CN106476771B - 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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- CN106476771B CN106476771B CN201611140636.1A CN201611140636A CN106476771B CN 106476771 B CN106476771 B CN 106476771B CN 201611140636 A CN201611140636 A CN 201611140636A CN 106476771 B CN106476771 B CN 106476771B
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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 invention proposes a kind of arm support equipment and its support and control system, which includes: detection module, the extension elongation or/and swing angle of each supporting leg for obtaining support system；Processing module is connect with detection module, is computed or looked up boom system in the maximum horizontal operating distance in different angle of revolution sections for the extension elongation or/and swing angle according to each supporting leg；Output module is connect with processing module, the maximum horizontal operating distance for receiving arm system in different angle of revolution sections, and is exported in such a way that sound or/and screen are shown.Support and control system of the invention, manipulator is after completing the supporting leg support of arm support equipment, the maximum horizontal operating distance that the arm support tail end of arm support equipment can work in each orientation can relatively accurately be obtained, avoid the micro-judgment of manipulator, to understand the construction ability of equipment in time, guarantee to complete expectation construction requirement, reduces equipment movement or support adjustment number.
Description
Technical field
The present invention relates to engineering mechanical device fields, more specifically, are related to a kind of arm support equipment and its support and control system
System.
Background technique
Arm support equipment is the common equipment of engineering machinery field, such as concrete mixer, crane, fire fighting truck truck-mounted crane
Deng, at work due to arm support equipment, the movement of cantilever crane will cause being widely varied for vehicle center of gravity, for guarantee vehicle stablize
Property, it is unlikely to topple over so that safety accident occurs, in general, arm support equipment is provided with various forms of supporting legs, such as telescopic outrigger, pendulum
Dynamic supporting leg, swing telescopic outrigger etc., before arm support equipment work, are first unfolded each supporting leg, arm support equipment are supported, then
Cantilever crane movement is operated again.
Currently, common supporting leg expansion mode is that supporting leg is rule of thumb unfolded manually by manipulator according to construction demand
(being that each supporting leg is unfolded one by one mostly), in arm support equipment holding area spaciousness, to guarantee vehicle safety, manipulator as possible will
Supporting leg is expanded to maximum support position, in arm support equipment holding area by limited time, supporting leg is expanded to maximum as far as possible, so that cantilever crane
End farther, the current mode that can work is primarily present following problem:
The first, in the case where limited for place, before arm support equipment movement, manipulator is difficult to estimate the arm of arm support equipment
How far frame end can work in each orientation, thus, it is easy when controlling cantilever crane, it is (maximum that desired operating distance is not achieved
Horizontal operation distance), it needs to re-move device location or supporting leg is unfolded again, influence to construct；Second, rule of thumb expansion
Leg is easy to be limited to the experience of manipulator, manipulator insufficient for experience, it is difficult to suitable parking position is found, it cannot be very
The good safety for holding support；Third, manipulator can not maximum horizontal operating distance demand according to cantilever crane in each orientation,
Reliably control the expansion of supporting leg.
Summary of the invention
In view of this, the object of the present invention is to provide a kind of arm support equipment and its support and control system, so that manipulator
It is anticipated that cantilever crane in the maximum horizontal operating distance in each orientation before operating cantilever crane.
The present invention provides a kind of support and control system of arm support equipment, the arm support equipment includes boom system and support
System, the support system include multiple supporting legs for being used to support the boom system, comprising:
Detection module, the extension elongation or/and swing angle of each supporting leg for obtaining the support system；
Processing module is connect with the detection module, based on the extension elongation or/and swing angle according to each supporting leg
The boom system is calculated or searched in the maximum horizontal operating distance in different angle of revolution sections；
Output module is connect with the processing module, for receiving the boom system in different angle of revolution sections
Maximum horizontal operating distance, and exported in such a way that sound or/and screen are shown.
As the improvement of above-mentioned support and control system on the one hand, it is preferable that further include:
Input module, for the scope of activities of boom system to be arranged, the scope of activities includes the angle of revolution of boom system
Spend section and the maximum horizontal operating distance in the angle of revolution section；
The processing module is also connect with the input module, and for the angle of revolution section according to the boom system
And maximum horizontal operating distance be computed or looked up each supporting leg needed for extension elongation or/and swing angle range；The output
Module, extension elongation needed for being also used to receive each supporting leg or/and swing angle range, and it is aobvious 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 of above-mentioned support and control system on the one hand, it is preferable that the processing module is also used to real-time reception
The testing result of the detection module, and extension elongation or/and swing angle range are converted by the testing result to feed back
To output module, the output module is also used to prompt stretching in real time for each supporting leg in such a way that sound or/and screen are shown
Length or/and swing angle range out.
