CN106586918A - Folding-jib overhead working truck control method capable of realizing automatic amplitude limiting - Google Patents
Folding-jib overhead working truck control method capable of realizing automatic amplitude limiting Download PDFInfo
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- CN106586918A CN106586918A CN201611042277.6A CN201611042277A CN106586918A CN 106586918 A CN106586918 A CN 106586918A CN 201611042277 A CN201611042277 A CN 201611042277A CN 106586918 A CN106586918 A CN 106586918A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66F—HOISTING, LIFTING, HAULING OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD
- B66F11/00—Lifting devices specially adapted for particular uses not otherwise provided for
- B66F11/04—Lifting devices specially adapted for particular uses not otherwise provided for for movable platforms or cabins, e.g. on vehicles, permitting workmen to place themselves in any desired position for carrying out required operations
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
- F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
- F15B11/00—Servomotor systems without provision for follow-up action; Circuits therefor
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- Life Sciences & Earth Sciences (AREA)
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- General Engineering & Computer Science (AREA)
- Forklifts And Lifting Vehicles (AREA)
Abstract
The invention discloses a folding-jib overhead working truck control method capable of realizing automatic amplitude limiting. A folding-jib overhead working truck comprises a truck body assembly, a hydraulic support leg, a folding boom assembly, a working platform, a controller (1), a support leg support reaction detecting switch (2), an oil circuit switching valve (3), a folding-jib action control hydraulic valve group (4), a platform distance sensor (5), a tilt angle sensor (6) and a folding boom assembly rotation angle sensor (7). The control method comprises the concrete steps of getting off the trunk; acquiring folding-jib tilt angle data; comparing and judging the folding-jib tilt angle data; and controlling the folding boom assembly. According to the folding-jib overhead working truck control method capable of realizing automatic amplitude limiting provided by the invention, the safety action which can be proceeded by each work jib can be automatically judged when amplitude limiting or platform anti-collision protection occurs on the folding-jib overhead working truck, so that the further diffusion of dangers caused by misoperation is further prevented, and the stability of the whole truck is ensured.
Description
Technical field
The present invention relates to a kind of fold arm high-altitude operation vehicle control method, specifically a kind of folding for being capable of achieving automatic amplitude limit
Arm high-altitude operation vehicle control method, belongs to high-altitude operation vehicle technical field.
Background technology
High-altitude operation vehicle is to transport staff and the equipment that is pointed to high-altitude using equipment to high-altitude is installed, tieed up
Shield, the special vehicle of cleaning, with transaction capabilities are good, operation compared with traditional operating type such as scaffolding, ladder
The advantages of efficiency high, job safety, it is now widely used for the infrastructure industry such as electric power, traffic, petrochemical industry, communication, gardens.
At present high-altitude operation vehicle is generally divided into three classes by arm support type：Aerial work platform truck with foldable arm, telescopic boom high-altitude
Operation Van and the mixing arm form high-altitude operation vehicle being made up of two-stage telescopic arm and cranking arm, due to folding arm high-altitude operation vehicle operation
Flexibly, it is suitable for multifarious operating mode, is easy to across obstacle arrival operating position, therefore application is relatively universal, folds arm high-altitude and makees
The lifting mechanism of getting on the bus of industry car is generally folded by more piece box-shaped arm and formed, and can be divided into folding and lower folding, the folding of each joint arm
Completed by the hydraulic cylinder of each internode with expansion.
Due to factors such as artificial operational error or severe natural conditions in the course of work, arm high-altitude operation vehicle is folded
Unstable phenomenon occurs, even overthrow accident can occur when serious, this can not only damage Operation Van itself but also entail dangers to
Operator and the life security of surrounding pedestrian, therefore, when high-altitude operation vehicle entire vehicle design is carried out, whole vehicle stability is carried out point
Analysis is very important, and specifies in GB/T9465-2008, and the whole vehicle stability of Operation Van is with Operation Van is static and normal operation
Shi Qi do not tumble in the case of the maximum load that can carry of job platform describing, the maximum load is bigger, then make
The stability of industry car is better, and many scholars researched and analysed to the rollover stability of heavy work jibs formula hydraulic locomotive, but
It is only to analyze static whole vehicle stability, to the whole vehicle stability in the case of the various actions of folding arm in operation process without correlation
Analysis.
