CN110134085A - A kind of multi-platform apparatus for work control method - Google Patents
A kind of multi-platform apparatus for work control method Download PDFInfo
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B19/00—Programme-control systems
- G05B19/02—Programme-control systems electric
- G05B19/418—Total factory control, i.e. centrally controlling a plurality of machines, e.g. direct or distributed numerical control [DNC], flexible manufacturing systems [FMS], integrated manufacturing systems [IMS] or computer integrated manufacturing [CIM]
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B19/00—Programme-control systems
- G05B19/02—Programme-control systems electric
- G05B19/418—Total factory control, i.e. centrally controlling a plurality of machines, e.g. direct or distributed numerical control [DNC], flexible manufacturing systems [FMS], integrated manufacturing systems [IMS] or computer integrated manufacturing [CIM]
- G05B19/4184—Total factory control, i.e. centrally controlling a plurality of machines, e.g. direct or distributed numerical control [DNC], flexible manufacturing systems [FMS], integrated manufacturing systems [IMS] or computer integrated manufacturing [CIM] characterised by fault tolerance, reliability of production system
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B19/00—Programme-control systems
- G05B19/02—Programme-control systems electric
- G05B19/418—Total factory control, i.e. centrally controlling a plurality of machines, e.g. direct or distributed numerical control [DNC], flexible manufacturing systems [FMS], integrated manufacturing systems [IMS] or computer integrated manufacturing [CIM]
- G05B19/41845—Total factory control, i.e. centrally controlling a plurality of machines, e.g. direct or distributed numerical control [DNC], flexible manufacturing systems [FMS], integrated manufacturing systems [IMS] or computer integrated manufacturing [CIM] characterised by system universality, reconfigurability, modularity
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- 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
- Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
- Y02P90/00—Enabling technologies with a potential contribution to greenhouse gas [GHG] emissions mitigation
- Y02P90/02—Total factory control, e.g. smart factories, flexible manufacturing systems [FMS] or integrated manufacturing systems [IMS]
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- General Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
- Train Traffic Observation, Control, And Security (AREA)
- Forklifts And Lifting Vehicles (AREA)
Abstract
The invention discloses a kind of multi-platform apparatus for work control methods, comprising the following steps: S101) by operating, main, corresponding holding function switchs and issues the action directive for controlling main left or right platform movement operator on left or right platform controller；S102) main control unit acquires corresponding action directive and peripheral sensor signal；S103) main control unit carries out logical operation according to collected action directive and peripheral sensor signal；S104) main control unit carries out corresponding output control according to logic operation result, to realize hydraulic valve and acousto-optic controlling alarm；S105) while master, the movement of left or right platform, main control unit feeds back the automatic control for realizing that main, left or right platform stops in extreme position according to the signal of peripheral sensor.The present invention is able to solve the technical issues of existing multi-platform apparatus for work automation, intelligence degree are low, and operation stability, reliability, safety not can guarantee.
Description
Technical field
The present invention relates to track engineering technical fields, more particularly, to a kind of multi-platform operation applied to contact net maintenance
Apparatus control method.
Background technique
China Railway has completely passed into the electric locomotive epoch, and contact net is dynamic as electric locomotive and high-speed rail train
Power source, maintenance work are the particularly important a part of current railway permanent ways maintaining.Multi-platform apparatus for work is that one kind can be real
The existing comprehensive maintenance of contact net and the manned job platform for maintaining (including contact wire, carrier cable, pillar, support device etc.).
But domestic multi-platform apparatus for work depends on import for a long time, and there are price height, procurement cycle length, maintenance cost height etc. no
Benefit, therefore the development of multi-platform apparatus for work autonomy-oriented is imperative.Core system of the control system as multi-platform apparatus for work,
It is the critical system for realizing whole device operation function, security function, miscellaneous function.Stability, the reliability of control system are straight
The movenent performance for influencing whole device is connect, intelligence, automation level also directly decides the peace that whole device scene uses
Complete and efficiency.
Currently, in the prior art, mainly having following technical scheme related to the present patent application:
Document 1 is that car weight work Machinery Co., Ltd. applied on October 31st, 2018 in Beijing, and in 01 month 2019 01
Day is open, a kind of Chinese invention application " job platform control of contact net upkeep operation vehicle of Publication No. CN109116802A
System ".The patent application discloses a kind of job platform control system of contact net upkeep operation vehicle, contact net upkeep operation vehicle
It further include the left platform and right platform positioned at main platform two sides, platform courses system including the main platform being arranged in vehicle platform
System includes that main platform operating case, main platform courses box, Zuo Pingtai operating case, left platform courses box, right platform operating case and the right side are flat
Platform controls box, and connects simultaneously cooperating by mode described herein.From the point of view of the technical solution, job platform control
System can control three platform co-ordinations, so as to meet user when using the contact net upkeep operation vehicle to operation
Effective control of platform.
Document 2 is that car weight work Machinery Co., Ltd. applied on December 08th, 2017 in Beijing, and in 03 month 2018 30
It is day open, the Chinese invention application of Publication No. CN107856579A " a kind of contact net upkeep operation vehicle and its stage apparatus ".
