CN107825990A - Pure electronic crank arm type high-altitude operation vehicle and its control method - Google Patents

Pure electronic crank arm type high-altitude operation vehicle and its control method Download PDF

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Publication number
CN107825990A
CN107825990A CN201711227965.4A CN201711227965A CN107825990A CN 107825990 A CN107825990 A CN 107825990A CN 201711227965 A CN201711227965 A CN 201711227965A CN 107825990 A CN107825990 A CN 107825990A
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CN
China
Prior art keywords
crank arm
platform
arm type
type high
altitude operation
Prior art date
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Pending
Application number
CN201711227965.4A
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Chinese (zh)
Inventor
刘勺华
邵亭亭
赵景波
贝绍轶
董凯
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Changzhou Vocational Institute of Mechatronic Technology
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Changzhou Vocational Institute of Mechatronic Technology
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
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Application filed by Changzhou Vocational Institute of Mechatronic Technology filed Critical Changzhou Vocational Institute of Mechatronic Technology
Priority to CN201711227965.4A priority Critical patent/CN107825990A/en
Publication of CN107825990A publication Critical patent/CN107825990A/en
Pending legal-status Critical Current

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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L15/00—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles
    • B60L15/20—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles for control of the vehicle or its driving motor to achieve a desired performance, e.g. speed, torque, programmed variation of speed
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L50/00—Electric propulsion with power supplied within the vehicle
    • B60L50/50—Electric propulsion with power supplied within the vehicle using propulsion power supplied by batteries or fuel cells
    • 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
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L2210/00—Converter types
    • B60L2210/40—DC to AC converters
    • B60L2210/42—Voltage source inverters
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L2220/00—Electrical machine types; Structures or applications thereof
    • B60L2220/40—Electrical machine applications
    • B60L2220/42—Electrical machine applications with use of more than one motor
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L2220/00—Electrical machine types; Structures or applications thereof
    • B60L2220/40—Electrical machine applications
    • B60L2220/44—Wheel Hub motors, i.e. integrated in the wheel hub
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L2240/00—Control parameters of input or output; Target parameters
    • B60L2240/10—Vehicle control parameters
    • B60L2240/12—Speed
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L2240/00—Control parameters of input or output; Target parameters
    • B60L2240/10—Vehicle control parameters
    • B60L2240/24—Steering angle
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L2240/00—Control parameters of input or output; Target parameters
    • B60L2240/40—Drive Train control parameters
    • B60L2240/42—Drive Train control parameters related to electric machines
    • B60L2240/421—Speed
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L2240/00—Control parameters of input or output; Target parameters
    • B60L2240/40—Drive Train control parameters
    • B60L2240/42—Drive Train control parameters related to electric machines
    • B60L2240/423—Torque
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L2240/00—Control parameters of input or output; Target parameters
    • B60L2240/40—Drive Train control parameters
    • B60L2240/46—Drive Train control parameters related to wheels
    • B60L2240/461—Speed
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L2240/00—Control parameters of input or output; Target parameters
    • B60L2240/40—Drive Train control parameters
    • B60L2240/46—Drive Train control parameters related to wheels
    • B60L2240/463—Torque
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L2260/00—Operating Modes
    • B60L2260/20—Drive modes; Transition between modes
    • B60L2260/28—Four wheel or all wheel drive
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
    • Y02T10/00—Road transport of goods or passengers
    • Y02T10/60—Other road transportation technologies with climate change mitigation effect
    • Y02T10/70—Energy storage systems for electromobility, e.g. batteries
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
    • Y02T10/00—Road transport of goods or passengers
    • Y02T10/60—Other road transportation technologies with climate change mitigation effect
    • Y02T10/72—Electric energy management in electromobility

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Power Engineering (AREA)
  • Transportation (AREA)
  • Structural Engineering (AREA)
  • Sustainable Development (AREA)
  • Sustainable Energy (AREA)
  • Geology (AREA)
  • Arrangement Or Mounting Of Propulsion Units For Vehicles (AREA)
  • Electric Propulsion And Braking For Vehicles (AREA)

Abstract

The present invention relates to a kind of pure electronic crank arm type high-altitude operation vehicle and its control method, wherein, crank arm type high-altitude operation vehicle is using power management module as drive energy.Electric power energy weighting prediction, solves petroleum-based energy crises problem；Using the electric power energy of cleaning, solve environmental pollution, exhaust emissions problem；Driven using motor, solve the problems, such as conventional engines noise pollution；Using driven by power, hydraulic system hydraulic fluid leak problem is avoided.

