CN106585578A - Control method of boom system, boom control system and boom equipment - Google Patents
Control method of boom system, boom control system and boom equipment Download PDFInfo
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- CN106585578A CN106585578A CN201611142454.8A CN201611142454A CN106585578A CN 106585578 A CN106585578 A CN 106585578A CN 201611142454 A CN201611142454 A CN 201611142454A CN 106585578 A CN106585578 A CN 106585578A
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- Prior art keywords
- support
- boom system
- arm
- scope
- supporting leg
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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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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
- Jib Cranes (AREA)
Abstract
The invention provides a control method of a boom system, a boom control system and boom equipment. The control method comprises the following steps of: dividing the motion range of each supporting leg into a plurality of motion intervals within a motion range of each of the supporting legs, according to the combination of each of the supporting legs in different motion intervals, establishing a supporting level base, and in the supporting level base, determining an allowable motion range of the boom system under each of the supporting levels and at different revolution angles; detecting the actual supporting state of each of the supporting legs, wherein the actual supporting state comprises the actual extension length and/or the unfolding angle of each of the supporting legs; and according to the detected actual supporting state of each of the supporting legs, in the supporting level base, seeking for the supporting levels corresponding to the actual supporting states of the supporting legs, so that allowable motion ranges of the boom system in different revolution angles are determined, and according to the allowable motion range, controlling the motion of each of the boom system. According to the control method disclosed by the invention, calculating the gravity center of a complete vehicle at all times is not needed, so that the calculation amount is low, and the control error rate is low.
Description
Technical field
The present invention relates to constructional engineering machinery apparatus field, more specifically, is related to a kind of boom system control method, arm
Frame control system and arm support equipment.
Background technology
At present, the stable control method of existing many folding arm equipment is all the operating attitude of first real-time detection arm support, and
Calculate the position of centre of gravity of car load in real time, and judge the car load center of gravity whether safety zone in the range of support, if because of arm support
Activity makes the center of gravity of car load beyond safety zone, and controller will control arm support and move to safe direction.Above control mode belongs to
Control afterwards, it is impossible to which the moment ensures that the arm equipment that fold are in safe work state more, intentionally the outer risk toppled, and folds more
All arm supports of arm equipment are both needed to Installation posture detection means, increase error probability, in addition it is also necessary to which the control system moment calculates whole
The center of gravity of car, 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, having high demands for the reliability of stability and all the sensors to control system, easily malfunctions.
It is therefore proposed that a kind of operand is few, can constantly ensure the controlling parties for folding arm equipment in safe work state more
Method just seems very necessary.
The content of the invention
In view of this, it is an object of the invention to provide a kind of boom system control method, arm support control system and arm support
Equipment, to reduce the amount of calculation of existing arm support equipment control system and/or improve the security of boom system.
On the one hand, the invention provides a kind of boom system control method, for the arm support for controlling to be supported by multiple supporting legs
System, the boom system includes multiple arm joints, comprises the following steps：
Step 102：In the scope of activities of each supporting leg, the scope of activities of each supporting leg is divided into into multiple behaviour areas
Between, according to each supporting leg in the combination of different activity intervals, set up and support gear storehouse, determine in the support gear storehouse
Each support gear under, the boom system under different angles of revolution, the permission scope of activities of the boom system；
Step 104：The actual support state of each supporting leg is detected, the actual support state includes each supporting leg reality
Extension elongation and/or expanded angle；
Step 106：According to the actual support state of each supporting leg for detecting, search and each in gear storehouse is supported
The corresponding support gear of the actual support state of leg, so that it is determined that going out the boom system permitting under different angles of revolution
Perhaps scope of activities, and the motion of the boom system is controlled accordingly.
As the improvement on the one hand of above-mentioned arm support system control method, it is preferable that in a step 102, the arm support system
The permission scope of activities of system includes what the gravity center shift scope and/or each arm joint of at least one arm joint of the boom system was allowed
Change angle scope or collapsing length scope.
As the improvement on the one hand of above-mentioned arm support system control method, it is preferable that the boom system includes connecting successively
The 1st arm joint that connects, the 2nd arm joint ..., N arm joints, N is the integer more than 1, and in a step 102, the boom system is permitted
Perhaps scope of activities is the change angle scope or collapsing length scope that each arm joint is allowed；In step 106, the arm support system is controlled
During the motion of system, successively limit the 1st arm joint, the 2nd arm joint ..., N arm joints allow change angle or collapsing length scope
Interior motion.
As the improvement on the one hand of above-mentioned arm support system control method, it is preferable that in a step 102, the arm support system
Unite in different angle of revolution and under each support gear, determine change angle or collapsing length model that the 1st arm joint allows
When enclosing, it is assumed that the 2nd arm joint ..., N arm joints are located at horizontality or maximum and stretch out state；Determine the luffing that the 2nd arm joint is allowed
When angle or collapsing length scope, it is assumed that the 3rd arm joint ..., N arm joints are located at horizontality or maximum and stretch out state；……；
When determining the change angle or collapsing length scope of N-1 arm joints permission, it is assumed that N arm joints are located at horizontality or maximum is stretched out
State.
