CN106585577B - A kind of boom system control method, arm support control system and arm support equipment - Google Patents
A kind of boom system control method, arm support control system and arm support equipment Download PDFInfo
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- CN106585577B CN106585577B CN201611140647.XA CN201611140647A CN106585577B CN 106585577 B CN106585577 B CN 106585577B CN 201611140647 A CN201611140647 A CN 201611140647A CN 106585577 B CN106585577 B CN 106585577B
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- support
- boom system
- supporting leg
- arm joint
- arm
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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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- Mechanical Engineering (AREA)
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- General Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
- Jib Cranes (AREA)
Abstract
The invention proposes a kind of boom system control method, arm support control system and arm support equipments, method includes the following steps: in the scope of activities of each supporting leg, the scope of activities of each supporting leg is divided into multiple activity intervals, according to adjacent two supporting leg different activity intervals combination, determine multiple support Intervals, and establish support gear library, it has been determined in support gear library under each support gear of each support Interval, when boom system is located at the support Interval, the permission scope of activities of boom system；Detect the actual support state of each supporting leg；According to the actual support state of each supporting leg detected, the support gear of each support Interval corresponding with the actual support state of each supporting leg is searched in support gear library, so that it is determined that permission scope of activities of each arm joint under the different angle of revolution of boom system out, and the movement of each arm joint is controlled accordingly.This method does not need the center of gravity for calculating vehicle constantly, and calculation amount is small, and control error rate is low.
Description
Technical field
The present invention relates to constructional engineering machinery apparatus fields, more specifically, are related to a kind of boom system control method, arm
Frame control system and arm support equipment.
Background technique
Currently, the existing stable control method for folding arm equipment is all the operating attitude of first real-time detection cantilever crane more, and
The position of centre of gravity of vehicle is calculated in real time, and judges whether vehicle center of gravity is supporting the safety zone in range, if because of cantilever crane
Activity makes the center of gravity of vehicle beyond safety zone, and controller will control cantilever crane and move to safe direction.The above control mode belongs to
Subsequent control cannot guarantee that the arm equipment that fold are in safe work state, intentionally the outer risk toppled more constantly, and fold more
All cantilever cranes of arm equipment are both needed to Installation posture detection device, increase error probability, it is also necessary to which the control system moment calculates whole
The center of gravity of vehicle, and according to center of gravity and the support situation of supporting leg, calculate whether boom system is located in safety zone, control system
Operand is big, and the requirement of the reliability of stability and all the sensors to control system is high, is easy error.
It is therefore proposed that a kind of operand is few, can guarantee to fold the controlling party that arm equipment is in safe work state constantly more
Method just seems very necessary.
Summary of the invention
In view of this, the object of the present invention is to provide a kind of boom system control method, arm support control system and cantilever cranes
Equipment, to reduce the calculation amount of existing arm support equipment control system and/or improve the safety of boom system.
On the one hand, the present invention provides a kind of boom system control methods, for controlling the cantilever crane supported by multiple supporting legs
System, the boom system include multiple arm joints, comprising the following steps:
Step 102: in the scope of activities of each supporting leg, the scope of activities of each supporting leg being divided into multiple behaviour areas
Between, according to adjacent two supporting leg in the combination of different activity intervals, multiple support Intervals are determined, and establish support gear library, in institute
It states and has been determined in support gear library under each support gear of each support Interval, when the boom system is located at the branch
When supportting section, the permission scope of activities of the boom system；
Step 104: detecting the actual support state of each supporting leg, the actual support state includes that each supporting leg is actual
Extension elongation and/or expanded angle；
Step 106: according to the actual support state of each supporting leg detected, being searched and each in support gear library
The support gear of the corresponding each support Interval of the actual support state of leg, so that it is determined that each arm joint is in the boom system out
Permission scope of activities under different angles of revolution, and the movement of each arm joint is controlled accordingly.
As the improvement of above-mentioned cantilever crane system control method on the one hand, it is preferable that in a step 102, the cantilever crane system
The permission scope of activities of system includes that the gravity center shift range of at least one arm joint of the boom system or/and each arm joint allow
Change angle range or collapsing length range.
As the improvement of above-mentioned cantilever crane system control method on the one hand, it is preferable that the boom system includes successively connecting
The 1st arm joint that connects, the 2nd arm joint ..., N arm joint, N is the integer greater than 1, and in a step 102, the boom system is permitted
Perhaps scope of activities is the change angle range or collapsing length range that each arm joint allows；In step 106, the cantilever crane system is controlled
When the movement of system, successively limit the 1st arm joint, the 2nd arm joint ..., N arm joint permission change angle or collapsing length range
Interior movement.
As the improvement of above-mentioned cantilever crane system control method on the one hand, it is preferable that in a step 102, the cantilever crane system
System determines change angle or collapsing length model that the 1st arm joint allows in different angles of revolution and under each support gear
When enclosing, it is assumed that the 2nd arm joint ..., N arm joint be located at horizontality or maximum stretching state；Determine the luffing that the 2nd arm joint allows
When angle or collapsing length range, it is assumed that the 3rd arm joint ..., N arm joint be located at horizontality or maximum stretching state；……；
When determining the change angle or collapsing length range that N-1 arm joint allows, it is assumed that N arm joint is located at horizontality or maximum stretching
State.