The higher limited amplitude protection dress of safety coefficient is equipped with arm high-altitude operation vehicle to ensure that whole vehicle stability is generally folded
Put, that is, limit the amplitude that each folding arm launches, the special construction due to folding arm high-altitude operation vehicle causes to fold arm in different changes
Arm same action is folded when argument is spent to be sometimes safe action, be sometimes but dangerous play, is particularly under complex working condition
Across obstacle or avoidance barrier often need to carry out the super width operation in the range of the ultimate factor of safety across amplitude limit to realize work
Make the anticollision of platform, typically operator rule of thumb carry out super width across obstacle on work platformses or avoid barrier
The safe action of operation, this only relies on the operating experience by means of operator and carries out safe action has potential safety hazard, if operator
It is not yet done to field working conditions or Operation Van's operation that dangerous further diffusion even car body can be caused to tumble, the solution for adopting at present
It is the everything for directly forbidding getting on the bus, by the safe operating mode of emergency recovery, but this causes to fold arm and operate to become more complicated, tired
It is difficult.
The content of the invention
For the problems referred to above, the present invention provides a kind of folding arm high-altitude operation vehicle control method for being capable of achieving automatic amplitude limit,
It is capable of achieving folding arm high-altitude operation vehicle automatic decision when there is amplitude limit or platform Anti-bumping protection and often saves the peace that working arm can be carried out
Full action, and then prevent dangerous further diffusion caused by maloperation, ensure the stability of car load.
For achieving the above object, this is capable of achieving the folding that arm high-altitude operation vehicle control method is used that folds of automatic amplitude limit
Arm high-altitude operation vehicle includes bodywork assembly, hydraulic leg, foldable arm rack assembly, work platformses, controller, the detection of supporting leg support reaction
Switch, oil passage change-over valve, folding arm action control hydraulic valve bank, platform range sensor, obliquity sensor, foldable arm rack assembly
Angle of revolution sensor；Described foldable arm rack assembly angle of revolution sensor is arranged on the turntable of described bodywork assembly；
Described foldable arm rack assembly includes that more piece folds arm, and described obliquity sensor quantity coordinates and divide with the quantity for folding arm
An Zhuan often not save on folding arm；Described work platformses are rolled over by the minor details that self-level(l)ing device is arranged on foldable arm rack assembly
On folded arm, described platform range sensor is set to more than one piece, and more than one piece platform range sensor is at least separately mounted to work and puts down
The front portion of platform, bottom, four positions of left part and right part；The described arm action control hydraulic valve bank that folds is arranged on described car body
On the turntable of assembly；Described oil passage change-over valve is arranged on described bodywork assembly；Described supporting leg support reaction detection switch
It is respectively arranged on four hydraulic legs；Described controller is arranged on the turntable of described bodywork assembly, and controller includes
Oil circuit switching control loop, limited amplitude protection feedback circuit, work platformses anticollision feedback circuit, folding arm inclination data are gathered back
Road, inclination data multilevel iudge loop and fold the super width control loop of arm, controller respectively with foldable arm rack assembly angle of revolution
Sensor, fold arm obliquity sensor, platform range sensor, fold arm action control hydraulic valve bank, oil passage change-over valve and
Lower limb support reaction detection switch is electrically connected, and controller is electrically connected with vehicle-mounted limited amplitude protection device, the turntable of controller and bodywork assembly
Drive electrical connection；
This folding arm high-altitude operation vehicle control method for being capable of achieving automatic amplitude limit specifically includes following steps：
A. drive-through operation：First this folding arm high-altitude operation vehicle for being capable of achieving automatic amplitude limit is rested in into the appropriate position of Work places
Put, then control hydraulic leg and stretch out and be supported in ground, oil circuit switching control loop starts, controller is first to supporting leg
Support reaction detection switch is detected, if at least one supporting leg support reaction detection switch does not have action, controller control oil
Road switching valve makes oil circuit be maintained to get off and carry out drive-through operation；As the action of all supporting leg support reaction detection switch and general
Signal is fed back to after controller, and controller oil circuit control switching valve switches to oil circuit gets on the bus, it is allowed to carry out operation of getting on the bus；
B. the collection of arm inclination data is folded：Foldable arm rack assembly carries out expansion action, limited amplitude protection feedback circuit and work
Once there is limited amplitude protection, vehicle-mounted limited amplitude protection in platform anticollision feedback loop starts, each folding during arm turnover launches
Device feeds back to controller, folds arm inclination data acquisition circuit and starts working, and controller reads respectively in real time each folding
The angle-data information of the obliquity sensor feedback on arm carries out data acquisition and stores；
Once respectively fold during arm turnover launches the front of platform range sensor Real-time Feedback work platformses and/or under
There is barrier in side and/or left or right, controller reads respectively in real time foldable arm rack assembly angle of revolution sensor, each folding
The angle-data information of the obliquity sensor feedback on folded arm carries out data acquisition and stores；
C. fold arm inclination data to compare and judgement：Inclination data multilevel iudge loop starts, controller will be real-time
Foldable arm rack assembly angle of revolution sensor and/or each obliquity sensor feedback angle-data information it is each with preset setting
The reference value information and/or security parameter group information of obliquity sensor carries out respectively comparison in difference one by one, and according to comparative result
And preset setting safe action programmed decision foldable arm rack assembly and/or each direction of rotation for folding arm safe action and/or
Become width direction；
D. foldable arm rack assembly control：The turntable of controller control bodywork assembly drives and/or folds arm action control liquid
Pressure valve group closes the valve road of non-security direction of action, allows to open the valve road in safe action direction.