As the improvement of above-mentioned support and control system on the one hand, it is preferable that the output module includes:
Execution unit is electrically connected with the processing module, is drivingly connected with each supporting leg, and the execution unit is for receiving
Extension elongation needed for each supporting leg or/and swing angle range data, and control the flexible of each supporting leg or/and swing.
As the improvement of above-mentioned support and control system on the one hand, it is preferable that the output module includes for showing
Boom system is stated in the display screen of the maximum horizontal operating distance in the angle of revolution section, the input module and the display
Screen is integrated into human-computer interaction device；Or/and
The output module further includes audio device, and the audio device is for broadcasting the boom system in the revolution
The suggestion voice of the maximum horizontal operating distance of angular interval, or the warning letter for broadcasting the boom system expansion situation
Breath.
As the improvement of above-mentioned support and control system on the one hand, it is preferable that the processing module includes supporting database
And control unit, it has determined in the supporting database when each supporting leg is under different extension elongations or/and swing angle, institute
Boom system is stated in the maximum horizontal operating distance in different angle of revolution sections, described control unit according to each supporting leg for existing
Different extension elongations or/and swing angle, search boom system different angle of revolution sections maximum horizontal operating distance,
And feed back to output module.
As the improvement of above-mentioned support and control system on the one hand, it is preferable that the angle of revolution section of the boom system
Including multiple revolution subintervals, the maximum horizontal operating distance of the boom system includes the maximum horizontal in each revolution subinterval
Operating distance.
As the improvement of above-mentioned support and control system on the one hand, it is preferable that the input module is provided with available
Automatic mode and manual mode and the button for selecting manual mode and automatic mode；
In automatic mode, the output module is for extension elongation or angle of oscillation needed for each supporting leg based on the received
Range is spent, the flexible of each supporting leg is controlled or/and is swung；Or, the output module is for needed for each supporting leg based on the received
Extension elongation or swing angle range, control the flexible of each supporting leg or/and swing, and shown by sound or/and screen
Mode prompt each supporting leg needed for extension elongation or swing angle range；
In a manual mode, the output module is for extension elongation or angle of oscillation needed for each supporting leg based on the received
Spend range, extension elongation needed for prompting each supporting leg in such a way that sound or/and screen are shown or swing angle range.
Support and control system proposed by the present invention, by detection module, available each supporting leg to support system
Extension elongation or/and swing angle are extension elongations for telescopic outrigger, are swing angles for oscillating support leg, for swinging
Telescopic outrigger, existing extension elongation also have swing angle；It, can be long according to the stretching of each supporting leg meanwhile by processing module
Degree or/and swing angle are computed or looked up boom system in the maximum horizontal operating distance in different angle of revolution sections, angle of revolution
Each section locating when the whole centre of gyration O around frame system of section, that is, boom system is turned round is spent, can be 1 (360 ° of model
Enclose), be also possible to it is 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, range can be supported according to determined by each supporting leg, determine the safety zone that vehicle center of gravity allows,
To calculate boom system at different angles of revolution, the allowed band of each arm joint total centre of gravity, to obtain boom system not
With the maximum horizontal operating distance in angle of revolution section.By searching for mode, the presetting database in processing module in advance, data
When library is established, the extension elongation or/and swing angle of each supporting leg can be presupposed, in the various stretchings that each supporting leg assumes
When length or/and swing angle, boom system can be determined in the maximum in different angle of revolution sections by above-mentioned calculation method
Horizontal operation distance.Meanwhile by output module, boom system can receive in the maximum horizontal work in different angle of revolution sections
Make distance, and is exported in such a way that sound or/and screen are shown.With this solution, manipulator is in the branch for completing arm support equipment
After leg support, so that it may relatively accurately obtain the maximum horizontal work that the arm support tail end of arm support equipment can work in each orientation
Make distance, avoid the micro-judgment of manipulator, to understand the construction ability of equipment in time, guarantees to complete expectation construction requirement,
Reduce equipment movement or support adjustment number.
