CN106585578B - 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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- CN106585578B CN106585578B CN201611142454.8A CN201611142454A CN106585578B CN 106585578 B CN106585578 B CN 106585578B CN 201611142454 A CN201611142454 A CN 201611142454A CN 106585578 B CN106585578 B CN 106585578B
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- arm joint
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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 each supporting leg different activity intervals combination, establish support gear library, it has determined in support gear library in the case where each supports gear, boom system is under different angles of revolution, the permission scope of activities of boom system；The actual support state of each supporting leg is detected, actual support state includes the actual extension elongation of each supporting leg and/or expanded angle；According to the actual support state of each supporting leg detected, support gear 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 the boom system under different angles of revolution, and the movement of control boom system accordingly out.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 purpose 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 each supporting leg in the combination of different activity intervals, support gear library is established, has been determined in the support gear library
Under each support gear, the boom system is under different angles of revolution, 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 corresponding support gear of the actual support state of leg, so that it is determined that the boom system permitting under different angles of revolution out
Perhaps scope of activities, and the movement of the boom system 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 and/or 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, according to each
Adjacent two supporting leg determines that multiple support Intervals, the support gear include and multiple in the combination of different activity intervals in leg
The corresponding multiple support steppings in section are supportted, when the support stepping has determined that the boom system is returned 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, in support gear
The support stepping positioned at each support Interval equivalent with the actual support state is found out in library, so that it is determined that the cantilever crane system
System is under different angles of revolution, the permission scope of activities of the boom system.
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 stepping, and determines in the case where each supports stepping,
The boom system is in the support Interval, the permission scope of activities of the boom system；In step 106, it searches and the reality
Border holding state it is equivalent positioned at the support stepping of each support Interval when, select in 4 support gear lines with boom system
The centre of gyration is apart from the nearest corresponding support stepping 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 stepping, and precalculate under each support stepping, when boom system is located at the support Interval, the cantilever crane
The permission scope of activities of system；
Meanwhile in step 106, the branch of each support Interval corresponding with the actual support state of each supporting leg is searched
When supportting stepping, the corresponding support stepping 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 proposed by the present invention being likely to occur according to each supporting leg by step 102
Situation is supported, support gear library is established, has been determined in support gear library in the case where each supports gear, 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, branch
Support ability also determines, before cantilever crane movement, can search database according to the actual support state of supporting leg, select from database
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, 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 cantilever crane
Whether the scope of activities of system is located in the permission scope of activities of boom system, while can control the scope of activities of each arm joint not
Therefore existing subsequent control is become Prior Control by change angle range or collapsing length range beyond permission, can be with
Improve the safety of equipment, reduction is tumbled risk, meanwhile, reduce the calculation amount in boom system control process, reliability and
Real-time is 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 and/or 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 each supporting leg in the combination of different activity intervals, support gear library is established, has been determined in the support gear library
Under each support gear, the boom system is under different angles of revolution, the permission scope of activities of the boom system；And
For the actual support state according to each supporting leg detected, the actual support with each supporting leg is searched in support gear library
The corresponding support gear of state, so that it is determined that permission scope of activities of the boom system under different angles of revolution out,
And the data for being detected according to arm support position detection device, cantilever crane rotation detecting, by executing driving mechanisms control institute
State the movement of boom system.
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.
The arm support control system that the present invention also proposes can be according to the branch of each supporting leg being likely to occur by controller
Situation is supportted, support gear library is established, is determined in support gear library in the case where each supports gear, boom system is returned in different
Under gyration, the permission scope of activities of boom system, it will be understood that after the holding state of each supporting leg determines, support energy
Power also determines, before cantilever crane movement, can search database according to the actual support state of supporting leg, from database selection or
The permission scope of activities for transferring boom system does not need the center of gravity for calculating vehicle constantly in each arm joint movement of boom system,
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
Therefore existing subsequent control is become Prior Control, can be improved by the change angle range or collapsing length range of permission
The safety of equipment, reduction are tumbled risk, meanwhile, reduce the calculation amount 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 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.