As the further control program of the present invention, if platform range sensor feedback barrier position in described step d
When the left or right of work platformses, direction of rotation control of the controller according to the turntable safe action of the bodywork assembly for judging
The turntable of bodywork assembly processed drives and closes the valve road of non-security action direction of rotation, allows to open the valve of safe action direction of rotation
Road.
As the further control program of the present invention, if platform range sensor feedback barrier position in described step d
When the front or lower section of work platformses, controller is folded according to the luffing direction controlling of each folding arm safe action for judging
Arm action control hydraulic valve bank is closed non-security action and becomes the valve road of width direction, allows to open the valve that safe action becomes width direction
Road.
Scheme as a further improvement on the present invention, described obliquity sensor is electrically connected with the controller by CAN.
Compared with prior art, this folding arm high-altitude operation vehicle control method for being capable of achieving automatic amplitude limit is folding arm high-altitude
When amplitude limit occurs in Operation Van, controller combination operating mode at that time to every section by folding angle signal and the parameter preset that arm is gathered
Relatively calculate, judge that often section folds the safe action that arm can be carried out, while forbid dangerous play, in the feelings for not cutting off action of getting on the bus
Under condition, automatic decision safe action is realized, continue Operation Van's work；If there is platform Anti-bumping protection, controller meeting during work
After the concrete direction platform range sensor action of reading platform by barrier orientation combine folding arm angle at that time with it is advance
Anticollision parameter group is set and is compared calculating, so as to the action away from rammer for judging to carry out, forbid dangerous play, control
Device processed can realize automatic amplitude limit or platform Anti-bumping protection in the case of without the need for operator's experience and artificial judgement, safely may be used
By, high degree of automation, dangerous further diffusion caused by maloperation can be prevented, ensure the stability of car load..
Description of the drawings
Structural representation when Fig. 1 is the first working condition of the invention；
Structural representation when Fig. 2 is second working condition of the invention；
Fig. 3 is the control flow chart of the present invention.
In figure：1st, controller, 2, supporting leg support reaction detection switch, 3, oil passage change-over valve, 4, fold arm action control hydraulic pressure
Valve group, 5, platform range sensor, 6, obliquity sensor, 6A, a joint arm obliquity sensor, 6B, two joint arm obliquity sensors,
6C, obliquity sensor of cranking arm, 7, foldable arm rack assembly angle of revolution sensor, R, operation amplitude.
Specific embodiment
Below in conjunction with the accompanying drawings the present invention will be further described (folds the direction that arm is installed with work platformses and minor details below
For rear description).
As shown in Figure 1 and Figure 2, this is capable of achieving the folding that arm high-altitude operation vehicle control method is used that folds of automatic amplitude limit
Arm high-altitude operation vehicle includes bodywork assembly, hydraulic leg, foldable arm rack assembly, work platformses, controller 1, the inspection of supporting leg support reaction
Slowdown monitoring switch 2, oil passage change-over valve 3, folding arm action control hydraulic valve bank 4, platform range sensor 5, obliquity sensor 6, folding
Arm support assembly angle of revolution sensor 7.
Described foldable arm rack assembly angle of revolution sensor 7 is arranged on the turntable of described bodywork assembly, for examining
Survey the angle of revolution of foldable arm rack assembly.
Described foldable arm rack assembly includes that more piece folds arm, the described quantity of obliquity sensor 6 and the quantity for folding arm
Coordinate and be separately mounted to every section to fold on arm, for detecting the inclination angle of often section folding arm.