In the preferred scheme, it calculates or looks into according to the angle of revolution section of boom system and maximum horizontal operating distance
When extension elongation needed for looking for each supporting leg or/and swing angle range, manipulator does not need that supporting leg is rule of thumb unfolded, but
Supporting leg is unfolded according to the extension elongation of output module prompt or/and swing angle range, can guarantee that arm support equipment supports in this way
Safety, when boom system specified angle of revolution section by setting maximum horizontal operating distance expansion when, Bu Huiyin
Occurs the accident tumbled for underbraced.
On the other hand, a kind of arm support equipment proposed by the present invention, including boom system and support system, the support system
Including multiple supporting legs for being used to support the boom system, which is characterized in that further include the support of any of the above-described kind of arm support equipment
Control system.
As the improvement of above-mentioned arm support equipment on the one hand, it is preferable that further include that can travel chassis, be arranged described feasible
The controller on chassis and the remote controler for controlling cantilever crane movement are sailed, the boom system and support system are set to described
It can travel on chassis, the support system can support the travelable chassis, and the input module of the support and control system is extremely
Few a part and/or at least part of the output module are set on the remote controler, and at least the one of the processing module
Part is integrated in the controller.
Arm support equipment proposed by the present invention, due to including above-mentioned support and control system, manipulator is in completion arm support equipment
Supporting leg support after, so that it may relatively accurately obtain the most flood that can work in each orientation of arm support tail end of arm support equipment
Flat operating distance avoids the micro-judgment of manipulator, to understand the construction ability of equipment in time, guarantees that completing expectation construction wants
It asks.
Detailed description of the invention
The attached drawing for constituting a part of the invention is used to provide further understanding of the present invention, schematic reality of the invention
It applies example and its explanation is used to explain the present invention, do not constitute improper limitations 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 arm support equipment provided in an embodiment of the present invention.
Specific embodiment
It should be noted that in the absence of conflict, the feature in embodiment and embodiment in the present invention can phase
Mutually combination.The present invention will be described in detail below with reference to the accompanying drawings and embodiments.
Boom system is the critical component of arm support equipment, as shown in Figure 1, in general, the boom system of arm support equipment passes through machine
Frame 1 is connect with multiple supporting legs, and O point is the centre of gyration of entire boom system, and supporting leg generally includes 4 supporting legs, have telescopic outrigger,
Oscillating support leg swings the supporting legs form such as telescopic outrigger, the supporting leg in Fig. 1 include front two telescopic outriggers (left front supporting leg 2,
Right anterior branch leg 3) and rear two oscillating support legs (left back supporting leg 4, right rear support leg 5), maximum support range be outermost
Shown in dotted line, arm support equipment can also use other types of supporting leg, can be processed similarly under design of the invention.
Referring to FIG. 2, a kind of support and control system of arm support equipment provided by the invention, arm support equipment include boom system
And support system, support system include multiple supporting legs for being used to support boom system, comprising:
Detection module, the extension elongation or/and swing angle of each supporting leg for obtaining support system；
Processing module is connect with detection module, for according to the extension elongation or/and swing angle of each supporting leg calculate or
Boom system is searched in the maximum horizontal operating distance in different angle of revolution sections；
Output module is connect with processing module, the maximum horizontal for receiving arm system in different angle of revolution sections
Operating distance, and exported in such a way that sound or/and screen are shown.
Technical solution of the present invention, by detection module, the extension elongation of available each supporting leg to support system
Or/and swing angle, it is extension elongation for telescopic outrigger, is swing angle for oscillating support leg, for swinging telescopic outrigger,
Existing extension elongation also has swing angle；It, can be according to the extension elongation or/and pendulum of each supporting leg meanwhile by processing module
Dynamic angle calculation searches maximum horizontal operating distance of the boom system in different angle of revolution sections, angle of revolution section, that is, arm
Frame system it is whole around the centre of gyration O revolution of frame system when locating each section, can be 1 (360 ° of ranges), can also be with
Be it is multiple, such as the revolution section of front, rear, left and right four, 6,8 even more revolution sections can also be set certainly, it is maximum
Horizontal operation distance refers to the maximum horizontal range that the arm support tail end of boom system can reach；It, can be with by calculation
Range is supported according to determined by each supporting leg, the safety zone that vehicle center of gravity allows is determined, to calculate boom system not
When with angle of revolution, and the allowed band of each arm joint total centre of gravity (in general, arm support equipment is in addition to boom system, the center of gravity of other parts
Constant, while the quality of other departments can be known, the length of each arm joint of boom system, weight, arm joint are relative to ground
Angle can also know that angle can pass through the detection means measures such as angular transducer), to obtain boom system in difference
The maximum horizontal operating distance in angle of revolution section.By searching for mode, the presetting database in processing module in advance, database
When establishing, the extension elongation or/and swing angle of each supporting leg can be presupposed, long in the various stretchings that each supporting leg assumes
When degree or/and swing angle, boom system can be determined in the most flood in different angle of revolution sections by above-mentioned calculation method
Flat operating distance.Meanwhile by output module, it can receive maximum horizontal of the boom system in different angle of revolution sections and work
Distance, and exported in such a way that sound or/and screen are shown.With this solution, manipulator is in the supporting leg for completing arm support equipment
After support, so that it may relatively accurately obtain the maximum horizontal work that the arm support tail end of arm support equipment can work in each orientation
Distance avoids the micro-judgment of manipulator, to understand the construction ability of equipment in time, guarantees to complete expectation construction requirement, subtract
Few equipment is mobile or support adjusts number.