Description

Pure electronic crank arm type high-altitude operation vehicle and its control method
Technical field
The present invention relates to electric automobile field, in particular to a kind of pure electronic crank arm type high-altitude operation vehicle and its Control method.
Background technology
With being continuously increased for current vehicle population, the consumption of conventional petroleum chemical energy source increasingly adds up, and causes tight The problem of environmental pollution of weight.Oil is as a kind of non-renewable resources in a short time, with the increasing of usage amount and subtracting for recoverable amount Few, supply will be becoming tight day, and price will constantly increase, and this will limit a series of industries using conventional petroleum as the energy Development.
Other crank arm type high-altitude operation vehicle, by operating platform vertical lift and gyration, carries out related work as a kind of The engineering machinery of industry, mainly power is exported using conventional engines, drives hydraulic pump, liquid as transmission medium using hydraulic oil The work of the hydraulic systems such as pressure valve, hydraulic jack, hydraulic motor.The difficulty maximum as hydraulic system, is exactly hydraulic fluid leak The problem of.
In some indoor warehouses, club, the special operation occasion such as hall, noise and row caused by conventional engines operating The waste gas put does not meet particular/special requirement, it is also desirable to using low noise, green crank arm type high-altitude operation vehicle.
The content of the invention
It is an object of the invention to provide a kind of pure electronic crank arm type high-altitude operation vehicle and its control method, is cranked arm with realizing Formula high-altitude operation vehicle carries out normal operation using the electric rotating machine and linear electric motors for cleaning electrical energy drive.
To achieve these goals, the technical scheme that the embodiment of the present invention uses is as follows：
The invention provides a kind of crank arm type high-altitude operation vehicle, the crank arm type high-altitude operation vehicle uses power management module As drive energy；The power management module includes inverter, battery and the electric pressure converter being electrically connected with successively；
The inverter is suitable to by a charge port and electrically connects as the battery charging outside；
It is that required voltage is the crank arm type high-altitude that the electric pressure converter, which is suitable to the photovoltaic conversion of the battery, The weak electricity system power supply of Operation Van.
In preferred embodiments of the present invention, the crank arm type high-altitude operation vehicle also includes main control module and driving mould Block；
The main control module is electrically connected with the power management module and the drive module respectively, and suitable for passing through The drive module controls the crank arm type high-altitude operation vehicle walking；
The power management module is suitable for the main control module and drive module power supply.
In preferred embodiments of the present invention, the crank arm type high-altitude operation vehicle also includes electrically connecting with the main control module The information acquisition module connect；
The drive module includes multiple wheel hub motors, and be both provided with each wheel hub motor wheel speed sensors with And torque sensor；
The main control module is suitable to gather information by described information acquisition module and controlled according to the control signal every The individual wheel hub motor motion.
In preferred embodiments of the present invention, described information acquisition module includes the car being electrically connected with the main control module Fast sensor, accelerator pedal position sensor, brake pedal position sensor, steering wheel angle sensor, steering wheel torque pass Sensor, platform angle of revolution sensor and electrolevel sensor；
Vehicle speed sensor is arranged at crank arm type high-altitude operation vehicle barycenter；
Accelerator pedal position sensor is arranged on accelerator pedal；
Brake pedal position sensor is arranged on brake pedal；
Steering wheel angle sensor and the installation of steering wheel torque sensor are on the steering wheel；
Platform angle of revolution sensor is arranged on turning motor；And
Electrolevel sensor is arranged on platform.
In preferred embodiments of the present invention, the crank arm type high-altitude operation vehicle also includes electrically connecting with the main control module The lifting platform module connect；