As the improvement of above-mentioned cantilever crane system control method on the one hand, it is preferable that in a step 102, in each supporting leg
Scope of activities in choose multiple cut-points, the range on each supporting leg between two neighboring cut-point constitutes a behaviour area
Between, the cut-point of the close cantilever crane centre of gyration of each activity interval is interior separation, and the separate cantilever crane of each activity interval returns
The cut-point for turning center is outer separation；Time of first activity interval of one of supporting leg and boom system in adjacent two supporting leg
The range for turning the line composition of the centre of gyration of the line at center, the second activity interval of another supporting leg and boom system is branch
Support section, the interior separation of the first activity interval, the interior separation of outer separation and the second activity interval, between outer separation
4 lines are support gear line, and each support gear line corresponds to a support gear, and precalculates under each support gear,
When the boom system is located at the support Interval, the permission scope of activities of the boom system；In step 106, search with
When the support gear of the corresponding each support Interval of the actual support state of each supporting leg, select in 4 support gear lines with
The centre of gyration of boom system is apart from the nearest corresponding support gear of support gear line.
As the improvement of above-mentioned cantilever crane system control method on the one hand, it is preferable that in a step 102, in each supporting leg
Scope of activities in choose n cut-point, n is integer greater than 1, the range structure on each supporting leg between two neighboring cut-point
At an activity interval；The company of the centre of gyration of the first activity interval and boom system of one of supporting leg in adjacent two supporting leg
The range that the line of the centre of gyration of line, the second activity interval of another supporting leg and boom system is constituted is support Interval, phase
The line of i-th of cut-point of i-th of separation and another supporting leg of one of supporting leg is support gear in adjacent two supporting legs
Line, i is the integer more than or equal to 1 and less than or equal to n, and the 1st to the (n-1)th support gear line is parallel, each support gear line
A corresponding support gear, and precalculate under each support gear, when boom system is located at the support Interval, boom system
Each arm joint allow change angle range or collapsing length range；
Meanwhile in step 106, the branch of each support Interval corresponding with the actual support state of each supporting leg is searched
When supportting gear, the corresponding support gear of support gear line on the inside of the supporting point line of adjacent two supporting leg is selected.
As the improvement of above-mentioned cantilever crane system control method on the one hand, it is preferable that at step 104, also detect cantilever crane
The change angle or collapsing length of the angle of revolution of system and each arm joint；In step 106, including the control boom system
Rotary motion and each arm joint change angle range or collapsing length, and when each arm joint returned back to from a support Interval it is another
When support Interval, whether the change angle or collapsing length for comparing each arm joint of detection are located at the luffing that another support Interval allows
Within the scope of angle or collapsing length, and the movement of boom system is controlled accordingly, and in the juncture area of adjacent two support Interval, if
It chooses when the boom system is located at safety allowance section by safety allowance section in the safety allowance section for setting preset range
Each lesser permission scope of activities of arm joint in adjacent two support Interval separated.
Boom system control method provided by the invention can be according to the scope of activities in each supporting leg by step 102
It is interior, the scope of activities of each supporting leg is divided into multiple activity intervals, according to adjacent two supporting leg different activity intervals combination,
It determines multiple support Intervals, and establishes support gear library, determined in support gear library in each of each support Interval
Under a support gear, when boom system is located at the support Interval, the permission scope of activities of boom system, it will be understood that each
After the holding state of a supporting leg determines, enabling capabilities are also determined, can be according to the actual support shape of supporting leg before cantilever crane movement
State searches database, selects or transfer the permission scope of activities of boom system from database, dynamic in each arm joint of boom system
When making, the center of gravity for calculating vehicle constantly is not needed, and according to center of gravity and the support situation of supporting leg, calculates whether boom system is located at
In safety zone, it is only necessary to which whether the scope of activities for comparing boom system is located in the permission scope of activities of boom system, simultaneously
The scope of activities that can control each arm joint therefore will be existing without departing from the change angle range or collapsing length range of permission
Subsequent control becomes Prior Control, and the safety of equipment can be improved, and reduces risk of tumbling, meanwhile, reduce boom system
Calculation amount in control process, reliability and real-time are improved, and control error rate reduces.
Meanwhile by step 104, step 106, can be detected by detection devices such as angular transducer, stay wire sensors
The actual extension elongation of each supporting leg and/or expanded angle, and according to actual support state, searched in support gear library with it is each
The corresponding support gear of the actual support state of a supporting leg, so that it is determined that boom system permitting under different angles of revolution out
Perhaps scope of activities, and the movement of boom system is controlled accordingly, therefore, control simpler.