As the improvement on the one hand of above-mentioned arm support system control method, it is preferable that in a step 102, according to each
Adjacent two supporting leg determines multiple support Intervals in the combination of different activity intervals in leg, and the support gear includes and multiple
The interval corresponding multiple support steppings of support, when the support stepping determines the boom system and returns back in the support Interval,
The permission scope of activities of the boom system；In step 106, according to the actual support state of each supporting leg, gear is being supported
The support stepping positioned at each support Interval equivalent with the actual support state is found out in storehouse, so that it is determined that the arm support system
Unite under different angles of revolution, the permission scope of activities of the boom system.
As the improvement on the one hand of above-mentioned arm support system control method, it is preferable that in a step 102, in each supporting leg
Scope of activities in choose multiple cut-points, the scope on each supporting leg between two neighboring cut-point constitutes a behaviour area
Between, the cut-point of the close arm support centre of gyration of each activity interval is interior separation, and each activity interval is returned away from arm support
The cut-point for turning center is outer separation；The first activity interval of one of supporting leg and boom system returns in adjacent two supporting leg
Turn the line at center, the scope that the line of the centre of gyration of second activity interval and boom system of another supporting leg is constituted is to prop up
Support is interval, the interior separation of the first activity interval, between the interior separation of outer separation and the second activity interval, outer separation
4 lines are to support gear line, one support stepping of each support gear line correspondence, and determination is under each support stepping,
The boom system in the support Interval, the permission scope of activities of the boom system；In step 106, search and the reality
Border holding state it is equivalent positioned at the support stepping of each support Interval when, select 4 support gear lines in boom system
The closest corresponding support stepping of support gear line of the centre of gyration.
As the improvement on the one hand of above-mentioned arm support system control method, it is preferable that in a step 102, in each supporting leg
Scope of activities in choose n cut-point, n is the integer more than 1, the scope structure on each supporting leg between two neighboring cut-point
Into an activity interval；The company of the centre of gyration of the first activity interval of one of supporting leg and boom system in adjacent two supporting leg
Line, the centre of gyration of second activity interval and boom system of another supporting leg line constitute scope be support Interval, phase
I-th separation of one of supporting leg and the line of i-th cut-point of another supporting leg are 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 supports gear line parallel, each support gear line
One support stepping of correspondence, and precalculate under each support stepping, when boom system is located at the support Interval, the arm support
The permission scope of activities of system；
Meanwhile, in step 106, search propping up for each support Interval corresponding with the actual support state of each supporting leg
During support stepping, the corresponding support stepping of support gear line on the inside of the strong point line of adjacent two supporting leg is selected.
As the improvement on the one hand of above-mentioned arm support system control method, it is preferable that at step 104, also detect arm support
The angle of revolution of system and the change angle or collapsing length of each arm joint；In step 106, including the boom system is controlled
Gyration and each arm joint change angle scope or collapsing length, and when each arm joint return back to from support Interval it is another
During support Interval, whether the change angle or collapsing length for comparing each arm joint of detection is located at the luffing that another support Interval is allowed
In the range of angle or collapsing length, and the motion of control boom system accordingly, and in the juncture area of adjacent two support Interval, if
The safety allowance for putting preset range is interval, when the boom system is located at safety allowance interval, chooses interval by safety allowance
The less permission scope of activities of each arm joint in adjacent two support Interval for separating.
Boom system control method proposed by the present invention, by step 102, being likely to occur according to each supporting leg
Support situation, sets up and supports gear storehouse, determines in gear storehouse is supported under each support gear, and boom system is in difference
Angle of revolution under, the permission scope of activities of boom system, it will be understood that each supporting leg holding state determine after, its
Support ability also determines, before arm support action, can be selected from database according to the actual support state of supporting leg, searching data storehouse
The permission scope of activities of boom system is selected or transfers, in each arm joint action of boom system, it is not necessary to which the moment calculates car load
Center of gravity, and according to center of gravity and the support situation of supporting leg, calculate whether boom system is located in safety zone, it is only necessary to compare arm support
Whether the scope of activities of system is located in the permission scope of activities of boom system, while the scope of activities of each arm joint can be controlled not
Beyond the change angle scope or collapsing length scope that allow, therefore, existing control afterwards is become into Prior Control, can be with
The security of raising equipment, reduction is tumbled risk, meanwhile, reduce the amount of calculation in boom system control process, reliability and
Real-time is improved, and control error rate is reduced.
Meanwhile, by step 104, step 106, can be by the detection of the detection means such as angular transducer, stay wire sensor
The actual extension elongation of each supporting leg and/or expanded angle, and according to actual support state, search in gear storehouse is supported with respectively
The corresponding support gear of the actual support state of individual supporting leg, so that it is determined that going out boom system permitting under different angles of revolution
Perhaps scope of activities, and the motion of control boom system accordingly, therefore, control simpler.