The lifting platform module is suitable to utilize in chassis and platform when receiving the lifting signal of the main control module Between staged linear electric motors drive scissor vehicle frame and platform to do straight reciprocating motion.
In preferred embodiments of the present invention,
The staged linear electric motors are fixed among chassis and platform, and the staged linear electric motors lower end and chassis Mechanically connect, the staged linear electric motors upper end is connected with Platform Machinery；
Crank arm type vehicle frame upper and lower side mechanically connects with chassis and platform respectively, among the staged linear electric motors；
The staged bar portion of the staged linear electric motors is corresponding to the default height of platform, when linear electric motors are withdrawn completely When, platform is withdrawn completely with vehicle frame.
In preferred embodiments of the present invention,
The crank arm type high-altitude operation vehicle also includes turning round module with the platform that the main control module is electrically connected with；
The platform revolution module is suitable to receive the revolution signal that the main control module is sent, and passes through chassis turntable canine tooth Enclose and be fixed on the little gear rotation in electric rotating machine bar portion, the steering of control platform and rotational angle.
In preferred embodiments of the present invention, the platform control module includes：
Lifting platform switch, platform revolution switch, steering wheel, GSS Gear Select Switch, run at a low speed switch, brake switch, Parking brake handle grip, power switch and emergency stop switch.
The lifting platform switch has " -1,0,1 " third gear, represents lower downshift, lock catch and upper upshift respectively；
The platform revolution switch, which has, " -1,0,1 " third gear, to be represented to rotate counterclockwise shelves respectively, turns round lock catch and up time Pin rotates shelves；
The GSS Gear Select Switch has " R, N, D " third gear, represents reverse gear, neutral gear (parking position switch) and drive shift respectively；
The power switch has " two grades of ON, OFF "；
The emergency stop switch has " two grades of ON, OFF "；
It is described to run at a low speed switch and have that " 0,1 " two grade, represent at a high speed and low speed respectively.
Present invention also offers a kind of crank arm type high-altitude operation vehicle control method, crank arm type high-altitude operation vehicle uses power supply pipe Module is managed as drive energy.
In preferred embodiments of the present invention, the crank arm type high-altitude operation vehicle control method is used to control above-mentioned crank arm Formula high-altitude operation vehicle moves.
Relative to prior art, the embodiment of the present invention has the advantages that：
The embodiments of the invention provide a kind of pure electronic crank arm type high-altitude operation vehicle and its control method, wherein, crank arm Formula high-altitude operation vehicle is using power management module as drive energy.Electric power energy weighting prediction, solves petroleum-based energy danger Machine problem；Using the electric power energy of cleaning, solve environmental pollution, exhaust emissions problem；Driven using motor, solve tradition Engine noise pollution problem；Using driven by power, hydraulic system hydraulic fluid leak problem is avoided.
Brief description of the drawings
The present invention is further described with reference to the accompanying drawings and examples.
Fig. 1 shows a kind of theory diagram for crank arm type high-altitude operation vehicle that the embodiment of the present invention is provided.
In figure：100- crank arm type high-altitude operation vehicles；110- main control modules；120- power management modules；130- drive modules； 140- information acquisition modules；150- platform control modules；160- lifting platform modules；170- platforms turn round module.
Embodiment
In conjunction with the accompanying drawings, the present invention is further explained in detail.These accompanying drawings are simplified schematic diagram, only with Illustration illustrates the basic structure of the present invention, therefore it only shows the composition relevant with the present invention.
As shown in figure 1, the embodiments of the invention provide a kind of pure electronic crank arm type high-altitude operation vehicle 100.Crank arm type is high Idle job car 100 is used as drive energy using power management module 120.