The patent application discloses a kind of contact net upkeep operation vehicle and its stage apparatus, wherein stage apparatus include main hoistable platform,
Left hoistable platform, right hoistable platform, left horizontal extension arm, right horizontal extension arm, left horizontal drive component and right horizontal drive portion
Part.Left horizontal extension arm and right horizontal extension arm are horizontally disposed at the left and right sides of main hoistable platform respectively.Left hoistable platform
The telescopic end of left horizontal extension arm is set, and the telescopic end of right horizontal extension arm is arranged in right hoistable platform.Left horizontal drive portion
Part and left horizontal extension arm are drivingly connected, for driving left horizontal extension arm level or so flexible.Right horizontal drive component and the right side
Horizontal extension arm is drivingly connected, for driving right horizontal extension arm level or so flexible.The stage apparatus is realizing that contact net is complete
While face is overhauled, realizes compact design and guarantee the safe space of operation, be convenient for the left lifting of horizontal adjustment in construction operation
The working range of platform and right hoistable platform, operating efficiency are high, highly-safe.
Document 3 was Zuzhou Xugong Lorry-mounted Crane Co., Ltd. in application on 01 20th, 2017, and in 03 month 2017
29 open, a kind of Chinese invention application " railway high altitude operation with three job platforms of Publication No. CN106542470A
Equipment ".The patent application discloses a kind of railway high altitude operation equipment with three job platforms, including job platform, operation horizontal
Platform includes a large platform and two chain-wales for being mounted on large platform two sides, and large platform is welded on main horizontal arm upper surface, main
Horizontal arm is installed on head tree semi-girder top end face, and head tree semi-girder is driven by driving device and realizes vertical lift.Chain-wales peace
Loaded on post semi-girder top end face, post semi-girder is driven by driving device and realizes vertical lift.Post semi-girder is installed on
On post basic arm, post basic arm is symmetrically mounted on the both ends of the surface of horizontal outrigger, and horizontal outrigger is driven by driving device
Dynamic realization moves horizontally.Patent application tool there are three can self contained function job platform, can be simultaneously to different height, difference is made
Industry point is overhauled, and solves the disadvantage that the single platform operations low efficiency of previous product, while three platforms form squares after returning the vehicle to the garage and knock off
Shape structure, it is compact-sized, occupy little space.
Above-mentioned document 2 and document 3 are formed just for the mechanical structure of three platform operations device of contact net upkeep operation vehicle
It is described, does not introduce the specific technical solution of its control system.Although document 1 describes the operation horizontal of three platform operations devices
Bench control system, but basic structure composition and the electrical connection of job platform control system has only been briefly described, and it is not right
The specific Operation control mode of job platform control system describes in detail.And the job platform control system that document 1 describes,
Main platform courses box only can control main platform movement, and left platform courses box only can control left platform movement, and right platform courses box is only
It can control right platform movement, control mode is single, and automation and intelligence degree be not high.The job platform as disclosed in document 1
Control system is not described in detail the specific logic judgment condition and process of the movement of each platform, therefore job platform
Stability, reliability, safety not can guarantee.
Summary of the invention
In view of this, the purpose of the present invention is to provide a kind of multi-platform apparatus for work control method, it is existing more to solve
The technology that platform operations plant automation, intelligence degree be low and operation stability, reliability, safety not can guarantee is asked
Topic.
In order to achieve the above-mentioned object of the invention, the present invention specifically provides a kind of technology of multi-platform apparatus for work control method
Implementation, multi-platform apparatus for work control method, for controlling multi-platform apparatus for work, the multi-platform operation dress
It sets including main platform, left platform and right platform, the described method comprises the following steps:
S101) operator is by operating on main platform controller, left platform controller or right platform controller
Corresponding holding function switch, to issue the action directive for controlling the main platform, Zuo Pingtai or the movement of right platform；
S102) main control unit acquires corresponding instruction action control instruction and peripheral sensor signal；
S103) main control unit carries out logic fortune according to collected action directive and peripheral sensor signal
It calculates；
S104) main control unit carries out corresponding output control according to logic operation result, with realize hydraulic valve and
Sound-light alarm control；
S105) while main platform, Zuo Pingtai or right platform move, the main control unit is according to peripheral sensor
Signal feedback realizes the automatic control that the main platform, Zuo Pingtai or right platform stop in extreme position.
Further, the step S101) further comprise:
It is issued by the main platform controller, left platform controller or right platform controller to main control unit
Main platform elevating control instruction；
Left platform elevating control instruction is issued to main control unit by the left platform controller or left platform is flexible
Control instruction；
Right platform elevating control instruction is issued to main control unit by the right platform controller or right platform is flexible
Control instruction.
Further, the main platform controller is set to the main platform, and the left platform controller is set to
The left platform, the right platform controller are set to the right platform.Before the multi-platform apparatus for work allows to act
Propose including but not limited to the following conditions:
A) the main platform, left platform and right platform are not carried out emergent stopping motion action；
B) drivers' cab allows the multi-platform apparatus for work to act.
Further, low speed traveling knob one, bypass stop button one, speed are set on the main platform controller
Adjust potentiometer, left platform confirms main platform action indicator, right platform confirms main platform action indicator, scram button one,
Reversing switch one, left platform movement permission forbid button, right platform movement permission to forbid the main platform lifting of button, main platform courses
Operation handle and main anti-misoperation switch.Low speed traveling knob two is set on the left platform controller, bypass braking is pressed
Button two, left platform confirm that permission indicator light, scram button are forbidden in main platform Action Button, the indicator light one that transfinites, the movement of left platform
Two, reversing switch two, left stretching, which are transfinited, confirms that switch, the main platform descending operation handle of left platform courses, a left platform courses left side are flat
The left platform scaling operation handle of platform descending operation handle, left platform courses and left anti-misoperation switch.In the right platform courses
Low speed traveling knob three, bypass stop button three, right platform are set on device and confirm that main platform Action Button, transfinite indicator light
Two, right platform movement forbids permission indicator light, scram button three, reversing switch three, right stretching to transfinite and confirm switch, right platform control
Make main platform descending operation handle, the right platform descending operation handle of right platform courses, the right platform scaling operation hand of right platform courses
Handle and right anti-misoperation switch.