Additional aspect and advantage according to the present invention will provide in following description section, partially will be from following description
In become obvious, or practice through the invention is recognized.
Detailed description of the invention
Above-mentioned and/or additional aspect of the invention and advantage will become from the description of the embodiment in conjunction with the following figures
Obviously and it is readily appreciated that, in which:
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 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
To better understand the objects, features and advantages of the present invention, with reference to the accompanying drawing and specific real
Applying mode, the present invention is further described in detail.It should be noted that in the absence of conflict, the implementation of the application
Feature in example and embodiment can be combined with each other.
In the following description, numerous specific details are set forth in order to facilitate a full understanding of the present invention, still, the present invention may be used also
Implement in a manner of using other than the one described here, therefore, protection scope of the present invention is not by following public tool
The limitation of body embodiment.
As shown in Figure 1, a kind of boom system control method provided by the invention, for controlling the arm supported by multiple supporting legs
Frame 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 each supporting leg in the combination of different activity intervals, support gear library is established, has been determined in support gear library each
Under a support gear, boom system is under different angles of revolution, the permission scope of activities of 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 corresponding support gear of the actual support state of leg, so that it is determined that boom system allows to live under different angles of revolution out
Dynamic range, and the movement of boom system is controlled accordingly.
In the present embodiment, by step 102, support can be established according to the support situation of each supporting leg being likely to occur
Gear library has determined in support gear library in the case where each supports gear that boom system is under different angles of revolution, cantilever crane
The permission scope of activities of system, it will be understood that after the holding state of each supporting leg determines, enabling capabilities are also determined, in arm
Before frame movement, database can be searched, selects or transfer boom system from database according to the actual support state of supporting leg
Allow scope of activities, in each arm joint movement of boom system, does not need the center of gravity for calculating vehicle constantly, and according to center of gravity and branch
The support situation of leg, calculate boom system whether be located in safety zone, it is only necessary to compare boom system scope of activities whether
In the permission scope of activities of boom system, while it can control change angle of the scope of activities without departing from permission of each arm joint
Therefore existing subsequent control is become Prior Control, the safety of equipment can be improved by range or collapsing length range,
Reduction is tumbled risk, meanwhile, reduce the calculation amount in boom system control process, reliability and real-time are improved, control
Produce error rate reduction.
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 of arm joint, the gravity center shift range of each arm joint, alternatively, the gravity center shift range of part arm joint, or even it is all
The gravity center shift range of cantilever crane, specifically, in a step 102, the permission scope of activities of boom system include boom system extremely
The change angle range or collapsing length range that the gravity center shift range and/or each arm joint of a few arm joint allow.When cantilever crane system
When the permission scope of activities of system is the gravity center shift range of at least one arm joint of boom system, in the movement of control boom system
When, it is only necessary to whether the center of gravity of relatively at least one selected arm joint is located in the variation range of permission, is not required to calculate vehicle weight
The heart, whether the movement for not needing to calculate boom system more according to center of gravity and support situation is safe, and therefore, computationally intensive amplitude subtracts
It is few.When the permission scope of activities of boom system is the change angle range or collapsing length range that each arm joint allows, it is only necessary to limit
Each arm joint is made to act 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 the optimal point of stability, still not
When 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 stabilization
The optimal point of property, when not still being able to satisfy the stability requirement of vehicle, then limits the change angle of the 3rd arm joint, and so on, instead
It, when the 1st arm joint needs not necessarily lie in the optimal point of stability, it will be able to when meeting the stability requirement of vehicle, without limiting
The change angle of 2-N arm joint does not need to limit i+1 arm joint when the i-th arm joint is without limitation yet.With this solution, have
Effect carries out Prior Control 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 is located at the worst point of stability, and specifically, in a step 102, boom system is in different angles of revolution and each
Support gear under, determine change angle that the 1st arm joint allows or when collapsing length range, it is assumed that the 2nd arm joint ..., N arm
Section is in horizontality or maximum stretching state；When determining the change angle or collapsing length range that the 2nd arm joint allows, it is assumed that the
3 arm joints ..., N arm joint be located at horizontality or maximum stretching state；……；Determine the change angle that N-1 arm joint allows
Or when collapsing length range, it is assumed that N arm joint is located at horizontality or maximum stretching state.Calculate the variable phase angle that each arm joint allows
When degree or collapsing length range, the change angle or collapsing length range of the permission of 1-N arm joint are successively calculated, if the i-th arm joint
When movement is without limitation, it may not be necessary to calculate i+1 arm joint.