Wherein, power management module 120 includes inverter, battery and the electric pressure converter being electrically connected with successively, inverse Become device suitable for being charged by a charge port and the outer battery that electrically connects as, electric pressure converter suitable for being by the photovoltaic conversion of battery Required voltage is powered for the weak electricity system of crank arm type high-altitude operation vehicle 100.In the present embodiment, battery is 72 volts of lithium batteries Power supply, using night low power consumption be power management module 120 by 220v or 380v alternating currents, will be exchanged using inverter Electricity is changed into direct current, is 72v lithium battery power source charges, while have to let off and fill Cross prevention function.72v lithium battery power supplys can It is full car light current power supply for electrical equipment to be changed into 12v by electric pressure converter.Using electric power energy, electric power energy source is more Memberization, solve petroleum-based energy crises problem, meanwhile, solve problem of environmental pollution, emission-free emission problem.
In the present embodiment, power management module 120 also includes electricity percentages show screen and charging indicator light.It is used for Indicated in the electricity and charging process of display battery.
Crank arm type high-altitude operation vehicle 100 also includes main control module 110 and drive module 130, main control module 110 respectively with Power management module and drive module 130 are electrically connected with, and suitable for controlling crank arm type high-altitude operation vehicle by drive module 130 100 walkings, power management module 120 is suitable for main control module 110 and drive module 130 is powered.
In the present embodiment, crank arm type high-altitude operation vehicle 100 also includes the information gathering being electrically connected with main control module 110 Module 140, drive module 130 includes multiple wheel hub motors, and is both provided with wheel speed sensors on each wheel hub motor and turns Square sensor, main control module 110 are suitable to gather information by information acquisition module 140 and control each wheel hub according to control signal Motor movement.Driven using motor, solve the problems, such as conventional engines noise pollution.
Wherein, information acquisition module 140 includes vehicle speed sensor, the accelerator pedal position being electrically connected with main control module 110 Put sensor, brake pedal position sensor, steering wheel angle sensor, steering wheel torque sensor, platform angle of revolution biography Sensor and electrolevel sensor；Vehicle speed sensor is arranged at the barycenter of crank arm type high-altitude operation vehicle 100；Accelerator pedal position Sensor is put on accelerator pedal；Brake pedal position sensor is arranged on brake pedal；Steering wheel angle sensor With the installation of steering wheel torque sensor on the steering wheel；Platform angle of revolution sensor is arranged on turning motor；And electronics Level meter sensor is arranged on platform.
In the present embodiment, crank arm type high-altitude operation vehicle 100 also includes the lifting platform being electrically connected with main control module 110 Module 160；Lifting platform module 160 is suitable to utilize among chassis and platform when receiving the lifting signal of main control module 110 Staged linear electric motors drive scissor vehicle frame and platform to do straight reciprocating motion.Driven using motor, avoid hydraulic oil and let out Dew problem.
Wherein, staged linear electric motors are fixed among chassis and platform, and staged linear electric motors lower end and chassis machine Tool is connected, and staged linear electric motors upper end is connected with Platform Machinery；Crank arm type vehicle frame upper and lower side respectively with chassis and Platform Machinery Connection, among staged linear electric motors；The staged bar portion of staged linear electric motors is corresponding to the default height of platform, when When linear electric motors are withdrawn completely, platform is withdrawn completely with vehicle frame.
In the present embodiment, in addition to main control module 110 platform being electrically connected with turns round module 170；Platform mold rotation Block 170 is suitable to receive the revolution signal that main control module 110 is sent, and by chassis turntable bull gear and is fixed on electric rotating machine bar Little gear rotation in portion, the steering of control platform and rotational angle.
In the present embodiment, crank arm type high-altitude operation vehicle 100 also includes the platform courses being electrically connected with main control module 110 Module 150；Platform control module 150 is suitable to receive control information and is sent to main control module 110 to control crank arm type high-altitude to make Industry car 100 carries out operation.