Further, the main platform, Zuo Pingtai and right platform can control main platform and rise, but the main platform, a left side
There can only be main platform described in a platform courses to rise simultaneously in platform and right platform, by the main main platform of platform courses
The logical condition risen includes but is not limited to:
1a) total hydraulic fluid port pressure of hydraulic executing system is greater than given threshold；
1b) main position of platform is unlocked；
1c) the main platform descending operation handle of main platform courses switches to raise-position；
1d) main anti-misoperation switch is pressed；
1e) main platform does not overload；
1f) main platform is not under-voltage；
1g) left platform confirms that main platform Action Button is pressed or left platform is in transporting position；
1h) right platform confirms that main platform Action Button is pressed or right platform is in transporting position；
1i) Zuo Pingtai does not operate main platform lifting；
1j) right platform does not operate main platform lifting；
When above-mentioned condition meets, platform opens energy threshold, while main platform rising threshold is by setting duty ratio output.
Further, the main platform, Zuo Pingtai and right platform can control main platform and rise, but the main platform, a left side
There can only be main platform described in a platform courses to rise simultaneously in platform and right platform, by the left main platform of platform courses
The logical condition risen includes but is not limited to:
2a) the main platform descending operation handle of left platform courses switches to raise-position；
2b) total hydraulic fluid port pressure of hydraulic executing system is greater than given threshold；
2c) main position of platform is unlocked；
2d) left anti-misoperation switch is pressed；
2e) main platform does not overload；
2f) left platform movement permission forbids button not press；
2g) main platform is not under-voltage；
2h) right platform confirms that main platform Action Button is pressed；
Main platform lifting 2i) is not operated by the main platform descending operation handle of main platform courses；
Main platform lifting 2j) is not operated by the main platform descending operation handle of right platform courses；
When above-mentioned condition meets, platform opens energy threshold, while main platform rising threshold is by setting duty ratio output.
Further, the main platform, Zuo Pingtai and right platform can control main platform and rise, but the main platform, a left side
There can only be main platform described in a platform courses to rise simultaneously in platform and right platform, by the right main platform of platform courses
The logical condition risen includes but is not limited to:
3a) the main platform descending operation handle of right platform courses switches to raise-position；
3b) total hydraulic fluid port pressure of hydraulic executing system is greater than given threshold；
3c) main position of platform is unlocked；
3d) right anti-misoperation switch is pressed；
3e) main platform does not overload；
3f) right platform movement permission forbids button not press；
3g) main platform is not under-voltage；
3h) left platform confirms that main platform Action Button is pressed；
Main platform lifting 3i) is not operated by the main platform descending operation handle of main platform courses；
Main platform lifting 3j) is not operated by the main platform descending operation handle of left platform courses；
When above-mentioned condition meets, platform opens energy threshold, while main platform rising threshold is by setting duty ratio output.
Further, main platform, Zuo Pingtai or right platform can control main platform decline, but the main platform, Zuo Pingtai
Or can only have main platform decline described in a platform courses in right platform simultaneously, pass through the main main platform decline of platform courses
Logical condition includes but is not limited to:
4a) the main platform descending operation handle of main platform courses switches to lower demotion；
4b) main position of platform is unlocked；
4c) main anti-misoperation switch is pressed；
4d) left platform confirms that main platform Action Button is pressed；
4e) right platform confirms that main platform Action Button is pressed
Main platform lifting 4f) is not operated by the main platform descending operation handle of left platform courses；
Main platform lifting 4g) is not operated by the main platform descending operation handle of right platform courses；
4h) main platform does not drop to transporting position；
When above-mentioned condition meets, platform opens energy threshold, while main platform lowering valve is by setting duty ratio output.
Further, main platform, Zuo Pingtai and right platform can control main platform decline, but the main platform, Zuo Pingtai
And can only have main platform decline described in a platform courses in right platform simultaneously, by under the left main platform of platform courses (10)
The logical condition of drop includes but is not limited to:
5a) the main platform descending operation handle of left platform courses switches to lower demotion；
5b) main position of platform is unlocked；
5c) left anti-misoperation switch is pressed；
5d) left platform movement permission forbids button not press；
5e) right platform confirms that main platform Action Button or right platform are in transporting position；
Main platform lifting 5f) is not operated by the main platform descending operation handle of main platform courses；
Main platform lifting 5g) is not operated by the main platform descending operation handle of right platform courses；
5h) main platform does not drop to transporting position；
When above-mentioned condition meets, platform opens energy threshold, while main platform lowering valve is by setting duty ratio output.