Above-mentioned support and control system, it is preferable that as shown in figure 3, the system further include:
Input module, for the scope of activities of boom system to be arranged, scope of activities includes the angle of revolution area of boom system
Between and the maximum horizontal operating distance in angle of revolution section；
Aforementioned processing module is also connect with input module, and is used for angle of revolution section and most flood according to boom system
Extension elongation needed for flat operating distance is computed or looked up each supporting leg or/and swing angle range；Aforementioned output module is also used
Extension elongation or/and swing angle range needed for receiving each supporting leg, and it is defeated in such a way that sound or/and screen are shown
Out；Or/and for controlling the flexible of each supporting leg or/and swinging.
In the present solution, the scope of activities of boom system can be set in such as touch screen, manipulator by input module, including
The angle of revolution section of boom system and maximum horizontal operating distance in angle of revolution section, meanwhile, processing module can root
Extension elongation needed for being computed or looked up each supporting leg according to the angle of revolution section and maximum horizontal operating distance of boom system or/
With swing angle range, in addition, output module receive each supporting leg needed for extension elongation or/and swing angle range, and lead to
The mode that sound or/and screen are shown is crossed to export；Or/and for controlling the flexible of each supporting leg or/and swinging, in this way, operation
Hand does not need that supporting leg is rule of thumb unfolded, but is unfolded according to the extension elongation or/and swing angle range of output module prompt
Supporting leg can guarantee the safety of arm support equipment support in this way, when boom system presses setting in specified angle of revolution section
When maximum horizontal operating distance is unfolded, will not occur the accident tumbled because of underbraced (certainly, the case where place allows
Under, supporting leg can be expanded to maximum support energy as far as possible according to the extension elongation or/and swing angle range of prompt by manipulator
Power is further ensured that safety).Meanwhile being exported in such a way that sound or/and screen are shown, manipulator is convenient for reception.Separately
Outside, when output module directly controls the flexible of each supporting leg or/and swings, it can also avoid manipulator that supporting leg is unfolded manually, remove
Have outside high degree of automation, additionally it is possible to guarantee that the supporting leg of expansion meets construction requirement.
To understand the real-time extension elongation of supporting leg or/and swing angle convenient for manipulator, refering to what is shown in Fig. 3, processing module
It is also used to the testing result of real-time reception detection module, and will test result and be converted into extension elongation or/and swing angle range
To feed back to output module, output module is also used to prompt the real-time of each supporting leg in such a way that sound or/and screen are shown
Extension elongation or/and swing angle range.The real-time stretching of each supporting leg is prompted to grow in such a way that sound or/and screen are shown
Degree or/and swing angle range, manipulator can understand expansion situation, control is more when supporting leg is unfolded according to prompt in real time
It is convenient.
For convenient for the control for supporting leg, above-mentioned support and control system, it is preferable that output module includes execution unit,
Execution unit is electrically connected with processing module, is drivingly connected with each supporting leg, and execution unit is stretched needed for each supporting leg for receiving
Length or/and swing angle range data out, and control the flexible of each supporting leg or/and swing.For telescopic outrigger, list is executed
Member such as can be telescopic oil cylinder, and driving chain, only right for swinging, execution unit can be telescopic oil cylinder, rotation motor etc.,
The prior art can specifically be referred to.