On the other hand, the invention allows for a kind of arm support control system, for the arm support for controlling to be supported by multiple supporting legs
System, the boom system includes multiple arm joints, including：
Leg location detection means, for detecting the extension elongation and/or pendulum angle of each supporting leg；
Arm support position detection means, between the luffing angle or adjacent two arm segment that directly or indirectly detect each arm joint
Angle or adjacent two arm segment collapsing length；
Arm support rotation detecting, for detecting the angle of revolution of the boom system；
Drive mechanism is performed, is connected with the boom system, for driving the boom system to turn round and for driving
Each arm joint luffing of the boom system or expanding-contracting action；
Controller, with the leg location detection means, arm support position detection means, arm support rotation detecting and execution
Drive mechanism connects, in the scope of activities of each supporting leg, the scope of activities of each supporting leg being divided into into multiple behaviour areas
Between, according to each supporting leg in the combination of different activity intervals, set up and support gear storehouse, determine in the support gear storehouse
Each support gear under, the boom system under different angles of revolution, the permission scope of activities of the boom system；And
For according to the actual support state of each supporting leg for detecting, the actual support with each supporting leg being searched in gear storehouse is supported
The corresponding support gear of state, so that it is determined that go out permission scope of activities of the boom system under different angles of revolution,
And the data for being detected according to arm support position detection means, arm support rotation detecting, by performing driving mechanisms control institute
State the motion of boom system.
As the improvement on the one hand of above-mentioned arm support control system, it is preferable that the boom system includes what is be sequentially connected
1st arm joint, the 2nd arm joint ..., N arm joints, N is the integer more than 1, and the permission scope of activities of the boom system is each arm
Change angle scope or collapsing length scope that section is allowed；When controller controls the motion of the boom system, the 1st is limited successively
Arm joint, the 2nd arm joint ..., N arm joints allow change angle or collapsing length range of motion.
The arm support control system that also proposes of the present invention, by controller, can according to each supporting leg be likely to occur
Support situation, sets up and supports gear storehouse, determines that boom system is returned in different under each support gear in gear storehouse is supported
Under gyration, the permission scope of activities of boom system, it will be understood that after the holding state of each supporting leg determines, it supports energy
Power also determines, before arm support action, can according to the actual support state of supporting leg, searching data storehouse, from database select or
The permission scope of activities of boom system is transferred, in each arm joint action of boom system, it is not necessary to which the moment calculates the center of gravity of car load,
And according to center of gravity and the support situation of supporting leg, calculate whether boom system is located in safety zone, it is only necessary to compare boom system
Scope of activities whether be 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 scope or collapsing length scope of permission, therefore, existing control afterwards being become into Prior Control, can improve
The security of equipment, reduction is tumbled risk, meanwhile, reduce the amount of calculation in boom system control process, reliability and in real time
Property be improved, control error rate reduce.
Meanwhile, controller can also detect each supporting leg reality by detection means such as angular transducer, stay wire sensors
Extension elongation and/or expanded angle, and according to actual support state, the reality with each supporting leg is searched in gear storehouse is supported
The corresponding support gear of holding state, so that it is determined that go out permission scope of activities of the boom system under different angles of revolution,
And the motion of control boom system accordingly, therefore, control simpler.
Another further aspect, the invention allows for 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.
Additional aspect of the invention and advantage will be given in following description section, partly will be from explained below
In become obvious, or by the present invention practice recognize.
Description of the drawings
The above-mentioned and/or additional aspect and advantage of the present invention will become from the description with reference to accompanying drawings below to embodiment
It is substantially and easy to understand, wherein：
Fig. 1 is a kind of schematic diagram of boom system control method provided in an embodiment of the present invention；
Fig. 2 provides a kind of schematic diagram of supporting leg form for the embodiment of the present invention；
Fig. 3 provides a kind of dividing mode schematic diagram of support Interval for the embodiment of the present invention；
Fig. 4 provides a kind of dividing mode schematic diagram of support gear for the embodiment of the present invention；
Fig. 5 provides the dividing mode schematic diagram of another kind of support gear for the embodiment of the present invention；
Fig. 6 provides a kind of safety allowance interval dividing mode schematic diagram for the embodiment of the present invention；
Fig. 7 is a kind of schematic diagram of arm support control system of the invention.
Specific embodiment
It is below in conjunction with the accompanying drawings and concrete real in order to be more clearly understood that the above objects, features and advantages of the present invention
Apply mode to be further described in detail the present invention.It should be noted that in the case where not conflicting, the enforcement of the application
Feature in example and embodiment can be mutually combined.
Many details are elaborated in the following description in order to fully understand the present invention, but, the present invention may be used also
Implemented with being different from mode described here using other, therefore, protection scope of the present invention does not receive following public tool
The restriction of body embodiment.