Further, main platform, Zuo Pingtai and right platform can control main platform decline, but the main platform, Zuo Pingtai
And can only have main platform decline described in a platform courses in right platform simultaneously, pass through the right main platform decline of platform courses
Logical condition includes but is not limited to:
6a) the main platform descending operation handle of right platform courses switches to lower demotion；
6b) main position of platform is unlocked；
6c) right anti-misoperation switch is pressed；
6d) right platform movement permission forbids button not press；
6e) left platform confirms that main platform Action Button is pressed or left platform is in transporting position；
Main platform lifting 6f) is not operated by the main platform descending operation handle of main platform courses；
Main platform lifting 6g) is not operated by the main platform descending operation handle of left platform courses；
6h) main platform does not drop to transporting position；
When above-mentioned condition meets, platform opens energy threshold, while main platform lowering valve is by setting duty ratio output.
Further, can only be risen by the left left platform of platform courses, by the left left platform of platform courses
The logical condition risen includes but is not limited to:
7a) the left platform descending operation handle of left platform courses switches to raise-position；
7b) total hydraulic fluid port pressure of hydraulic executing system is greater than given threshold；
7c) left position of platform is unlocked；
7d) left anti-misoperation switch is pressed；
7e) Zuo Pingtai does not overload；
7f) Zuo Pingtai is not under-voltage；
7g) left platform movement permission forbids button not press；
When above-mentioned condition meets, platform opens energy threshold, while left platform rising threshold is by setting duty ratio output.
Further, can only be declined by the left left platform of platform courses, by under the left left platform of platform courses
The logical condition of drop includes but is not limited to:
8a) the left platform descending operation handle of left platform courses switches to lower demotion；
8b) left anti-misoperation switch is pressed；
8c) Zuo Pingtai does not drop to transporting position；
When above-mentioned condition meets, platform opens energy threshold, while left platform lowering valve is by setting duty ratio output.
Further, can only be risen by the right right platform of platform courses, by the right right platform of platform courses
The logical condition risen includes but is not limited to:
9a) the right platform descending operation handle of right platform courses switches to raise-position；
9b) total hydraulic fluid port pressure of hydraulic executing system is greater than given threshold；
9c) right position of platform is unlocked；
9d) right anti-misoperation switch is pressed；
9e) right platform does not overload；
9f) right platform unlifting pressure is less than given threshold；
9g) right platform movement permission forbids button not press；
When above-mentioned condition meets, platform opens energy threshold, while right platform rising threshold is by setting duty ratio output.
Further, can only be declined by the right right platform of platform courses, by under the right right platform of platform courses
The logical condition of drop includes but is not limited to:
10a) the right platform descending operation handle of right platform courses switches to lower demotion；
10b) right anti-misoperation switch is pressed；
10c) right platform does not drop to transporting position；
When above-mentioned condition meets, platform opens energy threshold, while right platform lowering valve is by setting duty ratio output.
Further, it can only be stretched out by the left left platform of platform courses, be stretched by the left left platform of platform courses
Logical condition out includes but is not limited to:
11a) the left platform scaling operation handle of left platform courses, which switches to, stretches out position；
11b) total hydraulic fluid port pressure of hydraulic executing system is greater than given threshold；
11c) Zuo Pingtai does not overload；
11d) left position of platform is unlocked；
11e) left anti-misoperation switch is pressed；
11f) the stretching pressure of Zuo Pingtai is less than given threshold；
11g) left platform movement permission forbids button not press；
If movement stops when 11h) stretching of left platform reaches setting length, only pressing left stretching transfinites confirmation switch, left
Platform could continue to stretch；
When above-mentioned condition meets, platform opens energy threshold, while left platform stretches out valve by setting duty ratio output.
Further, it can only be shunk by the left left platform of platform courses, be received by the left left platform of platform courses
The logical condition of contracting includes but is not limited to:
12a) the left platform scaling operation handle of left platform courses switches to punctured bit；
12b) left anti-misoperation switch is pressed；
12c) left platform is unrecovered to transporting position；
When above-mentioned condition meets, platform opens energy threshold, while left platform shrinking valve is by setting duty ratio output.
Further, it can only be stretched out by the right right platform of platform courses, be stretched by the right right platform of platform courses
Logical condition out includes but is not limited to:
13a) the right platform scaling operation handle of right platform courses, which switches to, stretches out position；
13b) total hydraulic fluid port pressure of hydraulic executing system is greater than given threshold；
13c) right platform does not overload；
13d) right position of platform is unlocked；
13e) right anti-misoperation switch is pressed；
13f) right platform stretches out pressure less than given threshold；
13g) right platform movement permission forbids button not press；
If movement stops when 13h) right platform stretching reaches setting length, the confirmation switch that transfinites only is stretched out by lower right, it is right
Platform could continue to stretch；
When above-mentioned condition meets, platform opens energy threshold, while right platform stretches out valve by setting duty ratio output.
Further, it can only be shunk by the right right platform of platform courses, be received by the right right platform of platform courses
The logical condition of contracting includes but is not limited to:
14a) the right platform scaling operation handle of right platform courses switches to punctured bit；
14b) right anti-misoperation switch is pressed；
14c) right platform is unrecovered to transporting position；
When above-mentioned condition meets, platform opens energy threshold, while right platform shrinking valve is by setting duty ratio output.