Described work platformses are arranged on the minor details of foldable arm rack assembly and fold on arm by self-level(l)ing device, described
Platform range sensor 5 is set to more than one piece, more than one piece platform range sensor 5 be at least separately mounted to the front portion of work platformses, under
Portion, four positions of left part and right part, for detecting the distance between work platformses and barrier.
The described arm action control hydraulic valve bank 4 that folds is arranged on the turntable of described bodywork assembly, for controlling folding
The action of folded arm.
Described oil passage change-over valve 3 is arranged on described bodywork assembly, for the oil circuit for controlling to get off and get on the bus.
Described supporting leg support reaction detection switch 2 is respectively arranged on four hydraulic legs, for detecting four liquid respectively
Whether pressure supporting leg lands support in fact.
Described controller 1 is arranged on the turntable of described bodywork assembly, for gathering foldable arm rack assembly angle of revolution
The feedback signal of degree sensor 7, folding arm obliquity sensor 6, platform range sensor 5 and supporting leg support reaction detection switch 2 is simultaneously
Control folds arm action control hydraulic valve bank 4, and controller 1 includes oil circuit switching control loop, limited amplitude protection feedback circuit, work
The super width control of platform anticollision feedback circuit, folding arm inclination data acquisition circuit, inclination data multilevel iudge loop and folding arm
Loop, controller 1 respectively with foldable arm rack assembly angle of revolution sensor 7, fold arm obliquity sensor 6, platform Distance-sensing
Device 5, fold arm action control hydraulic valve bank 4, oil passage change-over valve 3 and supporting leg support reaction detection switch 2 and electrically connect, controller 1 with
Vehicle-mounted limited amplitude protection device electrical connection, controller 1 drives with the turntable of bodywork assembly and electrically connects.
As shown in figure 3, this folding arm high-altitude operation vehicle control method for being capable of achieving automatic amplitude limit specifically includes following steps：
A. drive-through operation：First this folding arm high-altitude operation vehicle for being capable of achieving automatic amplitude limit is rested in into the appropriate position of Work places
Put, then control hydraulic leg and stretch out and be supported in ground, oil circuit switching control loop starts, controller 1 first to
Lower limb support reaction detection switch 2 is detected, if at least one supporting leg support reaction detection switch 2 is without action, controller 1 is controlled
Oil passage change-over valve processed 3 makes oil circuit be maintained to get off and carry out drive-through operation；When all supporting leg support reaction detection switch 2 have been moved
Make and signal is fed back to after controller 1, controller 1 thinks that four vertical leg supports are real, the oil circuit control switching valve 3 of controller 1
Oil circuit is switched to and is got on the bus, it is allowed to carry out operation of getting on the bus.
B. the collection of arm inclination data is folded：Foldable arm rack assembly carries out expansion action, limited amplitude protection feedback circuit and work
Once there is limited amplitude protection, vehicle-mounted limited amplitude protection in platform anticollision feedback loop starts, each folding during arm turnover launches
Device feeds back to controller 1, folds arm inclination data acquisition circuit and starts working, and controller 1 reads respectively in real time
The angle-data information of each feedback of obliquity sensor 6 folded on arm carries out data acquisition and stores；
Once respectively fold during arm turnover launches the front of the Real-time Feedback work platformses of platform range sensor 5 and/or
There is barrier in lower section and/or left or right, controller 1 reads respectively in real time foldable arm rack assembly angle of revolution sensor
7th, the angle-data information of each feedback of obliquity sensor 6 folded on arm carries out data acquisition and stores.
C. fold arm inclination data to compare and judgement：Inclination data multilevel iudge loop starts, controller 1 will be real-time
Each obliquity sensor 6 feedback angle-data information enter respectively with the reference value information of each obliquity sensor 6 of preset setting
Row comparison in difference, and the luffing side of arm safe action is respectively folded according to the safe action programmed decision of comparative result and preset setting
To；
Controller 1 according to the direction of the feedback and judge foldable arm rack assembly safe action of platform range sensor 5, if platform
When the feedback barrier of range sensor 5 is located at the left or right of work platformses, controller 1 judges the turntable peace of bodywork assembly
The direction of rotation of full action；If the feedback barrier of platform range sensor 5 is located at the front or lower section of work platformses, controller
The 1 angle-data information for feeding back real-time each obliquity sensor 6 is poor one by one with the security parameter group information of preset setting
Different comparison, and the change width direction of arm safe action is respectively folded according to the safe action programmed decision of comparative result and preset setting.