As shown in figure 1, a kind of boom system control method that the present invention is provided, for the arm for controlling to be supported by multiple supporting legs
Frame system, boom system includes multiple arm joints, comprises the following steps：
Step 102：In the scope of activities of each supporting leg, the scope of activities of each supporting leg is divided into into multiple behaviour areas
Between, according to each supporting leg in the combination of different activity intervals, set up and support gear storehouse, determine each in gear storehouse is supported
Under individual support gear, boom system under different angles of revolution, the permission scope of activities of boom system；
Step 104：The actual support state of each supporting leg is detected, actual support state includes that each supporting leg is actual and stretches out
Length and/or expanded angle；
Step 106：According to the actual support state of each supporting leg for detecting, search and each in gear storehouse is supported
The corresponding support gear of the actual support state of leg, so that it is determined that go out permission of the boom system under different angles of revolution living
Dynamic scope, and the motion of boom system is controlled accordingly.
In the present embodiment, by step 102, can set up and support according to the support situation being likely to occur of each supporting leg
Gear storehouse, determines under each support gear in gear storehouse is supported, boom system under different angles of revolution, arm support
The permission scope of activities of system, it will be understood that after the holding state of each supporting leg determines, its enabling capabilities also determines, in arm
Before frame action, boom system can be selected or transferred from database according to the actual support state of supporting leg, searching data storehouse
Scope of activities is allowed, in each arm joint action of boom system, it is not necessary to which the moment calculates the center of gravity of car load, and according to center of gravity and props up
Whether the support situation of leg, calculate boom system and be located in safety zone, it is only necessary to whether compares the scope of activities of boom system
In the permission scope of activities of boom system, while the scope of activities of each arm joint can be controlled without departing from the change angle for allowing
Scope or collapsing length scope, therefore, existing control afterwards is become into Prior Control, the security of equipment can be improved,
Reduction is tumbled risk, meanwhile, the amount of calculation in boom system control process is reduced, reliability and real-time are improved, control
Make error rate reduction.
Meanwhile, by step 104, step 106, can be by the detection of the detection means such as angular transducer, stay wire sensor
The actual extension elongation of each supporting leg and/or expanded angle, and according to actual support state, search in gear storehouse is supported with respectively
The corresponding support gear of the actual support state of individual supporting leg, so that it is determined that going out boom system permitting under different angles of revolution
Perhaps scope of activities, and the motion of control boom system accordingly, therefore, control is simpler, when controlling the action of each arm joint, Ke Yican
Prior art is examined, specifically, the elevating movement of each arm joint can be controlled by arm support pitch control valve and arm support rotary control valve
The overall gyration with boom system.
In above-mentioned arm support system control method, the permission scope of activities of boom system can be interpreted broadly, such as respectively
The permission scope of activities of arm joint, the gravity center shift scope of each arm joint, or, the gravity center shift scope of part arm joint, in addition it is all
The gravity center shift scope of arm support, specifically, in a step 102, the permission scope of activities of boom system includes boom system extremely
Change angle scope or collapsing length scope that the gravity center shift scope and/or each arm joint of a few arm joint is allowed.When arm support system
When the permission scope of activities of system is the gravity center shift scope of at least one arm joint of boom system, in the action of control boom system
When, it is only necessary to whether the center of gravity of at least one relatively more selected arm joint is located in the excursion for allowing, and is not required to calculate car load weight
Whether the heart, more according to center of gravity and need not support the action of situation calculating boom system safe, therefore, computationally intensive amplitude subtracts
It is few.When the permission scope of activities of boom system is the change angle scope or collapsing length scope that each arm joint is allowed, it is only necessary to limit
Each arm joint is made in the change angle scope or collapsing length range of motion for allowing.
Generally, boom system include be sequentially connected the 1st arm joint, the 2nd arm joint ..., N arm joints, N is whole more than 1
Number, it is preferable that in a step 102, the permission scope of activities of boom system is the change angle scope or flexible that each arm joint is allowed
Length range；In step 106, control boom system motion when, successively limit the 1st arm joint, the 2nd arm joint ..., N arms
Save in the change angle or collapsing length range of motion for allowing.That is, when the 1st arm joint is located at the optimum point of stability, still not
When can meet the stability requirement of car load, then limit the change angle of the 2nd arm joint, when the 1st arm joint, the 2nd arm joint be respectively positioned on it is stable
Property optimum point, when still can not meet the stability requirement of car load, then limit the change angle of the 3rd arm joint, the like, instead
It, when the 1st arm joint need not necessarily lie in the optimum point of stability, it becomes possible to when meeting the stability requirement of car load, without the need for limiting the
The change angle of 2-N arm joints, when the i-th arm joint is unrestricted, it is not required that limit i+1 arm joint.By the program, have
What is imitated carries out Prior Control to boom system.