Above-mentioned support and control system, for different supporting legs, execution unit can take different control, specifically,
When support system includes at least one oscillating support leg, execution unit is rocked to required swing angle for controlling oscillating support leg
In range；Or/and when support system includes at least one telescopic outrigger, execution unit is used to control the stretching of telescopic outrigger
Length is greater than or equal to required extension elongation；Or/and it when support system includes that at least one swings telescopic outrigger, executes
Unit is rocked within the scope of required swing angle for controlling swing telescopic outrigger, and the stretching for controlling swing telescopic outrigger is long
Degree is greater than or equal to required extension elongation.It is right when execution unit control oscillating support leg is rocked to required swing angle range
The development distance required for boom system (maximum horizontal operating distance), the support of arm support equipment is stable.When executing list
After the extension elongation of member control telescopic outrigger is greater than or equal to required extension elongation, the stability of arm support equipment also be can achieve
Even more than support requires, and is rocked within the scope of required swing angle when execution unit controls swing telescopic outrigger, and control
When the extension elongation that system swings telescopic outrigger is greater than or equal to required extension elongation, arm support equipment also can satisfy cantilever crane expansion
Requirement to support.Certainly, in the case where place allows, manipulator can be in swing angle range and collapsing length range
It is interior, an optimal supporting point is found, at this point, output module exports boom system and return in difference further according to new Support Position
The maximum horizontal operating distance in gyration section.
Above-mentioned support and control system works for the maximum horizontal convenient for display boom system in the angle of revolution section
Extension elongation needed for distance or/and each supporting leg or/and swing angle range, output module include for showing cantilever crane system
System extension elongation or/and angle of oscillation needed for the maximum horizontal operating distance in different angle of revolution sections or/and each supporting leg
The display screen of range is spent, to simplify input/output module structure, input module and display screen are integrated into human-computer interaction device, such as aobvious
Show touch screen；Meanwhile for convenient for by auditory tone cues boom system different angle of revolution sections maximum horizontal operating distance,
Or/and extension elongation needed for each supporting leg or/and swing angle range, output module further include audio device, audio device
For broadcasting boom system stretching needed for the maximum horizontal operating distance in different angle of revolution sections or/and each supporting leg
The suggestion voice of length or/and swing angle range, or for broadcasting the flexible of boom system expansion situation or/and each supporting leg
Or/and swing the warning message (prompting such as supported to place, prompting etc. that is close or running into barrier) of situation.By that will input
Module and display screen are integrated into human-computer interaction device, simplify input/output module, have saved installation space, meanwhile, control branch
The expansion of leg is also more convenient.
To obtain boom system in the maximum horizontal operating distance in different angle of revolution sections, preferably by searching for mode
Ground, processing module include supporting database and control unit, have been determined in supporting database when each supporting leg is in different stretchings
Under length or/and swing angle, in the maximum horizontal operating distance in different angle of revolution sections, control unit is used for boom system
According to each supporting leg in different extension elongation or/and swing angle, search boom system different angle of revolution sections most
Big horizontal operating distance, and feed back to output module.By preparatory supporting database, boom system is in feedback data, operation
Measure small, response is fast.
In above scheme, it is preferable that the angle of revolution section of boom system include multiple revolution subintervals (as shown in Figure 1,
The θ hx of θ qx of θ yx, front side, θ zx in left side, rear side including right side), the maximum horizontal operating distance of boom system includes each
The maximum horizontal operating distance in a revolution subinterval.With this solution, in the extension elongation or/and angle of oscillation according to each supporting leg
Degree is computed or looked up boom system in the maximum horizontal operating distance in different angle of revolution sections, can more intuitively understand
Developing power of the cantilever crane in each orientation.Being calculated according to the angle of revolution section of boom system and maximum horizontal operating distance or
When extension elongation needed for searching each supporting leg or/and swing angle range, manipulator can be according to the parking side of arm support equipment
Position and operating configurations, setting boom system is in the different maximum horizontal operating distances for turning round subintervals, in the situation that space is limited
Under, can with adaptation to local conditions, meanwhile, revolution subinterval can be customized setting section or pre-set interval, pass through customized setting
The mode in subinterval is turned round, control is more flexible, constructs more convenient, passes through the side that revolution subinterval is selected from pre-set interval
Formula, selection is convenient, and new manipulator is suitble to construct.