D. foldable arm rack assembly control：Luffing direction controlling folding of the controller 1 according to each folding arm safe action for judging
Folded arm action control hydraulic valve bank 4 is closed non-security action and becomes the valve road of width direction, allows to open safe action change width direction
Valve road, had both made the input and output failure of non-security action, operator both make maloperation originally be capable of achieving the folding of automatic amplitude limit
Arm high-altitude operation vehicle also will not be responded, it is ensured that folded arm and be will not continue to move to dangerous direction again, may only be to secure side
To action；
If the feedback barrier of platform range sensor 5 is located at the left of work platformses or during right, controller 1 is according to sentencing
The turntable of the direction of rotation control bodywork assembly of the turntable safe action of fixed bodywork assembly drives closes non-security action rotation
The valve road in direction, the valve road for allowing opening safe action direction of rotation, operator had both made maloperation originally be capable of achieving automatic amplitude limit
Folding arm high-altitude operation vehicle also will not respond, it is ensured that foldable arm rack assembly will not continue to rotate to dangerous direction again, only
Can rotate to safe direction；
If the feedback barrier of platform range sensor 5 is located at the front of work platformses or during lower section, controller 1 is according to sentencing
The luffing direction controlling of fixed each folding arm safe action folds arm action control hydraulic valve bank 4 and closes non-security action luffing side
To valve road, allow to open the valve road that safe action becomes width direction, operator had both made maloperation originally be capable of achieving automatic amplitude limit
Folding arm high-altitude operation vehicle also will not respond, it is ensured that fold arm and will not continue to move to dangerous direction again, may only be to peace
Omnirange action.
It is described because CAN has higher Performance And Reliability, therefore scheme as a further improvement on the present invention
Obliquity sensor 6 electrically connected with controller 1 by CAN.
So that three sections fold arm high-altitude operation vehicle as an example, express for convenience, obliquity sensor 6 is separately marked into into a joint arm
Obliquity sensor 6A, two joint arm obliquity sensor 6B, crank arm obliquity sensor 6C.
Once there is limited amplitude protection in operating process of getting on the bus, controller 1 can respectively read obliquity sensor 6A, inclination angle and pass
The data of sensor 6B, obliquity sensor 6C, and with the program of controller 1 in pre-set obliquity sensor 6A, inclination angle sensing
Device 6B, the reference angle value of obliquity sensor 6C carry out comparison in difference, are judged often to save the peace that working arm can be carried out according to fiducial value
Full operation, and make the input and output failure of non-security action, it is allowed to the input and output of safe action.
Amplitude limit under working condition as shown in Figure 1, first controller 1 are separately mounted on every section working arm by reading
Obliquity sensor 6A, obliquity sensor 6B, the angle value of obliquity sensor 6C, by obliquity sensor now in controller 1
Obliquity sensor 6A set in advance, inclination angle pass in 6A, obliquity sensor 6B, the angle value of obliquity sensor 6C and controller 1
Sensor 6B, obliquity sensor 6C reference values carry out respectively comparison in difference, understand that now two section working arms are carried out according to comparative result
Luffing rise, crank arm with one section working arm carry out luffing work fall action be reduce work platformses operating radius, reduce operation
The safe action of amplitude；So controller 1 is forbidden folding the 4 pairs two sections work of arm action control hydraulic valve bank in this case simultaneously
Arm luffing falls, the action output worked with a section working arm luffing of cranking arm, but allows two section working arms to carry out luffing, crank arm
The action output that luffing work falls is carried out with a section working arm, therefore operator had both made maloperation originally be capable of achieving the folding of automatic amplitude limit
Folded arm high-altitude operation vehicle also will not be responded, so as to ensure each folding arm will not continue to move to dangerous direction again, can only be to safety
Move in direction.