The boom system of arm support equipment has various ways, common are full telescopic jib, full foldable arm rack, flexible+folding
Arm support, is to ensure security when change angle or the collapsing length scope that each arm joint of boom system is allowed is calculated, it is assumed that other
Arm joint is located at the worst point of stability, and specifically, in a step 102, boom system is in different angle of revolution and each
Support gear under, determine change angle that the 1st arm joint allows or during collapsing length scope, it is assumed that the 2nd arm joint ..., N arms
Section is located at horizontality or maximum stretches out state；When determining the change angle or collapsing length scope of the 2nd arm joint permission, it is assumed that the
3 arm joints ..., N arm joints are located at horizontality or maximum and stretch out state；……；Determine the change angle that N-1 arm joints are allowed
Or during collapsing length scope, it is assumed that N arm joints are located at horizontality or maximum stretches out state.Calculate the variable phase angle that each arm joint is allowed
When degree or collapsing length scope, the change angle or collapsing length scope of 1-N arm joints permission is calculated successively, if the i-th arm joint
When action is unrestricted, it may not be necessary to calculate i+1 arm joint.
As shown in Fig. 2 generally, the boom system of arm support equipment is connected by frame 1 with multiple supporting legs, O points are arm support system
The centre of gyration of system, supporting leg generally includes 4 supporting legs, there is the supporting leg forms such as telescopic outrigger, oscillating support leg, swinging, telescopic supporting leg,
Supporting leg in Fig. 2 includes two telescopic outriggers in front and two oscillating support legs at rear, and its maximum support scope is outermost
Shown in the dotted line of side, other types of supporting leg can be with similar process.In above-mentioned arm support system control method, can propping up arm support
Support state is controlled as an entirety, is the flexibility of the accuracy and arm support for improving control, reduces control difficulty, such as schemes
3rd, shown in 4, in a step 102, multiple supports, in the combination of different activity intervals, are determined according to adjacent two supporting leg in each supporting leg
Interval, supports gear to include multiple support steppings corresponding with multiple support Intervals, supports stepping to determine boom system revolution
During to the support Interval, the permission scope of activities of boom system；In step 106, according to the actual support shape of each supporting leg
State, in gear storehouse is supported the support stepping positioned at each support Interval equivalent with the actual support state is found out, so as to
Determine boom system under different angles of revolution, the permission scope of activities of boom system.
Activity interval and support gear can have various dividing modes, in a kind of mode, as shown in figure 5, in step 102
In, multiple cut-points are chosen in the scope of activities of each supporting leg, the scope structure on each supporting leg between two neighboring cut-point
Into an activity interval, the cut-point of the close arm support centre of gyration of each activity interval is interior separation, each activity interval
The cut-point away from the arm support centre of gyration be outer separation, interior separation and outer separation are relative, a behaviour area
Between interior separation, it may be possible to another activity interval for cut-point, the outer separation of an activity interval, it may be possible to it is another
The interior separation of one activity interval；In adjacent two supporting leg in the first activity interval of one of supporting leg and the revolution of boom system
The scope that the line of the centre of gyration O of the line of heart O, the second activity interval of another supporting leg and boom system is constituted is support
Interval, the interior separation of the first activity interval, between the interior separation of outer separation and the second activity interval, outer separation 4
Bar line determines to support gear line b1d1, b2d2, b2d1, b1d2, one support stepping of each support gear line correspondence
Each support stepping under, boom system in the support Interval, the permission scope of activities of boom system；In step 106, look into
Look for it is equivalent with the actual support state positioned at the support stepping of each support Interval when, select 4 support in gear lines with arm
The closest corresponding support stepping of support gear line of the centre of gyration of frame system.The support gear for determining by this way,
Closer to the actual support state of supporting leg, thereby it is ensured that playing the developing power of arm support while enabling capabilities.By choosing
Select 4 and support the corresponding support stepping of closest with the centre of gyration of boom system support gear line in gear lines, specifically
Ground, is b1d1 gear lines in Fig. 5, it is ensured that support gear line to be located at the inner side of adjacent two supporting legs strong point line, security
Can be higher, it is easier to ensure car load safety.
It should be noted that can also divide using parallel gear collimation method that gear line is supported, in a further mode of operation, such as scheme
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 more than 1, each supporting leg
Scope between upper two neighboring cut-point constitutes an activity interval；The first of one of supporting leg is movable in adjacent two supporting leg
The centre of gyration O of the interval line of centre of gyration O, the second activity interval of another supporting leg and boom system with boom system
Line constitute scope be support Interval, be simplified model, with bOd as a support Interval, wherein one in adjacent two supporting leg
The line of i-th separation of individual supporting leg and i-th cut-point of another supporting leg to support gear line, i be more than or equal to 1 and
Integer less than or equal to n, and, the 1st to the (n-1)th supports gear line parallel, i.e., in addition to outermost support gear line, other
Support gear line is parallel, preferably parallel with the front, rear, left and right four direction of frame 1, and front, rear, left and right side has the
1st ..., n shelves, each support gear line also corresponds to a support stepping, and precalculates under each support stepping, when arm support system
When system is located at the support Interval, the permission scope of activities of boom system；The support gear for determining by this way, safety coefficient is more
Height, ensure that the support safety of supporting leg.