By implementing the technical solution for the multi-platform apparatus for work control method that aforementioned present invention provides, have following beneficial
Effect:
(1) the multi-platform apparatus for work control method of the present invention can be realized more using motion control logic and security control
The automation of platform operations device, intelligent operation, and can guarantee the stability, reliability, safety of operation；
(2) the multi-platform apparatus for work control method of the present invention can be further using vehicle intelligent diagnostics and emergency flight control
Automation, the intelligence degree of multi-platform apparatus for work are improved, and guarantees the stability, reliability, safety of operation；
(3) the multi-platform apparatus for work control method of the present invention, using motion process shock resistance jitter buffer control technology, energy
Enough further increase stability and safety of the multi-platform apparatus for work in operation process；
(4) the multi-platform apparatus for work control method of the present invention, using remote diagnosis and intelligent voice prompt auxiliary control, energy
Enough further increase the intelligence degree and maintainability of multi-platform apparatus for work；
(5) the multi-platform apparatus for work control method of the present invention is toppled protection using job platform, can pass through levelling device
It realizes overturn-preventing regulatory function, stability and safety of the multi-platform apparatus for work in operation process can be further increased.
Detailed description of the invention
In order to more clearly explain the embodiment of the invention or the technical proposal in the existing technology, to embodiment or will show below
There is attached drawing needed in technical description to be briefly described.It should be evident that the accompanying drawings in the following description is only this
Some embodiments of invention for those of ordinary skill in the art without creative efforts, can be with
Other embodiments are obtained according to these attached drawings.
Fig. 1 is mounting structure signal of the multi-platform apparatus for work applied by the present invention on repairing car for overhead contact line equipment car body
Figure；
Fig. 2 is the operation process schematic diagram of multi-platform apparatus for work applied by the present invention；
Fig. 3 is the unfolded state structural front view of multi-platform apparatus for work applied by the present invention；
Fig. 4 is the unfolded state structure top view of multi-platform apparatus for work applied by the present invention；
Fig. 5 is the structure composition schematic block diagram of multi-platform apparatus for work applied by the present invention；
Fig. 6 is the structural assembly schematic block diagram of multi-platform apparatus for work applied by the present invention；
Fig. 7 is schematic view of the mounting position of the control system of the invention being based on multi-platform apparatus for work；
Fig. 8 is installation site signal of the multi-platform apparatus for work applied by the present invention on repairing car for overhead contact line equipment car body
Figure；
Fig. 9 is the function schematic block diagram for the control system that the present invention is based on；
Figure 10 is the overall structure block diagram for the control system that the present invention is based on；
Figure 11 is the attachment structure schematic diagram of main control unit in the control system of the invention being based on；
Figure 12 is the structure composition block diagram for the control system that the present invention is based on；
Figure 13 is the structure composition schematic diagram of hydraulic executing system in the control system of the invention being based on；
Figure 14 is the export structure composition schematic diagram for the control system that the present invention is based on；
Figure 15 is the operation stability force analysis structural schematic diagram of applied multi-platform apparatus for work；
Figure 16 is the topology layout schematic diagram for the control system main control panel that the present invention is based on；
Figure 17 is the topology layout schematic diagram for the left control panel of control system that the present invention is based on；
Figure 18 is the topology layout schematic diagram for the right control panel of control system that the present invention is based on；
Figure 19 is a kind of multi-platform program flow diagram of specific embodiment of apparatus for work control method of the present invention；
In figure: 1- repairing car for overhead contact line equipment, the main platform assembly of 2-, the left platform assembly of 3-, the right platform assembly of 4-, 5- driver's control
System, 6- Hydraulic Main pumping source, 7- levelling device, the multi-platform apparatus for work of 100-, 200- car body, drivers' cab before 300-, before 301-
Department's control platform, drivers' cab after 400-, department's control platform after 401-, 500- contact screen component, the main platform of 10-, the main platform controller of 11-,
The left platform of 20-, the left platform controller of 21-, the right platform of 30-, the right platform controller of 31-, 40- main support, the main elevator of 50-
Structure, the left elevating mechanism of 60-, 70- left mechanism, the right elevating mechanism of 80-, 90- right translation mechanism, 110- vehicle ladder, 120- control
System, 121- main control unit, 130- hydraulic executing system, the hydraulic spare pumping source of 140-, 150- remote diagnosis system, 151- are aobvious
Show module, 152- data transmission module, 153- remote server, 160- platform makes energy threshold, the main raise-lower hydraulic valve of 161-, and 162- is left
Raise-lower hydraulic valve, 163- left hydraulic valve, 164- right translation hydraulic valve, the right raise-lower hydraulic valve of 165-, 170- sound-light alarm mould
Block, 180- voice broadcast module, the main lifting cylinder of 190-, the left lifting cylinder of 191-, 192- left oil cylinder, 193- right translation oil
Cylinder, the right lifting cylinder of 194-, 111- main operation panel, 112- low speed traveling knob one, 113- bypass stop button one, 114- speed
Degree adjusts potentiometer, and the left platform of 115- confirms main platform action indicator, the tool box 116- headlamp knob one, the right platform of 117-
Confirm main platform action indicator, 118- front panel illunminator knob one, 119- scram button one, the total hydraulic fluid port of 1100-, 1110- pairs
Say machine one, 1111- reversing switch one, 1112- spare bit one, the left platform movement permission of 1113- forbids button, the right platform of 1114-
Movement permission forbids button, the main platform descending operation handle of the main platform courses of 1115-, the left operation panel of 211-, and 212- low speed is walked
Row knob two, 213- bypass stop button two, 214- spare bit two, and the left platform of 215- confirms that main platform Action Button, 216- are super
Indicator light one is limited, permission indicator light, the tool box 218- headlamp knob two, 219- scram button are forbidden in the left platform movement of 217-
Two, 2110- intercom two, 2111- reversing switch two, the left stretching of 2112-, which is transfinited, confirms switch, and the left platform courses master of 2113- is flat
Platform descending operation handle, 2114- front panel illunminator knob two, the left platform descending operation handle of the left platform courses of 2115-, 2116-
The left left platform scaling operation handle of platform courses, the right operation panel of 311-, 312- low speed traveling knob three, 313- bypass braking are pressed
Button three, 314- spare bit three, the right platform of 315- confirm main platform Action Button, and 316- transfinites indicator light two, and the right platform of 317- is dynamic
Work forbids permission indicator light, and the tool box 318- headlamp knob three, 319- scram button three, 3110- intercom three, 3111- is changed
To switch three, the right stretching of 3112-, which is transfinited, confirms switch, the main platform descending operation handle of the right platform courses of 3113-, 3114- panel
Headlamp knob three, the right platform descending operation handle of the right platform courses of 3115-, the right platform scaling operation of the right platform courses of 3116-
Handle.