On the other hand, the invention also provides a kind of arm support control systems, for controlling the cantilever crane supported by multiple supporting legs
System, the boom system include multiple arm joints, comprising:
Leg location detection device, for detecting the extension elongation or/and swing angle of each supporting leg；
Arm support position detection device, between the pitch angle or adjacent two arm segment for directly or indirectly detecting each arm joint
Angle or adjacent two arm segment collapsing length；
Cantilever crane rotation detecting, for detecting the angle of revolution of the boom system；
Driving mechanism is executed, is connect with the boom system, for driving the boom system to turn round and for driving
Each arm joint luffing or expanding-contracting action of the boom system；
Controller, with the leg location detection device, arm support position detection device, cantilever crane rotation detecting and execution
Driving mechanism connection, in the scope of activities of each supporting leg, the scope of activities of each supporting leg to be divided into multiple behaviour areas
Between, according to adjacent two supporting leg in the combination of different activity intervals, multiple support Intervals are determined, and establish support gear library, in institute
It states and is determined in support gear library under each support gear of each support Interval, when the boom system is located at the support
When section, the permission scope of activities of the boom system；And the actual support state of each supporting leg detected for basis,
It supports and searches support gear corresponding with the actual support state of each supporting leg in gear library, so that it is determined that the cantilever crane system out
Permission scope of activities of the system under different angles of revolution, and for according to arm support position detection device, cantilever crane revolution detection dress
The data for setting detection, by the movement for executing boom system described in driving mechanisms control.
As the improvement of above-mentioned arm support control system on the one hand, it is preferable that the boom system includes sequentially connected
1st arm joint, the 2nd arm joint ..., N arm joint, N is integer greater than 1, and the permission scope of activities of the boom system is each arm
Save the change angle range or collapsing length range allowed；When controller controls the movement of the boom system, the 1st is successively limited
Arm joint, the 2nd arm joint ..., N arm joint moves within the scope of the change angle or collapsing length of permission.
Arm support control system of the invention can be in the scope of activities of each supporting leg, by each supporting leg by controller
Scope of activities be divided into multiple activity intervals, according to adjacent two supporting leg in the combination of different activity intervals, determine multiple supports
Section, and support gear library is established, it is determined in support gear library under each support gear of each support Interval, when
When boom system is located at the support Interval, the permission scope of activities of boom system, it will be understood that in the holding state of each supporting leg
After determination, enabling capabilities are also determined, before cantilever crane movement, can search database according to the actual support state of supporting leg, from
The permission scope of activities that boom system is selected or transferred in database does not need the moment in each arm joint movement of boom system
The center of gravity of vehicle is calculated, and according to center of gravity and the support situation of supporting leg, calculates whether boom system is located in safety zone, is only needed
Whether the scope of activities for comparing boom system is located in the permission scope of activities of boom system, while can control each arm joint
Scope of activities without departing from permission change angle range or collapsing length range, therefore, by it is existing it is subsequent control become to get over
The safety of equipment can be improved in preceding control, reduces risk of tumbling, meanwhile, reduce the calculating in boom system control process
Amount, reliability and real-time are improved, and control error rate reduces.
Meanwhile controller can also detect each supporting leg reality by detection devices such as angular transducer, stay wire sensors
Extension elongation and/or expanded angle the reality with each supporting leg is searched in support gear library and according to actual support state
The corresponding support gear of holding state, so that it is determined that permission scope of activities of the boom system under different angles of revolution out,
And the movement of boom system is controlled accordingly, therefore, control simpler.
In another aspect, the invention also provides a kind of arm support equipment, including any of the above-described kind of arm support control system.
Accordingly, which also has the advantages that aforementioned arm support control system.
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 boom system control method provided in an embodiment of the present invention；
Fig. 3 provides a kind of division mode schematic diagram of support Interval for the embodiment of the present invention；
Fig. 4 provides a kind of division mode schematic diagram for supporting gear for the embodiment of the present invention；
Fig. 5 provides the division mode schematic diagram of another support gear for the embodiment of the present invention；
Fig. 6 provides a kind of division mode schematic diagram in safety allowance section for the embodiment of the present invention；
Fig. 7 is a kind of schematic diagram of arm support control system 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 boom system, and supporting leg generally includes 4 supporting legs, is had telescopic outrigger, is swung
Supporting leg swings the supporting legs forms such as telescopic outrigger, and the supporting leg in Fig. 1 includes two telescopic outriggers in front (before left front supporting leg 2, the right side
Supporting leg 3) and rear two oscillating support legs (left back supporting leg 4, right rear support leg 5), maximum support range be outermost dotted line
Shown, other types of supporting leg can be processed similarly.
With reference to Fig. 2, a kind of boom system control method provided by the invention, for controlling the cantilever crane supported by multiple supporting legs
System, boom system include multiple arm joints, comprising the following steps:
Step 102: in the scope of activities of each supporting leg, the scope of activities of each supporting leg being divided into multiple behaviour areas
Between, according to adjacent two supporting leg in the combination of different activity intervals, determine multiple support Intervals, as shown in Figure 3-4, support Interval packet
The θ hx of θ yx, θ qx of front side, θ zx in left side, rear side on the right side of including, meanwhile, support gear library is established, in support gear library
Determined each support Interval each support gear (the 1st grade of such as Right side support section, the 2nd grade ..., n-th
Shelves) under, when boom system is located at the support Interval, the permission scope of activities of boom system；Specifically, such as in the L2 shelves on right side
When, it can be support gear line with L2, precalculate the permission scope of activities for obtaining boom system.