Meanwhile, in step 106, search propping up for each support Interval corresponding with the actual support state of each supporting leg
During support stepping, the corresponding support stepping of support gear line on the inside of the strong point line of adjacent two supporting leg is selected.By selecting phase
The corresponding support stepping of support gear line on the inside of the strong point line of adjacent two supporting legs, specifically, in Fig. 5, when four supporting legs
When the strong point is a, b, c, d, gear line is supported to be respectively L1, L2, L3, L4 gear line, security performance is higher, it is easier to ensure whole
Car safety.
To arrange the support Interval of front, rear, left and right four, and each arm joint is as a example by foldable arm rack, it is determined that supporting gear storehouse
After, for each support Interval, for each gear, the permission scope of activities of a certain arm joint just it has been determined that with specific reference to
Following table：
The support Interval of table 1, support gear table corresponding 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 detects boom system
Angle of revolution and the change angle or collapsing length of each arm joint；In step 106, including control boom system gyration
And each arm joint change angle scope 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 is located at the change angle of another support Interval permission or stretches
In contracting length range, and the motion of control boom system 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 is allowed by comparing the change angle or collapsing length of each arm joint of detection
Degree or collapsing length in the range of, it is ensured that boom system from a support Interval return back to another support Interval when peace
Quan Xing.
To improve security of the boom system when support Interval changes, as shown in fig. 6, in step 106, adjacent two
The juncture area of support Interval, the safety allowance for arranging preset range is interval, after arranging safety allowance interval, by boom system
Scope of activities is divided into 8 intervals, wherein 4 support Intervals, 4 safety allowance intervals, when boom system is located at safety allowance
When interval, choose by the less permission scope of activities of each arm joint in interval adjacent two support Interval for separating of safety allowance.Pass through
It is interval that safety allowance is set, when boom system returns back to another support Interval from a support Interval through safety allowance interval
When, with the longer response time, boom system can be avoided in support Interval fast transition, it may occur however that it is dangerous because
Element.
Still further aspect, as described in Figure 7, present invention also offers a kind of arm support control system, for control by multiple
The boom system that leg is supported, boom system includes multiple arm joints, including：
Leg location detection means, for detecting the extension elongation and/or pendulum angle of each supporting leg；
Arm support position detection means, between the luffing angle or adjacent two arm segment that directly or indirectly detect each arm joint
Angle or adjacent two arm segment collapsing length；
Arm support rotation detecting, for detecting the angle of revolution of boom system；
Drive mechanism is performed, is connected 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 means, arm support position detection means, arm support rotation detecting and performs driving
Mechanism connects, in the scope of activities of each supporting leg, the scope of activities of each supporting leg being divided into into multiple activity intervals, root
According to each supporting leg in the combination of different activity intervals, set up and support gear storehouse, determine at each in gear storehouse is supported
Support gear under, boom system under different angles of revolution, the permission scope of activities of boom system；And detect for basis
The actual support state of each supporting leg, searches the support corresponding with the actual support state of each supporting leg in gear storehouse is supported
Gear, so that it is determined that go out permission scope of activities of the boom system under different angles of revolution, and for being examined according to arm support position
Device, the data of arm support rotation detecting detection are surveyed, by the motion for performing driving mechanisms control boom system.
In the present embodiment, by controller, can set up and support shelves according to the support situation being likely to occur of each supporting leg
Position storehouse, determines under each support gear in gear storehouse is supported, boom system under different angles of revolution, boom system
Permission scope of activities, it will be understood that after the holding state of each supporting leg determines, its enabling capabilities also determines, dynamic in arm support
Before work, the permission of boom system can be selected or transferred from database according to the actual support state of supporting leg, searching data storehouse
Scope of activities, in each arm joint action of boom system, it is not necessary to which the moment calculates the center of gravity of car load, and according to center of gravity and supporting leg
Support situation, calculates whether boom system is located in safety zone, it is only necessary to which whether the scope of activities for comparing boom system is located at
In the permission scope of activities of boom system, while the scope of activities of each arm joint can be controlled without departing from the change angle scope for allowing
Or collapsing length scope, therefore, existing control afterwards is become into Prior Control, the security of equipment can be improved, reduce
Tumble risk, meanwhile, the amount of calculation in boom system control process is reduced, reliability and real-time are improved, control out
Error rate is reduced.
Meanwhile, controller can also detect each supporting leg reality by detection means such as angular transducer, stay wire sensors
Extension elongation and/or expanded angle, and according to actual support state, the reality with each supporting leg is searched in gear storehouse is supported
The corresponding support gear of holding state, so that it is determined that go out permission scope of activities of the boom system under different angles of revolution,
And the motion of control boom system accordingly, therefore, control is simpler, when controlling the action of each arm joint, may be referred to prior art,
Specifically, elevating movement and the boom system of each arm joint can by arm support pitch control valve and arm support rotary control valve, be controlled
Overall gyration.