Specific embodiment
For the sake of quoting and understanding, will hereafter used in technical term, write a Chinese character in simplified form or abridge and be described below:
AI:AnalogInput, the abbreviation of simulation input；
DI:DigitalInput, the abbreviation of numeral input；
DO:DigitalOutput, the abbreviation of numeral output；
CAN:ControllerAreaNetwork, the abbreviation of controller local area network；
PWM:PulseWidthModulation, the abbreviation of pulse width modulation.
In order to make the object, technical scheme and advantages of the embodiment of the invention clearer, below in conjunction with the embodiment of the present invention
In attached drawing, the technical scheme in the embodiment of the invention is clearly and completely described.Obviously, described embodiment is only
It is only a part of the embodiments of the present invention, instead of all the embodiments.Based on the embodiments of the present invention, the common skill in this field
Art personnel all other embodiment obtained without creative efforts belongs to the model that the present invention protects
It encloses.
As shown in attached drawing 1 to attached drawing 19, the specific embodiment of the multi-platform apparatus for work control method of the present invention is given, under
The invention will be further described with reference to the drawings and specific embodiments in face.
In order to solve the control problem of multi-platform apparatus for work 100, the specific embodiment of the invention proposes a kind of multi-platform
The technical solution of apparatus for work control method can be realized Operation control, the carrying control, safety control of multi-platform apparatus for work
The functions such as system, intelligent measurement, auxiliary control, emergency flight control, and then ensure that multi-platform apparatus for work 100 can be safe and reliable
Operation.Multi-platform apparatus for work 100 can satisfy contact screen component 500 (including contact wire, carrier cable, the branch of rail track
Column, support device etc.) comprehensive maintenance, care and maintenance demand.
As shown in attached drawing 5 and attached drawing 6, a kind of embodiment of multi-platform apparatus for work 100 applied by the present invention is specific to wrap
It includes: main platform 10, Zuo Pingtai 20, right platform 30, main hoist 50, left elevating mechanism 60, left mechanism 70, right elevator
Structure 80, right translation mechanism 90, control system 120 and hydraulic executing system 130.Control system 120 and 130 phase of hydraulic executing system
Even, it drives main platform 10 to act by main hoist 50, left platform is driven by left elevating mechanism 60 and left mechanism 70
20 movements, and drive right platform 30 to act by right elevating mechanism 80 and right translation mechanism 90.In the car body of repairing car for overhead contact line equipment 1
Vehicle ladder 110 is provided between 200 and main platform 10.Wherein, main platform 10, main hoist 50 and corresponding sensor composition master
Platform assembly 2；Left platform 20, left elevating mechanism 60, left mechanism 70 and corresponding sensor form left platform assembly 3；It is right
Platform 30, right elevating mechanism 80, right translation mechanism 90 and corresponding sensor form right platform assembly 4.As shown in Fig. 10, it controls
System 120 processed carries out data interaction with main platform assembly 2, left platform assembly 3, right platform assembly 4 and hydraulic actuating mechanism respectively
With control.
As shown in Fig. 6, multi-platform apparatus for work 100 is installed on the car body of repairing car for overhead contact line equipment 1 by levelling device 7
On 200, main platform 10 is entered by vehicle ladder 110, and left platform 20 or right platform 30 are entered by main platform 10.Multi-platform operation
The lifting of device 100, translational power source are provided by the Hydraulic Main pumping source 6 of repairing car for overhead contact line equipment 1.Multi-platform apparatus for work 100
Control power supply and coherent signal are connect with the drivers' cab of repairing car for overhead contact line equipment 1.As shown in Fig. 2, multi-platform apparatus for work 100 will
Operator is delivered near contact screen component 500, implements related operation to it.As shown in Fig. 1, before repairing car for overhead contact line equipment 1
Portion and rear portion are respectively arranged with drivers' cab (preceding drivers' cab 300 and rear drivers' cab 400), department's control platform before preceding drivers' cab 300 is provided with
301, department's control platform 401 after rear drivers' cab 400 is provided with, as shown in Fig. 8.