Step 104: detecting the actual support state of each supporting leg, actual support state includes the actual stretching of each supporting leg
Length and/or expanded angle；
Step 106: according to the actual support state of each supporting leg detected, being searched and each in support gear library
The support gear of the corresponding each support Interval of the actual support state of leg, so that it is determined that each arm joint is in boom system difference out
Angle of revolution under permission scope of activities, and control the movement of each arm joint accordingly.
It, can be according in the scope of activities of each supporting leg, by the work of each supporting leg by step 102 in the present embodiment
Dynamic range is divided into multiple activity intervals, according to adjacent two supporting leg in the combination of different activity intervals, determines multiple support Intervals,
And support gear library is established, it has been determined in support gear library under each support gear of each support Interval, has worked as arm
When frame system is located at the support Interval, the permission scope of activities of boom system, it will be understood that true in the holding state of each supporting leg
After fixed, enabling capabilities are also determined, before cantilever crane movement, database can be searched, from number according to the actual support state of supporting leg
It does not need to count constantly in each arm joint movement of boom system according to the permission scope of activities that boom system is selected or transferred in library
The center of gravity of vehicle is calculated, and according to center of gravity and the support situation of supporting leg, calculates whether boom system is located in safety zone, it is only necessary to
Whether the scope of activities for comparing boom system is located in the permission scope of activities of boom system, while can control the work of each arm joint
Therefore dynamic range becomes existing subsequent control in advance without departing from the change angle range or collapsing length range of permission
The safety of equipment can be improved in control, reduces risk of tumbling, meanwhile, reduce the calculation amount in boom system control process,
Reliability and real-time are improved, and control error rate reduces.
Meanwhile by step 104, step 106, can be detected by detection devices such as angular transducer, stay wire sensors
The actual extension elongation of each supporting leg and/or expanded angle, and according to actual support state, searched in support gear library with it is each
The corresponding support gear of the actual support state of a supporting leg, so that it is determined that boom system permitting under different angles of revolution out
Perhaps scope of activities, and the movement of boom system is controlled accordingly, therefore, control is simpler, when controlling the movement of each arm joint, Ke Yican
The prior art is examined, specifically, the pitching movement of each arm joint can be controlled by cantilever crane pitch control valve and cantilever crane rotary control valve
With the rotary motion of boom system entirety.
In above-mentioned cantilever crane system control method, the permission scope of activities of boom system can be interpreted broadly, such as respectively
The permission scope of activities (angle, collapsing length etc.) of arm joint, the gravity center shift range of each arm joint, alternatively, the center of gravity of part arm joint
The gravity center shift range of variation range or even all cantilever cranes, specifically, in a step 102, the permission scope of activities of boom system
Gravity center shift range (such as gravity center shift range of the 1st arm joint, the 1st, the 2nd arm joint of at least one arm joint including boom system
Gravity center shift range etc.) or/and each arm joint the change angle range or collapsing length range that allow.When the permission of boom system
When scope of activities is the gravity center shift range of at least one arm joint of boom system, when controlling the movement of boom system, only need
Whether the center of gravity of at least one arm joint that will be relatively more selected is located in the variation range of permission, is not required to calculate vehicle center of gravity, less
Whether the movement for needing to calculate boom system according to center of gravity and support situation is safe, and therefore, calculation amount is greatly reduced.Work as cantilever crane
The permission scope of activities of system is the change angle range or collapsing length range that each arm joint allows, it is only necessary to limit each arm joint
It is acted within the scope of the change angle range or collapsing length of permission.
In general, boom system include sequentially connected 1st arm joint, the 2nd arm joint ..., N arm joint, N be it is whole greater than 1
Number, it is preferable that in a step 102, the permission scope of activities of boom system is the change angle range that each arm joint allows or flexible
Length range；In step 106, when controlling the movement of boom system, successively limit the 1st arm joint, the 2nd arm joint ..., N arm
Section moves within the scope of the change angle or collapsing length of permission.That is, when the 1st arm joint is located at optimal point (the vertical shape of stability
State), when not still being able to satisfy the stability requirement of vehicle, then the change angle of the 2nd arm joint is limited, when the 1st arm joint, the 2nd arm joint
It is respectively positioned on the optimal point (vertical state) of stability, when not still being able to satisfy the stability requirement of vehicle, then limits the 3rd arm joint
Change angle, and so on, conversely, when the 1st arm joint needs not necessarily lie in the optimal point (vertical state) of stability, it will be able to meet
When the stability requirement of vehicle, without limiting the change angle of 2-N arm joint, when the i-th arm joint is without limitation, do not need to the yet
I+1 arm joint is limited.With this solution, Prior Control effectively is carried out to boom system.