Above-mentioned arm support control system, it is preferable that boom system include be sequentially connected the 1st arm joint, the 2nd arm joint ...,
N arm joints, N is the integer more than 1, and the permission scope of activities of boom system is the change angle scope or flexible that each arm joint is allowed
Length range；Controller control boom system motion when, successively limit the 1st arm joint, the 2nd arm joint ..., N arm joints permit
Perhaps change angle or collapsing length range of motion.That is, when the 1st arm joint is located at the optimum point of stability, still can not meet
During the stability requirement of car load, then the change angle of the 2nd arm joint is limited, to be respectively positioned on stability optimum when the 1st arm joint, the 2nd arm joint
Point, when still can not meet the stability requirement of car load, then limit the change angle of the 3rd arm joint, the like, conversely, working as
1st arm joint need not necessarily lie in the optimum point of stability, it becomes possible to when meeting the stability requirement of car load, without the need for limiting 2-N arms
The change angle of section, when the i-th arm joint is unrestricted, it is not required that limit i+1 arm joint.By the program, effectively
Prior Control is carried out to boom system.
Another further 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.
In the description of this specification, term " connection ", " installation ", " fixation " etc. all should be interpreted broadly, for example, " even
Connect " can be fixedly connected, or be detachably connected, or be integrally connected；Can be joined directly together, it is also possible to by
Between medium be indirectly connected to.For the ordinary skill in the art, can as the case may be understand above-mentioned term at this
Concrete meaning in invention.
In the description of this specification, the description of term " one embodiment ", " some embodiments ", " specific embodiment " etc.
Mean that the specific features, structure, material or the feature that describe with reference to the embodiment or example are contained in of the invention at least one real
In applying example or example.In this manual, identical embodiment or reality are not necessarily referring to the schematic representation of above-mentioned term
Example.And, the specific features of description, structure, material or feature can in any one or more embodiments or example with
Suitable mode is combined.
The preferred embodiments of the present invention are the foregoing is only, the present invention is not limited to, for the skill of this area
For art personnel, the present invention can have various modifications and variations.It is all within the spirit and principles in the present invention, made any repair
Change, equivalent, improvement etc., should be included within the scope of the present invention.
Claims (11)
1. a kind of boom system control method, for the boom system for controlling to be supported by multiple supporting legs, the boom system includes
Multiple arm joints, it is characterised in that comprise the following steps：
Step 102：In the scope of activities of each supporting leg, the scope of activities of each supporting leg is divided into into multiple activity intervals, root
According to each supporting leg in the combination of different activity intervals, set up and support gear storehouse, determine each in the support gear storehouse
Under individual support gear, the boom system under different angles of revolution, the permission scope of activities of the boom system；
Step 104：The actual support state of each supporting leg is detected, the actual support state includes that each supporting leg is actual and stretches out
Length and/or expanded angle；
Step 106：According to the actual support state of each supporting leg for detecting, search in gear storehouse is supported and each supporting leg
The corresponding support gear of actual support state, so that it is determined that go out permission of the boom system under different angles of revolution living
Dynamic scope, and the motion of the boom system is controlled accordingly.
2. boom system control method according to claim 1, it is characterised in that in a step 102, the boom system
Permission scope of activities including the boom system at least one arm joint gravity center shift scope and/or the change that allows of each arm joint
Width angular range or collapsing length scope.
3. boom system control method according to claim 2, it is characterised in that the boom system includes being sequentially connected
The 1st arm joint, the 2nd arm joint ..., N arm joints, N is the integer more than 1, in a step 102, the permission of the boom system
Scope of activities is the change angle scope or collapsing length scope that each arm joint is allowed；In step 106, the boom system is controlled
Motion when, successively limit the 1st arm joint, the 2nd arm joint ..., N arm joints allow change angle or collapsing length in the range of
Motion.
4. boom system control method according to claim 3, it is characterised in that in a step 102, the boom system
In different angle of revolution and under each support gear, change angle or collapsing length scope that the 1st arm joint allows are determined
When, it is assumed that the 2nd arm joint ..., N arm joints are located at horizontality or maximum and stretch out state；Determine the variable phase angle that the 2nd arm joint is allowed
Degree or during collapsing length scope, it is assumed that the 3rd arm joint ..., N arm joints are located at horizontality or maximum stretches out state；……；Really
When the change angle or collapsing length scope of fixed N-1 arm joints permission, it is assumed that N arm joints are located at horizontality or maximum stretches out shape
State.
5. boom system control method according to any one of claim 1 to 4, it is characterised in that in a step 102,
According to adjacent two supporting leg in each supporting leg in the combination of different activity intervals, multiple support Intervals, the support gear bag are determined
Multiple support steppings corresponding with multiple support Intervals are included, the support stepping determines the boom system and returns back to the support
When in interval, the permission scope of activities of the boom system；In step 106, according to the actual support state of each supporting leg,
Support in gear storehouse and find out the support stepping positioned at each support Interval equivalent with the actual support state, so that it is determined that institute
Boom system is stated under different angles of revolution, the permission scope of activities of the boom system.
