and control system of the arm support equipment according to any one of claim 2-4 is it is characterised in that described arm support system
The angle of revolution of system is interval to include multiple revolution subintervals, and the maximum horizontal operating distance of described boom system includes each revolution
The maximum horizontal operating distance in subinterval.
8. the support and control system of the arm support equipment according to any one of claim 2-4 is it is characterised in that described input mould
Block is provided with alternative automatic mode and manual mode and the button for selecting manual mode and automatic mode；
In automatic mode, described output module is used for the extension elongation according to needed for each supporting leg receiving or pendulum angle model
Enclose, control the flexible of each supporting leg or/and swing；Or, described output module is used for stretching according to needed for each supporting leg receiving
Go out length or pendulum angle scope, control the flexible of each supporting leg or/and swing, and the side by sound or/and screen display
Formula points out extension elongation or pendulum angle scope needed for each supporting leg；
In a manual mode, described output module is used for the extension elongation according to needed for each supporting leg receiving or pendulum angle model
Enclose, point out the extension elongation needed for each supporting leg or pendulum angle scope by way of sound or/and screen display.
9. a kind of arm support equipment, including boom system and support system, described support system include multiple for supporting described arm
The supporting leg of frame system is it is characterised in that also include the support and control system of the arm support equipment as described in any one of claim 1-8
System.
10. arm support equipment according to claim 9 it is characterised in that also include wheeled chassis, be arranged on described feasible
Sail the controller on chassis and described for controlling the remote control of arm support action, described boom system and support system to be arranged at
On wheeled chassis, described support system can support described wheeled chassis, and the input module of described support and control system is extremely
At least a portion of few a part of and/or described output module is arranged on described remote control, and at least the one of described processing module
Part is integrated in described controller.
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| CN106476771B (en) | 2019-01-29 |
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