Amplitude limit under working condition as shown in Figure 2, first controller 1 are separately mounted on every section working arm by reading
Obliquity sensor 6A, obliquity sensor 6B, the angle value of obliquity sensor 6C, by obliquity sensor now in controller 1
Obliquity sensor 6A set in advance, inclination angle pass in 6A, obliquity sensor 6B, the angle value of obliquity sensor 6C and controller 1
Sensor 6B, obliquity sensor 6C reference values carry out respectively comparison in difference, and according to comparative result now two section working arms and song are understood
It is reduction work platformses operating radius, reduction operation width that arm carries out that luffing falls, a section working arm carries out the action that luffing work
The safe action of degree；So controller 1 is forbidden folding 4 pairs two section working arms of arm action control hydraulic valve bank in this case simultaneously
Carry out that luffing rises, a section working arm carries out the action output that luffing work falls with cranking arm, but allow two to save and working arms and crank arm
Carry out that luffing falls, a section working arm carries out the action output that luffing work, thus operator both made maloperation sheet it is achievable oneself
The folding arm high-altitude operation vehicle of dynamic amplitude limit also will not be responded, so as to ensure each folding arm will not continue to move to dangerous direction again,
Can only move to safe direction.
If platform Anti-bumping protection rather than limited amplitude protection, platform range sensor 5 can be in the one end for barrier occur
Controller 1 is signaled to, the signal travel direction that controller 1 sends to platform range sensor 5 judges, it is first determined obstacle
Thing is located at which direction of work platformses, if barrier occurs in platform sinistral or right side, and now controller 1 only needs to forbid
Fold arm action control hydraulic valve bank 4 and export left and right revolution action；If barrier in work platformses front or
Lower section, then controller 1 will according to the concrete direction of barrier combine now often save the obliquity sensor of working arm 6 angle value, with
In advance the security parameter group of setting compares one by one simultaneously in controller 1, further determines that the safe action that can be carried out, by limiting
Fold the action of arm action control hydraulic valve bank 4 to realize protection.
There is barrier in work platformses lower section as shown in Figure 1, and controller 1 will read and now be respectively arranged in every section work
Obliquity sensor 6A, obliquity sensor 6B on arm, the angle value of obliquity sensor 6C, and will be with upper angle and controller
Platform lower section set in advance often saves the reference value of working arm angle and carries out comparison in difference when there is barrier, through comparing calculating
Understand now to crank arm rise with two section working arm luffings and a joint arm luffing to fall be the safety that can lift work platformses operation height
Action, thus now controller 1 forbid folding the output of arm action control hydraulic valve bank 4 crank arm with two section working arm luffings fall, one
The action that joint arm luffing rises falling to bump against with barrier to prevent work platformses from continuing, while allowing to fold arm action control hydraulic pressure
The output bodywork assembly turntable of valve group 4 drives revolution, cranks arm with two actions that section working arm luffing rises, a joint arm luffing falls to be lifted
Work platformses are away from barrier ensureing work platformses safety；If barrier occurs in work platformses front portion, controller 1 now will
Reading is respectively arranged in obliquity sensor 6A, obliquity sensor 6B, the angle value of obliquity sensor 6C on every section working arm, and
And the reference value of working arm angle is often saved during by barrier occur before upper angle and platform set in advance in controller 1 carry out
Comparison in difference, through comparison calculating understand now crank arm with one section working arm luffing fall with two joint arm luffings rise be can to make work
What platform operations were moved in the reverse direction, thus now controller 1 forbid folding the output of arm action control hydraulic valve bank 4 crank arm and
One action that section working arm luffing rises and two joint arm luffings fall, while allowing folding arm action control hydraulic valve bank 4 to export car body
Assembly turntable drives revolution, cranks arm with an action that section working arm luffing falls, two joint arm luffings rise to prevent work platformses with barrier
Thing is hindered to bump against；By that analogy when there is work platformses collision-proof alarm, controller 1 can fold arm according to the volitional check of warning direction
Dangerous play, allow to fold the safe action of arm, operator both makes maloperation occur, and Operation Van also will not respond, from
And accomplish in platform anticollision, meanwhile, both made operator not have experience rise in the case of everything without stopping to get on the bus
To protective effect.