Wherein, platform control module 150 includes lifting platform switch, platform turns round switch, steering wheel, gear select to open Close, run at a low speed switch, brake switch, parking brake handle grip, power switch and emergency stop switch；Lifting platform switch have "- 1,0,1 " third gear, represent lower respectively and downshift, lock catch and upper upshift；Platform revolution switch has that " -1,0,1 " third gear, is represented respectively Shelves are rotated counterclockwise, lock catch is turned round and rotates clockwise shelves；GSS Gear Select Switch have " R, N, D " third gear, represent reverse gear respectively, Neutral gear (parking position switch) and drive shift；Power switch has " two grades of ON, OFF "；Emergency stop switch has " two grades of ON, OFF "；Run at a low speed out Pass have " 0,1 " two grade, respectively represent at a high speed and low speed.
In the present embodiment, crank arm type high-altitude operation vehicle 100, which also includes ground control system, includes accelerator pedal, and braking is stepped on Plate, steering wheel, GSS Gear Select Switch, parking brake handle grip, power switch, emergency stop switch.GSS Gear Select Switch has " R, N, D " three Shelves, represent reverse gear, neutral gear (parking position switch) and drive shift respectively, power switch have " two grades of ON, OFF ", emergency stop switch have " ON, Two grades of OFF ".
The embodiment of the present invention additionally provides a kind of crank arm type high-altitude operation vehicle control method, crank arm type high-altitude operation vehicle 100 Drive energy is used as using power management module 120.
Wherein, the control method of crank arm type high-altitude operation vehicle 100 is used to control above-mentioned crank arm type high-altitude operation vehicle 100 to transport It is dynamic.
When crank arm type high-altitude operation vehicle 100 travels at a distance, platform and vehicle frame are in contraction state, and crank arm type high-altitude is made Industry car 100 can regard common distributed driving electric four-wheel vehicle as.The emergency stop switch of surface control module is lifted, sets ground to control Emergency stop switch " ON " position of molding block, power switch " ON " position of surface control module is opened, slams brake pedal, selected GSS Gear Select Switch " D " shelves of surface control module, slowly loosen the brake, crank arm type high-altitude operation vehicle 100 is advanced slowly Traveling；According to road conditions condition, bend the throttle, speed rises；During traveling, steering wheel rotation, according to driver side to Disk corner and torque, change car travel direction；During traveling, according to brake pedal, speed declines, until car stops It is only motionless.Information acquisition module 140 passes according to accelerator pedal position sensor, brake pedal position sensor, steering wheel angle Sensor, steering wheel torque sensor, the signal of vehicle speed sensor collection, master controller is transmitted a signal to by CAN, always Controller carries out operational analysis, and the rotating speed of each hub for vehicle wheel motor and turn signal are conveyed into each wheel hub by CAN Motor driver, so as to which drive hub motor rotates, realize that high-altitude operation vehicle advances, retreat, turn to, accelerate, slow down, braking. Surface control module emergency stop switch " ON " position is set, surface control module power switch " ON " position is opened, slams braking and step on Plate, surface control module GSS Gear Select Switch " R " shelves are selected, are slowly loosened the brake, crank arm type high-altitude operation vehicle 100 is slow Retreat traveling.When car stops to walk completely, surface control module GSS Gear Select Switch " N " shelves are selected, set ground to control Module emergency stop switch " OFF " position, ground control system power switch " OFF " position is opened, tense parking brake handle grip.Car During traveling, in case of emergency, surface control module emergency stop switch is taken, surface control module emergency stop switch is " OFF " position, high-altitude operation vehicle stop traveling.