In above scheme, processing module can angle of revolution section according to boom system and maximum horizontal operating distance meter
Angle of revolution section can be arranged in manipulator in extension elongation needed for calculating each supporting leg or/and swing angle range, the work
And it is calculated and is completed by processing module after maximum horizontal operating distance.To simplify the calculation, supporting database can be preset, mould is handled
It is each to obtain that block can search supporting database according to the angle of revolution section of boom system and maximum horizontal operating distance
Extension elongation needed for supporting leg or/and swing angle range, specifically, input module are 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, branch
It has determined in support database when different maximum horizontal operating distances are arranged in each revolution subinterval, has been stretched needed for each supporting leg
Length or/and swing angle range out, the most flood in each revolution subinterval that control unit is used to be arranged according to input module
Flat operating distance, extension elongation needed for searching each supporting leg or/and swing angle range, and feed back to output module.Pass through
Supporting database is set, and manipulator directly selects Construction Mode, and control is simpler, operates more convenient.
Above-mentioned support and control system, manipulator can choose Automatic-expanding supporting leg, also can choose expansion supporting leg manually,
Accordingly, input module is provided with alternative automatic mode and manual mode and for selecting manual mode and automatic mold
The button of formula；In automatic mode, output module is for extension elongation or swing angle needed for each supporting leg based on the received
Range controls the flexible of each supporting leg or/and swings；Or, output module is for stretching needed for each supporting leg based on the received
Length or swing angle range control the flexible of each supporting leg or/and swing, and in such a way that sound or/and screen are shown
Extension elongation needed for prompting each supporting leg or swing angle range；In a manual mode, output module is for based on the received
Extension elongation needed for each supporting leg or swing angle range prompt each supporting leg in such a way that sound or/and screen are shown
Required extension elongation or swing angle range.Therefore, in automatic mode, output module is other than Automatic-expanding supporting leg, also
Can be reminded simultaneously by sound or screen (other than the collapsing length and hunting range of reminding supporting leg, can also remind scene
Personnel's evacuation, is reminded close to barrier etc.).In a manual mode, output module reminds each supporting leg institute by sound or screen
The extension elongation or swing angle range needed (other than the collapsing length and hunting range of reminding supporting leg, can also remind scene
Personnel's evacuation, is reminded close to barrier etc.), manipulator's manual operation, flexibility is high, and support safety is secure.
On the other hand, the present invention also proposes that a kind of arm support equipment, including boom system and support system, support system include
Multiple supporting legs for being used to support boom system further include the support and control system of any of the above-described kind of arm support equipment.Due to including upper
The support and control system stated, manipulator is after completing the supporting leg support of arm support equipment, so that it may relatively accurately obtain cantilever crane and set
The maximum horizontal operating distance that standby arm support tail end can work in each orientation, avoids the micro-judgment of manipulator, thus and
When understand equipment construction ability, guarantee complete expectation construction requirement.According to the angle of revolution section of boom system and maximum
When extension elongation needed for horizontal operation distance is computed or looked up each supporting leg or/and swing angle range, manipulator is not needed
Supporting leg is rule of thumb unfolded, but supporting leg is unfolded according to the extension elongation or/and swing angle range of output module prompt, in this way
The safety that can guarantee arm support equipment support, when boom system presses the maximum horizontal work of setting in specified angle of revolution section
When making distance expansion, will not occur the accident tumbled because of underbraced.
Above-mentioned arm support equipment, it is preferable that further include can travel chassis, be arranged in can travel chassis on controller and
For controlling the remote controler of cantilever crane movement, boom system and support system are set on travelable chassis, and support system is sustainable
It can travel chassis, at least part of input module and/or at least part of output module are set on remote controler, handle mould
At least part of block is integrated in controller.If the setting of human-computer interaction device part is on remote controler, supporting database and hold
Row unit part is set in the controller of arm support equipment, and the audio device of certain output module can also be arranged in simultaneously to be remotely controlled
On device and controller.
The foregoing is merely illustrative of the preferred embodiments of the present invention, is not intended to limit the invention, all in essence of the invention
Within mind and principle, any modification, equivalent replacement, improvement and so on be should all be included in the protection scope of the present invention.
Claims (10)
1. a kind of support and control system of arm support equipment, the arm support equipment includes boom system and support system, the support
System includes multiple supporting legs for being used to support the boom system characterized by comprising
Detection module, the extension elongation or/and swing angle of each supporting leg for obtaining the support system；
Processing module is connect with the detection module, for according to the extension elongation or/and swing angle of each supporting leg calculate or
The boom system is searched in the maximum horizontal operating distance in different angle of revolution sections；
Output module is connect with the processing module, for receiving the boom system in the maximum in different angle of revolution sections
Horizontal operation distance, and exported in such a way that sound or/and screen are shown.