There is barrier in work platformses bottom as shown in Figure 2, and controller 1 will read and now be respectively arranged in every section work
Obliquity sensor 6A, obliquity sensor 6B on arm, the angle value of obliquity sensor 6C, and will be with upper angle and controller
Platform lower section set in advance often saves the reference value of working arm angle and carries out comparison in difference when there is barrier, through comparing calculating
Understand now to crank arm rise with two section working arm luffings and a joint arm luffing to fall be the safety that can lift work platformses operation height
Action, therefore now controller 1 is forbidden folding the output of arm action control hydraulic valve bank 4 and crank arm to fall and one with two section working arm luffings
The action that joint arm luffing rises prevents work platformses from continuing to fall to bump against with barrier, while allowing to fold arm action control hydraulic valve
Group 4 exports bodywork assembly turntable and drives revolution, cranks arm with two actions that section working arm luffing rises, a joint arm luffing falls to lift work
Make platform away from barrier, it is ensured that job platform safety；If barrier occurs in work platformses front portion, controller 1 will read
Obliquity sensor 6A, obliquity sensor 6B, the angle value of obliquity sensor 6C being now respectively arranged on every section working arm, and
And the reference value of working arm angle is often saved during by barrier occur before upper angle and platform set in advance in controller 1 carry out
Comparison in difference, through comparison calculating understand now crank arm with two section working arm luffings fall with a joint arm luffing rise be can to make work
What platform operations were moved in the reverse direction, thus now controller 1 forbid folding the output of arm action control hydraulic valve bank 4 crank arm and
Two actions that section working arm luffing rises and a joint arm luffing falls, while allowing folding arm action control hydraulic valve bank 4 to export car body
Assembly turntable drives revolution, cranks arm with two actions that section working arm luffing falls, a joint arm luffing rises to prevent work platformses with barrier
Thing is hindered to bump against；By that analogy when there is work platformses collision-proof alarm, control system can be folded according to the volitional check of warning direction
The dangerous play of arm, the safe action for allowing folding arm, operator both makes maloperation occur, and Operation Van also will not respond,
So as to accomplish in platform anticollision, meanwhile, both made operator there is no experience without stopping getting on the bus in the case of everything
Play a protective role.
There is amplitude limit in folding arm high-altitude operation vehicle in this folding arm high-altitude operation vehicle control method for being capable of achieving automatic amplitude limit
When, controller 1 combines operating mode at that time and compares calculating with parameter preset by folding the angle signal of arm collection to every section, judges
Often section folds the safe action that arm can be carried out, while forbidding dangerous play, in the case where action of getting on the bus is not cut off, realizes automatic
Judge safe action, continue Operation Van's work；If occurring platform Anti-bumping protection during work, controller 1 can be in reading platform tool
Barrier orientation combined into folding arm angle at that time after the action of body direction platform range sensor 5 and anticollision ginseng is pre-set
Array is compared calculating, so as to the action away from rammer for judging to carry out, forbids dangerous play, and controller 1 can be
Automatic amplitude limit or platform Anti-bumping protection, safe and reliable, automatization are realized in the case of without the need for operator's experience and artificial judgement
Degree is high, can prevent dangerous further diffusion caused by maloperation, ensure the stability of car load.
Claims (4)
1. it is a kind of be capable of achieving automatic amplitude limit folding arm high-altitude operation vehicle control method, it is characterised in that the folding arm for being used
High-altitude operation vehicle includes bodywork assembly, hydraulic leg, foldable arm rack assembly, work platformses, controller (1), the inspection of supporting leg support reaction
Slowdown monitoring switch (2), oil passage change-over valve (3), folding arm action control hydraulic valve bank (4), platform range sensor (5), inclination angle sensing
Device (6), foldable arm rack assembly angle of revolution sensor (7)；Described foldable arm rack assembly angle of revolution sensor (7) is arranged on
On the turntable of described bodywork assembly；Described foldable arm rack assembly includes that more piece folds arm, described obliquity sensor (6) number
Amount coordinates and is separately mounted on every section folding arm with the quantity for folding arm；Described work platformses pass through self-level(l)ing device
Fold on arm installed in the minor details of foldable arm rack assembly, described platform range sensor (5) is set to more than one piece, more than one piece platform away from
Front portion, bottom, four positions of left part and right part of work platformses are at least separately mounted to from sensor (5)；Described folding arm
Action control hydraulic valve bank (4) is on the turntable of described bodywork assembly；Described oil passage change-over valve (3) is installed in described
Bodywork assembly on；Described supporting leg support reaction detection switch (2) is respectively arranged on four hydraulic legs；Described controller
(1) on the turntable of described bodywork assembly, controller (1) feeds back to including oil circuit switching control loop, limited amplitude protection