When 100 parking stagnation of movement of crank arm type high-altitude operation vehicle, surface control module parking brake handle grip is tensed, lifts ground Control module emergency stop switch, surface control module emergency stop switch " ON " position is set, opens surface control module power switch " ON " position, the emergency stop switch of platform control module 150 is lifted, the emergency stop switch of platform control module 150 is in " ON " position, opens The power switch of platform control module 150 " ON " position, set and upshiftd on the lifting platform switch " 1 " of platform control module 150, this When time of driver's report control platform rising switch for being gathered according to information acquisition module 150 of main control module 110 and electronic horizon The signal of instrument sensor, operational analysis is carried out, corresponding operational order is transmitted a signal into staged straight line by CAN Motor driver and four supporting leg linear motor drivers, drive the bar portion of staged linear electric motors and four supporting leg linear electric motors Outreach, ensure that platform is steady, level rises；When platform needs to decline, the lifting platform of platform control module 150 is set Downshifted under switch " -1 ", driver's report control platform down switch that now main control module 110 gathers according to information acquisition system Time and the signal of electrolevel sensor, operational analysis is carried out, corresponding operational order is passed signal by CAN Staged linear motor driver and four supporting leg linear electric motors are given, drives staged linear electric motors and four supporting leg straight-line electrics The bar portion dropping distance of machine, ensure that platform is steady, level declines；When lifting platform is to correct position, platform courses mould is set Lifting platform switch " 0 " lock catch of block 150；When platform needs to rotate counterclockwise, the platform of platform control module 150 is set Revolution switch " -1 " rotates counterclockwise shelves, and the driver that now main control module 110 gathers according to information acquisition module 140 manipulates The time of platform revolution switch and the signal of electrolevel sensor, carry out operational analysis, corresponding operational order are passed through CAN transmits a signal to turning motor driver and four supporting leg linear motor drivers, and driving turning motor is counterclockwise Turn an angle and stretch out corresponding distance with the bar portion of four supporting leg linear electric motors, ensure that platform is steady, horizontally rotate；When flat When platform needs to rotate clockwise, the platform revolution switch " 1 " of platform control module 150 is set to rotate clockwise shelves, now master control Driver's report control platform that device processed is gathered according to information acquisition module 140 turns round time and the electrolevel sensor of switch Signal, operational analysis is carried out, corresponding operational order is transmitted a signal into turning motor driver and four by CAN Supporting leg linear electric motors, driving turning motor rotate clockwise the bar portion dropping distance of certain angle and four supporting leg linear electric motors, Ensure that platform is steady, horizontally rotate；When platform is turned back to correct position, the platform revolution of platform control module 150 is set to open Close " 0 " revolution lock catch；When platform needs small distance movable type all around, by steering wheel, GSS Gear Select Switch and low speed Travel switch is slowly moved to suitable position.Rise in platform, in stopped process, such as run into urgent emergency case, take The emergency stop switch of platform control module 150, the emergency stop switch of platform control module 150 is " OFF " position, in the effect of main control module Under, platform can be slowly reduced down to flooring-safe position.
In summary, the embodiments of the invention provide a kind of pure electronic crank arm type high-altitude operation vehicle and its control method, Wherein, crank arm type high-altitude operation vehicle uses power management module as drive energy.Electric power energy weighting prediction, solves stone Oily problem of energy crisis；Using the electric power energy of cleaning, solve environmental pollution, exhaust emissions problem；Driven, solved using motor Determine conventional engines noise pollution problem；Using driven by power, hydraulic system hydraulic fluid leak problem is avoided.
It is complete by above-mentioned description, relevant staff using the above-mentioned desirable embodiment according to the present invention as enlightenment Various changes and amendments can be carried out without departing from the scope of the technological thought of the present invention' entirely.The technology of this invention Property scope is not limited to the content on specification, it is necessary to determines its technical scope according to right.