6. boom system control method according to claim 5, it is characterised in that in a step 102, in each supporting leg
Multiple cut-points are chosen in scope of activities, the scope on each supporting leg between two neighboring cut-point constitutes an activity interval,
The cut-point of the close arm support centre of gyration of each activity interval be interior separation, each activity interval away from arm support revolution in
The cut-point of the heart is outer separation；In adjacent two supporting leg in the first activity interval of one of supporting leg and the revolution of boom system
The scope that the line of the heart, the line of the centre of gyration of second activity interval and boom system of another supporting leg are constituted is Support
Between, the interior separation of the first activity interval, 4 between the interior separation of outer separation and the second activity interval, outer separation
Line is determined under each support stepping to support gear line, one support stepping of each support gear line correspondence, described
Boom system in the support Interval, the permission scope of activities of the boom system；In step 106, search and this actual
Support state it is equivalent positioned at the support stepping of each support Interval when, select 4 to support revolutions with boom system in gear lines
The nearest corresponding support stepping of support gear line of centre distance.
7. boom system control method according to claim 5, it is characterised in that in a step 102, in each supporting leg
N cut-point is chosen in scope of activities, n is the integer more than 1, the scope on each supporting leg between two neighboring cut-point is constituted
One activity interval；The company of the centre of gyration of the first activity interval of one of supporting leg and boom system in adjacent two supporting leg
Line, the centre of gyration of second activity interval and boom system of another supporting leg line constitute scope be support Interval, phase
I-th separation of one of supporting leg and the line of i-th cut-point of another supporting leg are 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 supports gear line parallel, each support gear line
One support stepping of correspondence, and precalculate under each support stepping, when boom system is located at the support Interval, the arm support
The permission scope of activities of system；
Meanwhile, in step 106, search the support point of each support Interval corresponding with the actual support state of each supporting leg
During shelves, the corresponding support stepping of support gear line on the inside of the strong point line of adjacent two supporting leg is selected.
8. boom system control method according to claim 5, it is characterised in that at step 104, also detects arm support system
The angle of revolution of system and the change angle or collapsing length of each arm joint；In step 106, including the boom system is controlled
Gyration and each arm joint change angle scope or collapsing length, and when each arm joint returns back to another from a support Interval
When support is interval, whether the change angle or collapsing length for comparing each arm joint of detection is located at the variable phase angle that another support Interval is allowed
In the range of degree or collapsing length, and the motion of boom system is controlled accordingly, and in the juncture area of adjacent two support Interval, arrange
The safety allowance of preset range is interval, when the boom system is located at safety allowance interval, chooses by safety allowance interval point
Every adjacent two support Interval in the less permission scope of activities of each arm joint.
9. a kind of arm support control system, for the boom system for controlling to be supported by multiple supporting legs, the boom system includes multiple
Arm joint, it is characterised in that include：
Leg location detection means, for detecting the extension elongation and/or pendulum angle of each supporting leg；
Arm support position detection means, for the folder between the luffing angle or adjacent two arm segment that directly or indirectly detect each arm joint
Angle or the collapsing length of adjacent two arm segment；
Arm support rotation detecting, for detecting the angle of revolution of the boom system；
Drive mechanism is performed, be connected with the boom system, for driving the boom system to turn round and for described in driving
Each arm joint luffing of boom system or expanding-contracting action；
Controller, and the leg location detection means, arm support position detection means, arm support rotation detecting and performs driving
Mechanism connects, in the scope of activities of each supporting leg, the scope of activities of each supporting leg being divided into into multiple activity intervals, root
According to each supporting leg in the combination of different activity intervals, set up and support gear storehouse, determine each in the support gear storehouse
Under individual support gear, the boom system under different angles of revolution, the permission scope of activities of the boom system；And be used for
According to the actual support state of each supporting leg for detecting, the actual support state with each supporting leg is searched in gear storehouse is supported
Corresponding support gear, so that it is determined that going out permission scope of activities of the boom system under different angles of revolution, is used in combination
In the data detected according to arm support position detection means, arm support rotation detecting, by performing arm described in driving mechanisms control
The motion of frame system.
10. arm support control system according to claim 9, it is characterised in that the boom system includes what is be sequentially connected
1st arm joint, the 2nd arm joint ..., N arm joints, N is the integer more than 1, and the permission scope of activities of the boom system is each arm
Change angle scope or collapsing length scope that section is allowed；When controller controls the motion of the boom system, the 1st is limited successively
Arm joint, the 2nd arm joint ..., N arm joints allow change angle or collapsing length range of motion.
11. a kind of arm support equipments, it is characterised in that include the arm support control system as described in claim 9 or 10.
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| CN201611142454.8A CN106585578B (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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| CN201611142454.8A CN106585578B (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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| JP2019094180A (en) * | 2017-11-22 | 2019-06-20 | 古河ユニック株式会社 | Moment limiter for boom work machine and boom work machine provided with the same |
| CN112499533A (en) * | 2020-10-30 | 2021-03-16 | 徐州海伦哲特种车辆有限公司 | Dynamic amplitude limiting method for boom type operation vehicle |
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| CN106585578B (en) | 2019-03-29 |
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