There are many modes for the boom system of arm support equipment, common are full telescopic jib, full foldable arm rack, flexible+folding
Cantilever crane, when calculating the change angle or collapsing length range that each arm joint of boom system allows, to guarantee safety, it is assumed that other
Arm joint be located at the worst point of stability (in general, foldable arm rack in horizontal position to stability least favorable, vertical position is to stabilization
Property is most advantageous, and telescopic jib to stability least favorable, when maximum retraction length, most there is stability in maximum extension elongation
Benefit), in a step 102, boom system determines that the 1st arm joint allows in different angles of revolution and under each support gear
Change angle or when collapsing length range, it is assumed that the 2nd arm joint ..., N arm joint is located at horizontality or maximum stretches out shape
State；Determine change angle that the 2nd arm joint allows or when collapsing length range, it is assumed that the 3rd arm joint ..., N arm joint be located at level
State or maximum stretching state；……；When determining the change angle or collapsing length range that N-1 arm joint allows, it is assumed that N arm
Section is in horizontality or maximum stretching state.When calculating the change angle or collapsing length range that each arm joint allows, successively count
The change angle or collapsing length range of the permission of 1-N arm joint are calculated, it, can if the movement of the i-th arm joint (such as the 3rd arm joint) is without limitation
Not need to calculate i+1 arm joint.
Activity interval and support gear can be there are many division modes, in a kind of mode, as shown in figure 5, in step 102
In, multiple cut-points, the range structure on each supporting leg between two neighboring cut-point are chosen in the scope of activities of each supporting leg
At an activity interval (such as b1b2, d1d2), the cut-point of the close cantilever crane centre of gyration of each activity interval is interior separation
(such as b1, d1), the cut-point of the separate cantilever crane centre of gyration of each activity interval are outer separation (such as b2, d2), interior separation
Be with outer separation it is opposite, in the interior separation of an activity interval, it may be possible to another activity interval is cut-point,
The outer separation of one activity interval, it may be possible to the interior separation of another activity interval；Adjacent two supporting legs (such as right anterior branch leg 3, the right side
Rear support leg 5) in one of supporting leg the first activity interval (such as b1b2) and the centre of gyration O of boom system line, another
The range that the line of the centre of gyration O of the second activity interval (such as d1d2) and boom system of a supporting leg is constituted is support Interval,
For simplified model, with bOd for a support Interval, interior separation, outer separation and the second activity interval of the first activity interval
Interior separation, 4 lines between outer separation be support gear line b1d1, b2d2, b2d1, b1d2, each support gear
Line corresponds to a support gear, and precalculates under each support gear, when boom system is located at the support Interval, cantilever crane system
The permission scope of activities of system；Determining support gear by this way, the actual support state closer to supporting leg therefore can
Guarantee the developing power that cantilever crane is played while enabling capabilities.
Meanwhile in step 106, the branch of each support Interval corresponding with the actual support state of each supporting leg is searched
When supportting gear, select in 4 support gear lines with the centre of gyration of boom system apart from the corresponding branch of nearest support gear line
Support gear.By corresponding apart from nearest support gear line with the centre of gyration of boom system in 4 support gear lines of selection
Gear is supported, is b1d1 gear line in Fig. 5 specifically, it is ensured that support gear line is located at adjacent two supporting legs supporting point line
Inside (inside be close to boom system centre of gyration O side), security performance is higher, it is easier to guarantee vehicle safety.
Such as scheme in a further mode of operation it should be noted that support gear line can also be divided using parallel gear collimation method
Shown in 4, in a step 102, n cut-point is chosen in the scope of activities of each supporting leg, n is the integer greater than 1, each supporting leg
Range between upper two neighboring cut-point constitutes an activity interval；Adjacent two supporting leg (such as right anterior branch leg 3, right rear support leg 5)
In one of supporting leg the first activity interval and boom system the line of centre of gyration O, another supporting leg the second activity
The range that the line of the centre of gyration O of section and boom system is constituted is support Interval, is simplified model, with bOd for a branch
Section is supportted, the line of i-th of the separation and i-th of cut-point of another supporting leg of one of supporting leg is in adjacent two supporting leg
Gear line is supported, i is the integer more than or equal to 1 and less than or equal to n, and, the 1st to the (n-1)th support gear line is parallel, i.e., except most
Outside the support gear line in outside, other support gear lines are parallel, preferably parallel with the front, rear, left and right four direction of rack 1,
Front, rear, left and right side has the 1st ..., n grades, each support gear line also corresponds to a support gear, and precalculates each
It supports under gear, when boom system is located at the support Interval, the permission scope of activities of boom system；It determines by this way
Gear is supported, safety coefficient is higher, can guarantee the support safety of supporting leg.
Meanwhile in step 106, the branch of each support Interval corresponding with the actual support state of each supporting leg is searched
When supportting gear, the corresponding support gear of support gear line on the inside of the supporting point line of adjacent two supporting leg is selected.By selecting phase
The corresponding support gear of support gear line on the inside of the supporting point line of adjacent two supporting legs, specifically, in Fig. 4, when four supporting legs
When supporting point is a, b, c, d, support gear line is respectively L1, L2, L3, L4 gear line, and security performance is higher, it is easier to guarantee whole
Vehicle safety.