Road, work platformses anticollision feedback circuit, folding arm inclination data acquisition circuit, inclination data multilevel iudge loop and folding arm surpass
Width control loop, controller (1) respectively with foldable arm rack assembly angle of revolution sensor (7), fold arm obliquity sensor (6),
Platform range sensor (5), folding arm action control hydraulic valve bank (4), oil passage change-over valve (3) and supporting leg support reaction detection switch
(2) electrically connect, controller (1) is electrically connected with vehicle-mounted limited amplitude protection device, controller (1) drives with the turntable of bodywork assembly and is electrically connected
Connect；
This folding arm high-altitude operation vehicle control method for being capable of achieving automatic amplitude limit specifically includes following steps：
A. drive-through operation：First this folding arm high-altitude operation vehicle for being capable of achieving automatic amplitude limit is rested in into Work places appropriate location,
Then control hydraulic leg and stretch out and be supported in ground, oil circuit switching control loop starts, controller (1) is first to supporting leg
Support reaction detection switch (2) is detected, if at least one supporting leg support reaction detection switch (2) is without action, controller
(1) oil circuit control switching valve (3) makes oil circuit be maintained to get off and carry out drive-through operation；When all supporting leg support reaction detection switch (2)
Action and signal is fed back to after controller (1), controller (1) oil circuit control switching valve (3) switches to oil circuit
Car, it is allowed to carry out operation of getting on the bus；
B. the collection of arm inclination data is folded：Foldable arm rack assembly carries out expansion action, limited amplitude protection feedback circuit and work platformses
Once there is limited amplitude protection, vehicle-mounted limited amplitude protection device in anticollision feedback loop starts, each folding during arm turnover launches
Controller (1) is fed back to, arm inclination data acquisition circuit is folded and is started working, controller (1) reads respectively each folding in real time
The angle-data information of obliquity sensor (6) feedback on folded arm carries out data acquisition and stores；
Once respectively fold during arm turnover launches the front of platform range sensor (5) Real-time Feedback work platformses and/or under
There is barrier in side and/or left or right, controller (1) reads respectively in real time foldable arm rack assembly angle of revolution sensor
(7), the angle-data information of each obliquity sensor (6) feedback folded on arm carries out data acquisition and stores；
C. fold arm inclination data to compare and judgement：Inclination data multilevel iudge loop starts, controller (1) will be real-time
The angle-data information and preset setting of foldable arm rack assembly angle of revolution sensor (7) and/or each obliquity sensor (6) feedback
Each obliquity sensor (6) reference value information and/or security parameter group information carry out comparison in difference one by one respectively, and according to than
The safe action programmed decision foldable arm rack assembly and/or each direction of rotation for folding arm safe action of relatively result and preset setting
And/or change width direction；
D. foldable arm rack assembly control：The turntable of controller (1) control bodywork assembly drives and/or folds arm action control hydraulic pressure
Valve group (4) closes the valve road of non-security direction of action, allows to open the valve road in safe action direction.
2. it is according to claim 1 be capable of achieving automatic amplitude limit folding arm high-altitude operation vehicle control method, it is characterised in that
If platform range sensor (5) feedback barrier is located at the left or right of work platformses in described step d, controller
(1) drive closing non-security according to the turntable of the direction of rotation control bodywork assembly of the turntable safe action of the bodywork assembly for judging
The valve road of action direction of rotation, the valve road for allowing opening safe action direction of rotation.
3. it is according to claim 1 be capable of achieving automatic amplitude limit folding arm high-altitude operation vehicle control method, it is characterised in that
If platform range sensor (5) feedback barrier is located at the front or lower section of work platformses in described step d, controller
(1) arm action control hydraulic valve bank (4) is folded according to the luffing direction controlling of each folding arm safe action for judging and closes non-peace
Full action becomes the valve road of width direction, allows to open the valve road that safe action becomes width direction.
4. the folding arm high-altitude operation vehicle control method for being capable of achieving automatic amplitude limit according to claim 1 and 2, its feature exists
In described obliquity sensor (6) is electrically connected by CAN with controller (1).
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| CN112723264A (en) * | 2020-12-25 | 2021-04-30 | 湖南中联重科智能高空作业机械有限公司 | Control system and method for aerial work platform and aerial work platform |
| CN113202156A (en) * | 2021-05-07 | 2021-08-03 | 徐州徐工筑路机械有限公司 | Anti-collision control system for land leveler working device |
| CN114572910A (en) * | 2022-03-09 | 2022-06-03 | 杭州爱知工程车辆有限公司 | Method for controlling operation range of folding arm type overhead working truck |
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Denomination of invention: Folding-jib overhead working truck control method capable of realizing automatic amplitude limiting Effective date of registration: 20190911 Granted publication date: 20180925 Pledgee: China Merchants Bank Co.,Ltd. Xuzhou Branch Pledgor: XUZHOU HANDLER SPECIAL VEHICLE Co.,Ltd. Registration number: Y2019320000129 |
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