Claims (10)

  1. A kind of 1. crank arm type high-altitude operation vehicle, it is characterised in that：The crank arm type high-altitude operation vehicle is made using power management module For drive energy；
    The power management module includes inverter, battery and the electric pressure converter being electrically connected with successively；
    The inverter is suitable to by a charge port and electrically connects as the battery charging outside；
    It is that required voltage is the crank arm type work high above the ground that the electric pressure converter, which is suitable to the photovoltaic conversion of the battery, The weak electricity system power supply of car.
  2. 2. crank arm type high-altitude operation vehicle as claimed in claim 1, it is characterised in that the crank arm type high-altitude operation vehicle also includes Main control module and drive module；
    The main control module is electrically connected with the power management module and the drive module respectively, and suitable for by described Drive module controls the crank arm type high-altitude operation vehicle walking；
    The power management module is suitable for the main control module and drive module power supply.
  3. 3. crank arm type high-altitude operation vehicle as claimed in claim 2, it is characterised in that the crank arm type high-altitude operation vehicle also includes The information acquisition module being electrically connected with the main control module；
    The drive module includes multiple wheel hub motors, and is both provided with wheel speed sensors on each wheel hub motor and turns Square sensor；
    The main control module is suitable to gather information by described information acquisition module and controls each institute according to the control signal State wheel hub motor motion.
  4. 4. crank arm type high-altitude operation vehicle as claimed in claim 3, it is characterised in that described information acquisition module include with it is described The vehicle speed sensor of main control module electric connection, accelerator pedal position sensor, brake pedal position sensor, steering wheel angle Sensor, steering wheel torque sensor, platform angle of revolution sensor and electrolevel sensor；
    Vehicle speed sensor is arranged at crank arm type high-altitude operation vehicle barycenter；
    Accelerator pedal position sensor is arranged on accelerator pedal；
    Brake pedal position sensor is arranged on brake pedal；
    Steering wheel angle sensor and the installation of steering wheel torque sensor are on the steering wheel；
    Platform angle of revolution sensor is arranged on turning motor；And
    Electrolevel sensor is arranged on platform.
  5. 5. crank arm type high-altitude operation vehicle as claimed in claim 3, it is characterised in that the crank arm type high-altitude operation vehicle also includes The lifting platform module being electrically connected with the main control module；
    The lifting platform module is suitable to utilize chassis and platform scala media when receiving the lifting signal of the main control module Ladder type linear electric motors drive scissor vehicle frame and platform to do straight reciprocating motion.
  6. 6. crank arm type high-altitude operation vehicle as claimed in claim 5, it is characterised in that the staged linear electric motors are fixed on bottom Among disk and platform, and the staged linear electric motors lower end is connected with chassis machine, the staged linear electric motors upper end with Platform Machinery connects；
    Crank arm type vehicle frame upper and lower side mechanically connects with chassis and platform respectively, among the staged linear electric motors；
    The staged bar portion of the staged linear electric motors is corresponding to the default height of platform, when linear electric motors are withdrawn completely, Platform is withdrawn completely with vehicle frame.
  7. 7. crank arm type high-altitude operation vehicle as claimed in claim 5, it is characterised in that the crank arm type high-altitude operation vehicle also includes Module is turned round with the platform that the main control module is electrically connected with；
    Platform revolution module is suitable to receive the revolution signal that the main control module is sent, and by chassis turntable bull gear and The little gear rotation being fixed in electric rotating machine bar portion, the steering of control platform and rotational angle.
  8. 8. crank arm type high-altitude operation vehicle as claimed in claim 7, it is characterised in that the crank arm type high-altitude operation vehicle also includes The platform control module being electrically connected with the main control module；
    The platform control module is suitable to receive control information and is sent to the main control module to control the crank arm type high-altitude Operation Van carries out operation；
    The platform control module includes lifting platform switch, platform revolution switch, steering wheel, GSS Gear Select Switch, low speed row Sail switch, brake switch, parking brake handle grip, power switch and emergency stop switch；
    The lifting platform switch has " -1,0,1 " third gear, represents lower downshift, lock catch and upper upshift respectively；
    The platform revolution switch, which has, " -1,0,1 " third gear, to be represented to rotate counterclockwise shelves respectively, revolution lock catch turns with clockwise Dynamic shelves；
    The GSS Gear Select Switch has " R, N, D " third gear, represents reverse gear, neutral gear (parking position switch) and drive shift respectively；
    The power switch has " two grades of ON, OFF "；
    The emergency stop switch has " two grades of ON, OFF "；
    It is described to run at a low speed switch and have that " 0,1 " two grade, represent at a high speed and low speed respectively.
  9. 9. a kind of crank arm type high-altitude operation vehicle control method, it is characterised in that crank arm type high-altitude operation vehicle uses power management mould Block is as drive energy.
  10. 10. crank arm type high-altitude operation vehicle control method as claimed in claim 9, it is characterised in that make in the crank arm type high-altitude Industry car control method is moved for crank arm type high-altitude operation vehicle.
CN201711227965.4A 2017-11-29 2017-11-29 Pure electronic crank arm type high-altitude operation vehicle and its control method Pending CN107825990A (en)

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Application Number Priority Date Filing Date Title
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CN113830011A (en) * 2021-08-31 2021-12-24 江苏汇智高端工程机械创新中心有限公司 Complete machine control system and method for full-electric scissor-type aerial work platform

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CN207825957U (en) * 2017-11-29 2018-09-07 常州机电职业技术学院 The crank arm type high-altitude operation vehicle of pure electric vehicle

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JP2009119973A (en) * 2007-11-13 2009-06-04 Komatsu Ltd Driving device for electric vehicle
CN102040176A (en) * 2010-12-27 2011-05-04 中国人民解放军军事交通学院 Electric omnidirectional mobile lift
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* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN113830011A (en) * 2021-08-31 2021-12-24 江苏汇智高端工程机械创新中心有限公司 Complete machine control system and method for full-electric scissor-type aerial work platform

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