To be arranged the support Interval of front, rear, left and right four, and for each arm joint is foldable arm rack, gear library is supported determining
After, for each support Interval (such as θ qx), for each gear (such as the 2nd grade), the permission of a certain arm joint (such as the 2nd arm joint)
Scope of activities just has determined (αq2-Ⅱ), with specific reference to following table:
1 support Interval of table, support gear (support stepping) correspond to table with the permission scope of activities of each arm joint
The boom system control method of above-mentioned each embodiment, it is preferable that at step 104, also detect boom system
The change angle or collapsing length of angle of revolution and each arm joint；In step 106, the rotary motion including control boom system
And each arm joint change angle range or collapsing length, and when each arm joint returns back to another support Interval from a support Interval
When, whether the change angle or collapsing length for comparing each arm joint of detection are located at the change angle or stretch that another support Interval allows
In contracting length range, and the movement of boom system is controlled accordingly, when each arm joint returns back to another Support from a support Interval
Between when, whether be located at the variable phase angle that another support Interval allows by comparing the change angle or collapsing length of each arm joint of detection
Within the scope of degree or collapsing length, it is ensured that peace when boom system returns back to another support Interval from a support Interval
Quan Xing.
To improve safety of the boom system when support Interval changes, as shown in fig. 6, in the friendship of adjacent two support Interval
The safety allowance section (δ yqx, δ yhx, δ zqx, δ zhx) of preset range is arranged in battery limit (BL) domain, will after safety allowance section is arranged
The scope of activities of boom system is divided into 8 sections, wherein 4 support Intervals (δ yx, δ hx, δ zx, δ qx), 4 safety allowances
Section (δ yqx, δ yhx, δ zqx, δ zhx), when boom system is located at safety allowance section, selection is separated by safety allowance section
Adjacent two support Interval in each lesser permission scope of activities of arm joint.By be arranged safety allowance section, when boom system from
When one support Interval returns back to another support Interval by safety allowance section, there is the longer response time, it can be to avoid
Boom system is in support Interval fast transition, it may occur however that insecurity factor.
Still further aspect, as shown in fig. 7, the present invention also provides a kind of arm support control system, for controlling by multiple
The boom system of leg support, boom system includes multiple arm joints, comprising:
Leg location detection device, for detecting the extension elongation or/and swing angle of each supporting leg；
Arm support position detection device, between the pitch angle or adjacent two arm segment for directly or indirectly detecting each arm joint
Angle or adjacent two arm segment collapsing length；
Cantilever crane rotation detecting, for detecting the angle of revolution of boom system；
Driving mechanism is executed, is connect with boom system, for driving boom system to turn round and for driving boom system
Each arm joint luffing or expanding-contracting action；
Controller, and leg location detection device, arm support position detection device, cantilever crane rotation detecting and executes driving
Mechanism connection, in the scope of activities of each supporting leg, the scope of activities of each supporting leg to be divided into multiple activity intervals, root
According to adjacent two supporting leg in the combination of different activity intervals, multiple support Intervals are determined, and establish support gear library, in support gear
It is determined in library under each support gear of each support Interval, when boom system is located at the support Interval, cantilever crane system
The permission scope of activities of system；And for the actual support state according to each supporting leg detected, searched in support gear library
Support gear corresponding with the actual support state of each supporting leg, so that it is determined that boom system is under different angles of revolution out
Permission scope of activities, and for according to arm support position detection device, cantilever crane rotation detecting detect data, pass through execution
The movement of driving mechanisms control boom system.
It, can be in the scope of activities of each supporting leg, by the scope of activities of each supporting leg by controller in the present embodiment
Multiple activity intervals are divided into, according to adjacent two supporting leg in the combination of different activity intervals, determine multiple support Intervals, and establish
Gear library is supported, is determined in support gear library under each support gear of each support Interval, when boom system position
When the support Interval, the permission scope of activities of boom system, it will be understood that after the holding state of each supporting leg determines,
Enabling capabilities also determine, before cantilever crane movement, database can be searched, from database according to the actual support state of supporting leg
The permission scope of activities for selecting or transferring boom system does not need to calculate vehicle constantly in each arm joint movement of boom system
Center of gravity calculate whether boom system is located in safety zone, it is only necessary to compare arm and according to center of gravity and the support situation of supporting leg
Whether the scope of activities of frame system is located in the permission scope of activities of boom system, while can control the scope of activities of each arm joint
Without departing from the change angle range or collapsing length range of permission, therefore, existing subsequent control is become into Prior Control, it can
To improve the safety of equipment, risk of tumbling is reduced, meanwhile, reduce the calculation amount in boom system control process, reliability
It is improved with real-time, control error rate reduces.