As shown in Fig. 2, O point is cantilever crane system in general, the boom system of arm support equipment is connect by rack 1 with multiple supporting legs
The centre of gyration of system, supporting leg generally include 4 supporting legs, have telescopic outrigger, oscillating support leg, swing the supporting legs forms such as telescopic outrigger,
Supporting leg in Fig. 2 includes two telescopic outriggers in front and two oscillating support legs at rear, and maximum support range is outermost
Shown in the dotted line of side, other types of supporting leg can be processed similarly.It, can be by the branch of cantilever crane in above-mentioned cantilever crane system control method
Support state is controlled as a whole, to improve the accuracy of control and the flexibility of cantilever crane, is reduced control difficulty, is such as schemed
3, shown in 4, in a step 102, according to two supporting leg adjacent in each supporting leg in the combination of different activity intervals, multiple supports are determined
Section, support gear includes multiple support steppings corresponding with multiple support Intervals, and support stepping has determined that boom system turns round
When in 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 finds out the support stepping positioned at each support Interval equivalent with the actual support state in support gear library, thus
Determine boom system under different angles of revolution, the permission scope of activities of boom system.
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, the cut-point of the close cantilever crane centre of gyration of each activity interval is interior separation, each activity interval
The cut-point of the separate cantilever crane centre of gyration be outer separation, interior separation and outer separation be it is opposite, a behaviour area
Between interior separation, it may be possible to another activity interval is cut-point, the outer separation of an activity interval, it may be possible to another
The interior separation of one 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 O of the line of heart O, the second activity interval of another supporting leg and boom system is constituted is support
Section, the interior separation of the first activity interval, the interior separation of outer separation and the second activity interval, 4 between outer separation
Line is support gear line b1d1, b2d2, b2d1, b1d2, the corresponding support stepping of each support gear line, and determination exists
Under each support stepping, boom system is in the support Interval, the permission scope of activities of boom system；In step 106, it looks into
Look for the actual support state it is equivalent positioned at the support stepping of each support Interval when, select in 4 support gear lines with arm
The centre of gyration of frame system is apart from the nearest corresponding support stepping of support gear line.Determining support gear by this way,
Closer to the actual support state of supporting leg, thereby it is ensured that playing the developing power of cantilever crane while enabling capabilities.Pass through choosing
It selects in 4 support gear lines with the centre of gyration of boom system apart from the corresponding support stepping of nearest support gear line, specifically
Ground is b1d1 gear line in Fig. 5, it is ensured that support gear line is located at the inside of adjacent two supporting legs supporting point line, safety
It can be 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；First activity of one of supporting leg in adjacent two supporting leg
Line, the second activity interval of another supporting leg and the centre of gyration O of boom system of the centre of gyration O of section and boom system
The range that constitutes of line be support Interval, be simplified model, with bOd for a support Interval, wherein one in adjacent two supporting leg
The line of i-th of cut-point of i-th separation and another supporting leg of a supporting leg is 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 support gear line is parallel, i.e., in addition to outermost support gear line, Qi Tazhi
It is parallel to support gear line, preferably parallel with the front, rear, left and right four direction of rack 1, front, rear, left and right side has the
1 ..., n grades, each support gear line also corresponds to a support stepping, and precalculates under each support stepping, when cantilever crane system
When system is located at the support Interval, the permission scope of activities of boom system；Determining support gear by this way, safety coefficient is more
Height 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 stepping, the corresponding support stepping 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 stepping of support gear line on the inside of the supporting point line of adjacent two supporting legs, specifically, in Fig. 5, 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, 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 permission scope of activities of 1 support Interval of table, support gear and each arm joint corresponds to table
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 step 106, adjacent two
The safety allowance section of preset range is arranged in the juncture area of support Interval, after safety allowance section is arranged, by boom system
Scope of activities is divided into 8 sections, wherein 4 support Intervals, 4 safety allowance sections, when boom system is located at safety allowance
When section, each lesser permission scope of activities of arm joint in adjacent two support Interval separated by safety allowance section is chosen.Pass through
Safety allowance section is set, when boom system returns back to another support Interval by safety allowance section from a support Interval
When, have the longer response time, can be to avoid boom system in support Interval fast transition, it may occur however that it is dangerous because
Element.