2. the support and control system of arm support equipment according to claim 1, which is characterized in that further include:
Input module, for the scope of activities of boom system to be arranged, the scope of activities includes the angle of revolution area of boom system
Between and the maximum horizontal operating distance in the angle of revolution section；
The processing module is also connect with the input module, and for according to the angle of revolution section of the boom system and most
Extension elongation or/and swing angle range needed for big horizontal operating distance is computed or looked up each supporting leg；The output module,
Extension elongation needed for being also used to receive each supporting leg or/and swing angle range, and the side shown by sound or/and screen
Formula output；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, which is characterized in that the processing module is also used to
The testing result of detection module described in real-time reception, and extension elongation or/and swing angle model are converted by the testing result
It encloses to feed back to output module, the output module is also used to prompt each supporting leg in such a way that sound or/and screen are shown
Real-time extension elongation or/and swing angle range.
4. the support and control system of arm support equipment according to claim 2, which is characterized in that the output module includes:
Execution unit is electrically connected with the processing module, is drivingly connected with each supporting leg, and the execution unit is each for receiving
Extension elongation needed for supporting leg or/and swing angle range data, and control the flexible of each supporting leg or/and swing.
5. according to the support and control system of the described in any item arm support equipments of claim 2-4, which is characterized in that the output mould
Block include for show the boom system in the display screen of the maximum horizontal operating distance in the angle of revolution section, it is described defeated
Enter module and the display screen is integrated into human-computer interaction device；Or/and
The output module further includes audio device, and the audio device is for broadcasting the boom system in the angle of revolution
The suggestion voice of the maximum horizontal operating distance in section, or the warning message for broadcasting the boom system expansion situation.
6. the support and control system of arm support equipment according to claim 1-4, which is characterized in that the processing mould
Block includes supporting database and control unit, has been determined in the supporting database when each supporting leg is in different extension elongations
Or/and under swing angle, maximum horizontal operating distance of the boom system in different angle of revolution sections, described control unit
For, in different extension elongation or/and swing angle, searching boom system in different angle of revolution sections according to each supporting leg
Maximum horizontal operating distance, and feed back to output module.
7. according to the support and control system of the described in any item arm support equipments of claim 2-4, which is characterized in that the cantilever crane system
The angle of revolution section of system includes multiple revolution subintervals, and the maximum horizontal operating distance of the boom system includes each revolution
The maximum horizontal operating distance in subinterval.
8. according to the support and control system of the described in any item arm support equipments of claim 2-4, which is characterized in that the 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, the output module is for extension elongation or swing angle model needed for each supporting leg based on the received
It encloses, control the flexible of each supporting leg or/and swings；Or, the output module needed for each supporting leg based on the received for stretching
Length or swing angle range out, the side for controlling the flexible of each supporting leg or/and swinging, and being shown by sound or/and screen
Extension elongation needed for formula prompts each supporting leg or swing angle range；
In a manual mode, the output module is for extension elongation or swing angle model needed for each supporting leg based on the received
It encloses, extension elongation needed for prompting each supporting leg in such a way that sound or/and screen are shown or swing angle range.
9. a kind of arm support equipment, including boom system and support system, the support system includes multiple being used to support the arm
The supporting leg of frame system, which is characterized in that further include the support and control system such as the described in any item arm support equipments of claim 1-8
System.
10. arm support equipment according to claim 9, which is characterized in that further include that can travel chassis, be arranged described feasible
The controller on chassis and the remote controler for controlling cantilever crane movement are sailed, the boom system and support system are set to described
It can travel on chassis, the support system can support the travelable chassis, and the input module of the support and control system is extremely
Few a part and/or at least part of the output module are set on the remote controler, and at least the one of the processing module
Part is integrated in the controller.
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| CN109131611A (en) * | 2018-07-13 | 2019-01-04 | 云南电网有限责任公司曲靖供电局 | A kind of self-balancing running gear and balance car |
| CN110843738A (en) * | 2019-11-19 | 2020-02-28 | 江西江铃集团特种专用车有限公司 | Voice-assisted hydraulic support leg leveling system |
| CN111717173A (en) * | 2020-06-24 | 2020-09-29 | 三一汽车制造有限公司 | Method for controlling work vehicle, and readable storage medium |
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