Meanwhile controller can also detect each supporting leg reality by detection devices such as angular transducer, stay wire sensors
Extension elongation and/or expanded angle the reality with each supporting leg is searched in support gear library and according to actual support state
The corresponding support gear of holding state, so that it is determined that permission scope of activities of the boom system under different angles of revolution out,
And the movement of boom system is controlled accordingly, and therefore, control is simpler, when controlling the movement of each arm joint, the prior art can be referred to,
Specifically, pitching movement and the boom system of each arm joint can be controlled by cantilever crane pitch control valve and cantilever crane rotary control valve
Whole rotary motion.
Above-mentioned arm support control system, it is preferable that boom system include sequentially connected 1st arm joint, the 2nd arm joint ...,
N arm joint, N are the integer greater than 1, and the permission scope of activities of boom system is the change angle range that each arm joint allows or flexible
Length range；Controller control boom system movement when, successively limit the 1st arm joint, the 2nd arm joint ..., N arm joint permit
Perhaps it is moved within the scope of change angle or collapsing length.That is, when the 1st arm joint is located at the optimal point (vertical state) of stability, still
When not so being able to satisfy the stability requirement of vehicle, then the change angle of the 2nd arm joint is limited, when the 1st arm joint, the 2nd arm joint are respectively positioned on
The optimal point (vertical state) of stability, when not still being able to satisfy the stability requirement of vehicle, then limits the variable phase angle of the 3rd arm joint
Degree, and so on, conversely, when the 1st arm joint needs not necessarily lie in the optimal point (vertical state) of stability, it will be able to meet vehicle
When stability requirement, without limiting the change angle of 2-N arm joint, when the i-th arm joint is without limitation, do not need to i+1 arm yet
Section is limited.With this solution, Prior Control effectively is carried out to boom system.
In another aspect, the present invention also proposes a kind of arm support equipment, including any of the above-described kind of arm support control system.Accordingly,
The arm support equipment also has the advantages that aforementioned arm support control system.
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 boom system control method, for controlling the boom system supported by multiple supporting legs, the boom system includes
Multiple arm joints, which comprises the following steps:
Step 102: in the scope of activities of each supporting leg, the scope of activities of each supporting leg being divided into multiple activity intervals, root
According to adjacent two supporting leg in the combination of different activity intervals, multiple support Intervals are determined, and establish support gear library, in the support
It has been determined in gear library under each support gear of each support Interval, when the boom system is located at the support Interval
When, the permission scope of activities of the boom system；
Step 104: detecting the actual support state of each supporting leg, the actual support state includes the actual stretching of each supporting leg
Length and/or expanded angle；
Step 106: according to the actual support state of each supporting leg detected, being searched in support gear library and each supporting leg
The support gear of the corresponding each support Interval of actual support state, so that it is determined that each arm joint is different in the boom system out
Angle of revolution under permission scope of activities, and control the movement of each arm joint accordingly.
2. boom system control method according to claim 1, which is characterized in that in a step 102, the boom system
Permission scope of activities include the boom system at least one arm joint gravity center shift range or/and each arm joint allow change
Width angular range or collapsing length range.
3. boom system control method according to claim 2, which is characterized in that the boom system includes being sequentially connected
The 1st arm joint, the 2nd arm joint ..., N arm joint, N is integer greater than 1, in a step 102, the permission of the boom system
Scope of activities is the change angle range or collapsing length range that each arm joint allows；In step 106, the boom system is controlled
Movement when, successively limit the 1st arm joint, the 2nd arm joint ..., N arm joint is within the scope of the change angle or collapsing length of permission
Movement.
4. boom system control method according to claim 3, which is characterized in that in a step 102, the boom system
In different angles of revolution and under each support gear, the change angle or collapsing length range that the 1st arm joint allows are determined
When, it is assumed that the 2nd arm joint ..., N arm joint be located at horizontality or maximum stretching state；Determine the variable phase angle that the 2nd arm joint allows
Degree or when collapsing length range, it is assumed that the 3rd arm joint ..., N arm joint be located at horizontality or maximum stretching state；……；Really
When change angle or collapsing length range that fixed N-1 arm joint allows, it is assumed that N arm joint is located at horizontality or maximum stretching shape
State.
5. boom system control method according to claim 1-4, which is characterized in that in a step 102, each
Multiple cut-points are chosen in the scope of activities of a supporting leg, the range on each supporting leg between two neighboring cut-point constitutes a work
Dynamic section, the cut-point of the close cantilever crane centre of gyration of each activity interval are interior separation, the separate arm of each activity interval
The cut-point of the frame centre of gyration is outer separation；The first activity interval and boom system of one of supporting leg in adjacent two supporting leg
The line of the centre of gyration, the second activity interval of another supporting leg and boom system the centre of gyration the range that constitutes of line
For support Interval, the interior separation of the first activity interval, the interior separation of outer separation and the second activity interval, outer separation it
Between 4 lines be support gear line, each support gear line one support gear of correspondence, and precalculate each support gear
Under, when the boom system is located at the support Interval, the permission scope of activities of the boom system；In step 106, it searches
When the support gear of each support Interval corresponding with the actual support state of each supporting leg, select in 4 support gear lines
With the centre of gyration of boom system apart from the corresponding support gear of nearest support gear line.