Still further aspect, as described in Figure 7, the present invention also provides a kind of arm support control systems, 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 and/or 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 each supporting leg in the combination of different activity intervals, support gear library is established, has been determined in support gear library in each branch
It supports under gear, boom system is under different angles of revolution, the permission scope of activities of boom system；And detected for basis
The actual support state of each supporting leg searches support corresponding with the actual support state of each supporting leg in support gear library
Gear, so that it is determined that permission scope of activities of the boom system under different angles of revolution out, and for being examined according to arm support position
The data for surveying device, the detection of cantilever crane rotation detecting, by the movement for executing driving mechanisms control boom system.
In the present embodiment, by controller, support shelves can be established according to the support situation of each supporting leg being likely to occur
Position library determines in support gear library in the case where each supports gear that boom system is 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, enabling capabilities are also determined, dynamic in cantilever crane
Before work, database can be searched, selects or transfer the permission of boom system from database according to the actual support state of supporting leg
Scope of activities does not need the center of gravity for calculating vehicle constantly in each arm joint movement of boom system, and according to center of gravity and supporting leg
Situation is supported, 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 it can control change angle range of the scope of activities without departing from permission of each arm joint
Or therefore existing subsequent control is become Prior Control, the safety of equipment can be improved, reduce by collapsing length range
It tumbles risk, meanwhile, reduce the calculation amount in boom system control process, reliability and real-time are improved, control out
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, not still being able to satisfy when the 1st arm joint is located at the optimal point of stability
When the stability requirement of vehicle, then the change angle of the 2nd arm joint is limited, when the 1st arm joint, that the 2nd arm joint is respectively positioned on stability is optimal
Point, when not still being able to satisfy the stability requirement of vehicle, then limit the change angle of the 3rd arm joint, and so on, conversely, working as
1st arm joint needs not necessarily lie in the optimal point of stability, it will be able to when meeting the stability requirement of vehicle, without limiting 2-N arm
The change angle of section does not need to limit i+1 arm joint when the i-th arm joint is without limitation yet.With this solution, effectively
Prior Control 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.
In the description of this specification, term " connection ", " installation ", " fixation " etc. shall be understood in a broad sense, for example, " even
Connect " it may be fixed connection or may be dismantle connection, or integral connection；It can be directly connected, it can also be in
Between medium be indirectly connected.For the ordinary skill in the art, above-mentioned term can be understood at this as the case may be
Concrete meaning in invention.
In the description of this specification, the description of term " one embodiment ", " some embodiments ", " specific embodiment " etc.
Mean that particular features, structures, materials, or characteristics described in conjunction with this embodiment or example are contained at least one reality of the invention
It applies in example or example.In the present specification, schematic expression of the above terms are not necessarily referring to identical embodiment or reality
Example.Moreover, description particular features, structures, materials, or characteristics can in any one or more of the embodiments or examples with
Suitable mode combines.