The traveling of repairing car for overhead contact line equipment 1 is to construction operation section, after operator enters multi-platform apparatus for work 100, by each
The lifting of platform (main platform 10, Zuo Pingtai 20 and right platform 30), the translation of auxiliary platform (Zuo Pingtai 20 and right platform 30) will be made
Dealer is delivered to each setting of contact screen component 500, and multi-platform apparatus for work 100 is withdrawn after operation, contact net inspection
Repair 1 return.Contact screen component 500 further comprises: pillar, supports the structures such as device at contact suspension, is repairing car for overhead contact line equipment
The key operation object of 1 installation, maintenance and current check, maintenance.
Levelling device 7 is that multi-platform apparatus for work 100 provides installation loading end on the car body 200 of repairing car for overhead contact line equipment 1.
When repairing car for overhead contact line equipment 1 travels on superelevation of outer rail, 1 run-off the straight of repairing car for overhead contact line equipment is detected, levelling device 7 can pass through
Internal oil cylinder is adjusted to level for loading end is installed.
Multi-platform apparatus for work 100 and 1 traveling of repairing car for overhead contact line equipment there are signals interrelated, multi-platform apparatus for work control
System processed is that driver's control system 5 of repairing car for overhead contact line equipment 1 provides operating speed and selects (five grades), commutation, the platform letter such as in place
Number.Meanwhile travelled by vehicle control system 5 is that multi-platform apparatus for work 100 provides power supply, feeds back the driving of repairing car for overhead contact line equipment 1
The signals such as speed.Hydraulic Main pumping source 6 is installed on car body 200, to provide power when the work of multi-platform apparatus for work 100.Contact
The car body 200 of net tool car 1 is the carrier and multi-platform apparatus for work 100 of multi-platform apparatus for work 100 installation and operation
Transport agent.
As shown in attached drawing 3 and attached drawing 4, the main hoist 50 of multi-platform apparatus for work 100 is set under main support 40
Side, main platform 10 are located on main support 40, and Zuo Pingtai 20 is connected by respective elevating mechanism with translation mechanism with right platform 30
After fixation, it is mounted as a whole on main support 40.When main hoist 50 drives main support 40 to move, main platform 10, Zuo Pingtai
20 and right platform 30 will be with 40 1 lifting of main support.When auxiliary translation mechanism (i.e. left mechanism 70 and right translation mechanism 90) transports
When dynamic, auxiliary platform (i.e. left platform 20 and right platform 30) will do flattened movement relative to main support 40.When auxiliary elevating mechanism is (i.e. left
Elevating mechanism 60 and right elevating mechanism 80) movement when, auxiliary platform (i.e. left platform 20 and right platform 30) is done relative to main support 40
Vertical lift.When multi-platform apparatus for work 100 is in initial position, operator enters main platform 10 by vehicle ladder 110, then leads to
It crosses main platform 10 and enters each auxiliary platform (i.e. left platform 20 and right platform 30).
Main platform 10 is fixed in the main support of main support 40 by welding manner.Main hoist 50 and main support 40 are logical
Fastener connection is crossed, four joint arm tip designs of main hoist 50 are flange arrangement.Main support 40 is adopted with right translation mechanism 90
With being slidably connected, right elevating mechanism 80 (using two joint arms) is inserted into the right arm cylinder of main support 40.Main support 40 and left machine
Structure 70 using being slidably connected, be inserted into the left arm cylinder of main support 40 by left elevating mechanism 60 (using two joint arms).Auxiliary translation mechanism with
Auxiliary elevating mechanism is connected by fastener, and four joint arm tip designs of auxiliary translation mechanism are flange arrangement.Auxiliary elevating mechanism with it is auxiliary
Workbench is connected by fastener, and four joint arm tip designs of auxiliary elevating mechanism are flange arrangement.The top of vehicle ladder 110 and master
It is connected at the enabling of platform 10 by articulated manner.
Multi-platform apparatus for work 100 further includes that travel switch, personnel's detection sensor, sound and light alarm module 170, voice are broadcast
Report module 180 and hydraulic valve.Main control unit 121 obtains main platform 10, a left side by the transducing signal of acquisition travel switch respectively
The Working motion location information of platform 20 and right platform 30.Main control unit 121 passes through the sensing of collector's detection sensor
Signal obtains left platform 20 respectively and the operation path personnel of right platform 30 pass through information.Travel switch includes: that main platform is initial
Position and locking two, left and right plateau levels lock and lock vertically each two, stretch out 500mm and respectively detect one, wherein left,
Right initial stage position detection uses inductance approach switch.Personnel's detection sensor can use ultrasonic sensor, Yu Zuo,
Front-rear position of the right platform close to passageway installs one respectively, and four altogether.Main control unit 121 carries out collected signal
After logic judgment and calculation process, sound and light alarm module 170 and language are output control signals to by digital output channel respectively
Sound broadcasting module 180 is output control signals to by pwm signal interface hydraulic with realizing sound-light alarm and speech-sound intelligent casting
The respective hydraulic valves of execution system 130, to realize main platform 10, Zuo Pingtai 20 and the speed governing operation of right platform 30.Multi-platform work
Industry device 100 further includes obliquity sensor, and main control unit 121 obtains three platforms by the transducing signal of acquisition obliquity sensor
The inclination information of apparatus for work 100.Multi-platform apparatus for work 100 further includes oil cleanliness sensor, main control unit 121
Transducing signal by acquiring oil cleanliness sensor obtains the fluid pressure line cleanliness of hydraulic oil letter of hydraulic executing system 130
Breath.Cleanliness of hydraulic oil is detected by oil cleanliness sensor, signal is will test and is uploaded to remote diagnosis system
150, the maintenance for hydraulic executing system 130 provides reference data.The main function of voice broadcast module 180 is to prevent platform from transporting
Passageway personnel are damaged during dynamic.Intelligent voice prompt is divided on platform and voice prompting two parts under platform.It is left and right
Front-rear position of the platform close to passageway is mounted on ultrasonic sensor, for detect passageway whether someone.Platform motion process
In, the voice announcer real-time broadcasting platform moving situation under platform, prompt person not pass through passageway.Meanwhile ultrasonic wave passes
If sensor detects that passageway there are personnel to pass through, voice can be broadcasted on the platform manipulated automatically, prompts manipulator's left or right mistake
Road has personnel to pass through, and must operate with caution.Meanwhile sound and light alarm module 170 uses four colored lights columns+buzzer combined type sound-light alarm
Device, can the failures such as, emergency stop excessive to platform inclination angle, passageway personnel, overload carry out sound-light alarm.