6. boom system control method according to claim 1-4, which is characterized in that in a step 102, each
N cut-point is chosen in the scope of activities of a supporting leg, n is the integer greater than 1, on each supporting leg between two neighboring cut-point
Range constitutes an activity interval；In adjacent two supporting leg in the revolution of the first activity interval and boom system of one of supporting leg
The range that the line of the centre of gyration of the line of the heart, the second activity interval of another supporting leg and boom system is constituted is Support
Between, the line of i-th of cut-point of i-th of separation and another supporting leg of one of supporting leg is support in adjacent two supporting leg
Gear line, i is the integer more than or equal to 1 and less than or equal to n, and the 1st to the (n-1)th support gear line is parallel, each support shelves
Bit line corresponds to a support gear, and precalculates under each support gear, when boom system is located at the support Interval, cantilever crane
The change angle range or collapsing length range that each arm joint of system allows；
Meanwhile in step 106, the support shelves of each support Interval corresponding with the actual support state of each supporting leg are searched
When position, the corresponding support gear of support gear line on the inside of the supporting point line of adjacent two supporting leg is selected.
7. boom system control method according to claim 5, which is characterized in that at step 104, also detect cantilever crane system
The change angle or collapsing length of the angle of revolution of system and each arm joint；In step 106, including controlling the boom system
Rotary motion and each arm joint change angle range or collapsing length, and when each arm joint returns back to another from a support Interval
When supportting section, whether the change angle or collapsing length for comparing each arm joint of detection are located at the variable phase angle that another support Interval allows
Within the scope of degree or collapsing length, and the movement of boom system is controlled accordingly, and in the juncture area of adjacent two support Interval, setting
It chooses when the boom system is located at safety allowance section by safety allowance section point in the safety allowance section of preset range
Every adjacent two support Interval in each lesser permission scope of activities of arm joint.
8. a kind of arm support control system, for controlling the boom system supported by multiple supporting legs, the boom system includes multiple
Arm joint characterized by comprising
Leg location detection device, for detecting the extension elongation or/and swing angle of each supporting leg；
Arm support position detection device, the folder between pitch angle or adjacent two arm segment for directly or indirectly detecting each arm joint
The collapsing length of angle or adjacent two arm segment；
Cantilever crane rotation detecting, for detecting the angle of revolution of the boom system；
Driving mechanism is executed, connect with the boom system, for driving the boom system to turn round and for described in driving
Each arm joint luffing or expanding-contracting action of boom system；
Controller, and the leg location detection device, arm support position detection device, cantilever crane rotation detecting and executes driving
Mechanism connection, in the scope of activities of each supporting leg, the scope of activities of each supporting leg to be divided into multiple activity intervals, root
According to adjacent two supporting leg in the combination of different activity intervals, multiple support Intervals are determined, and establish support gear library, in the support
It is determined in gear library under each support gear of each support Interval, when the boom system is located at the support Interval
When, the permission scope of activities of the boom system；And for the actual support state according to each supporting leg detected, supporting
Support gear corresponding with the actual support state of each supporting leg is searched in gear library, so that it is determined that the boom system exists out
Permission scope of activities under different angles of revolution, and for being examined according to arm support position detection device, cantilever crane rotation detecting
The data of survey, by the movement for executing boom system described in driving mechanisms control.
9. arm support control system according to claim 8, which is characterized in that the boom system includes sequentially connected
1 arm joint, the 2nd arm joint ..., N arm joint, N is integer greater than 1, and the permission scope of activities of the boom system is each arm joint
The change angle range or collapsing length range of permission；When controller controls the movement of the boom system, the 1st arm is successively limited
Section, the 2nd arm joint ..., N arm joint moves within the scope of the change angle or collapsing length of permission.
10. a kind of arm support equipment, which is characterized in that including arm support control system as claimed in claim 8 or 9.
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| CN201611140647.XA CN106585577B (en) | 2016-12-12 | 2016-12-12 | A kind of boom system control method, arm support control system and arm support equipment |
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| CN110929356B (en) * | 2019-12-30 | 2023-04-07 | 三一汽车起重机械有限公司 | Lifting performance calculation method, lifting controller and crane |
| CN114687561B (en) * | 2020-12-31 | 2023-06-06 | 三一汽车制造有限公司 | Control method and device for working machine and working machine |
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| JP2011213462A (en) * | 2010-04-01 | 2011-10-27 | Ihi Construction Machinery Ltd | Boom turning limiting method and device of concrete pump vehicle with boom |
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| CN101665217A (en) * | 2009-09-14 | 2010-03-10 | 长沙中联重工科技发展股份有限公司 | Method for detecting stability of crane and device thereof |
| CN102248933A (en) * | 2011-05-23 | 2011-11-23 | 三一重工股份有限公司 | Pump vehicle as well as feedback system and method of arm support safe rotation range thereof |
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