The foregoing is only a preferred embodiment of the present invention, is not intended to restrict the invention, for the skill of this field
For art personnel, the invention may be variously modified and varied.All within the spirits and principles of the present invention, made any to repair
Change, equivalent replacement, improvement etc., should all be included in the protection scope of the present invention.
Claims (11)
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 each supporting leg in the combination of different activity intervals, support gear library is established, has been determined in the support gear library each
Under a support gear, the boom system is under different angles of revolution, 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 corresponding support gear of actual support state, so that it is determined that the boom system allows to live under different angles of revolution out
Dynamic range, and the movement of the boom system is controlled 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 and/or 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 any one of claim 1 to 4, which is characterized in that in a step 102,
According to two supporting leg adjacent in each supporting leg in the combination of different activity intervals, multiple support Intervals, the support gear packet are determined
Multiple support steppings corresponding with multiple support Intervals are included, the support stepping has determined that the boom system returns back to the support
When in section, the permission scope of activities of the boom system；In step 106, according to the actual support state of each supporting leg,
Support finds out the support stepping positioned at each support Interval equivalent with the actual support state in gear library, 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, which is characterized in that in a step 102, in each supporting leg
Multiple cut-points are chosen in scope of activities, the range on each supporting leg between two neighboring cut-point constitutes an activity interval,
The cut-point of the close cantilever crane centre of gyration of each activity interval is interior separation, during separate the cantilever crane of each activity interval turns round
The cut-point of the heart is outer separation；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 interior separation of the first activity interval, the interior separation of outer separation and the second activity interval, 4 between outer separation
Line is support gear line, and each support gear line corresponds to a support stepping, and determines in the case where each supports stepping, described
Boom system is in the support Interval, the permission scope of activities of the boom system；In step 106, it searches and the practical branch
Support state it is equivalent positioned at the support stepping of each support Interval when, select revolutions with boom system in 4 support gear lines
The nearest corresponding support stepping of support gear line of centre distance.
7. boom system control method according to claim 5, which is characterized in that in a step 102, in each supporting leg
N cut-point is chosen in scope of activities, n is the integer greater than 1, and the range 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 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 stepping, and precalculate under each support stepping, when boom system is located at the support Interval, the cantilever crane
The permission scope of activities of system；
Meanwhile in step 106, the support point of each support Interval corresponding with the actual support state of each supporting leg is searched
When shelves, the corresponding support stepping of support gear line on the inside of the supporting point line of adjacent two supporting leg is selected.
8. 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.
9. 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 and/or 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 each supporting leg in the combination of different activity intervals, support gear library is established, has been determined in the support gear library each
Under a support gear, the boom system is under different angles of revolution, the permission scope of activities of the boom system；And it is used for
According to the actual support state of each supporting leg detected, the actual support state with each supporting leg is searched in support gear library
Corresponding support gear, so that it is determined that permission scope of activities of the boom system under different angles of revolution out, is used in combination
In the data according to arm support position detection device, the detection of cantilever crane rotation detecting, by executing arm described in driving mechanisms control
The movement of frame system.
10. arm support control system according to claim 9, which is characterized in 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.
11. a kind of arm support equipment, which is characterized in that including the arm support control system as described in claim 9 or 10.
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| JP7060363B2 (en) * | 2017-11-22 | 2022-04-26 | 古河ユニック株式会社 | Moment limiter device for boom work machine and boom work machine equipped with this |
| JP7132450B2 (en) * | 2017-11-22 | 2022-09-06 | 古河ユニック株式会社 | Moment limiter device for boom working machine and boom working machine equipped 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 |
| CN112799341B (en) * | 2021-04-14 | 2022-07-12 | 南京易砼科技有限公司 | Engineering vehicle intelligent backing plate and early warning system based on Internet of things |
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