As shown in Fig. 7, main platform controller 11 is set to main platform 10, and left platform controller 21 is set to left flat
Platform 20, right platform controller 31 are set to right platform 30.Hydraulic executing system 130 includes 5 hydraulic cylinders, and and hydraulic oil
The connected hydraulic valve of cylinder.Main hoist 50, left elevating mechanism 60, left mechanism 70, right elevating mechanism 80 and right translation machine
Structure 90 is connected with 1 hydraulic cylinder respectively.Main control unit 121 obtains liquid by the transducing signal of acquisition pressure sensor respectively
The leakage information of compressing cylinder.
Multi-platform apparatus for work 100 further includes contact net high pressure detection module, when contact net voltage effective value is greater than setting
Value, while when contact net voltage effective value is greater than the set value the duration and is greater than the set value, contact net high pressure detection module is used for
It triggers sound and light alarm module 170 and carries out sound-light alarm.The signal that main control unit 121 passes through acquisition contact net high pressure detection module
Contact net voltage detection signal is obtained, and exports sound-light alarm trigger signal to sound and light alarm module 170.The detection of contact net high pressure
Module is interlocked, and provide warning, forbids with ascending stair operation stroke when contact net electrification for detecting contact net electrification state
Start multi-platform apparatus for work 100, for guaranteeing the personal safety of operator.Meanwhile the adjustable height of main platform 10 is put down with auxiliary
The left and right translation of platform moves to form interlock protection control, and main control unit 121 detects the position that main platform 10 is gone up and down automatically, when
When main platform 10 does not reach the raised position of setting, forbid assistance platform left and right translation, to avoid damaging left and right railing.
The starting operation of multi-platform apparatus for work 100 also forms mutual lock control with the walking state of repairing car for overhead contact line equipment 1, when multi-platform work
When industry device 100 is in running order, the traveling speed of repairing car for overhead contact line equipment 1 is not above 10Km/h；When repairing car for overhead contact line equipment 1
Traveling speed when being greater than 10Km/h, multi-platform apparatus for work 100 cannot start that (i.e. multi-platform apparatus for work 100 must be located
In lock state).
Multi-platform apparatus for work 100 further includes remote diagnosis system 150, and remote diagnosis system 150 further comprises data
Transmission module 152, remote server 153, and it is set to the display module 151 of the drivers' cab of repairing car for overhead contact line equipment 1.Display module
The operation of 151 pairs of multi-platform apparatus for work 100 and state parameter are diagnosed and are shown, while passing through data transmission module 152
Related diagnostic data is sent to remote server 153, to realize the remote diagnosis of multi-platform apparatus for work 100.Remote diagnosis
System 150 is each work data for realizing multi-platform apparatus for work 100, hydraulic executing system 130 (pressure, leakage, cleaning
Degree) etc. relevant parameters intellectualized detection, the control system 120 of multi-platform apparatus for work 100 overhauled by bus and contact net
Driver's control system 5 of vehicle 1 communicates, then is sent to remote server 153 by data transmission module 152 (as used 4G module)
(i.e. cloud), to realize control system Remote Diagnosis System.
Main platform 10 is provided with speed and adjusts potentiometer 114, and main control unit 121 acquires speed and adjusts on potentiometer 114
Current signal value, be then converted into the corresponding dutyfactor value of hydraulic valve in hydraulic executing system 130, then according to hydraulic proportion valve
Electric current-discharge characteristic exports corresponding electric current, the adjusting of hydraulic valve difference hydraulic flow is completed, to realize main platform 10, Zuo Ping
The movement velocity of platform 20 and right platform 30 is adjusted.
As shown in attached drawing 11 and attached drawing 12, a kind of implementation for the multi-platform apparatus for work control system that the present invention is based on
Example, for controlling multi-platform apparatus for work 100, control system 120 is specifically included:
Main control unit 121；
The main platform controller 11 being connected with main control unit 121, main platform controller 11 can be filled by main control
The lifting for setting 121 pairs of main platforms 10 controls；
The left platform controller 21 being connected with main control unit 121, left platform controller 21 can be filled by main control
The lifting and the flexible of left platform 20 for setting 121 pairs of main platforms 10 and left platform 20 control；
The right platform controller 31 being connected with main control unit 121, right platform controller 31 can be filled by main control
The lifting and the flexible of right platform 30 for setting 121 pairs of main platforms 10 and right platform 30 control.
As shown in Fig. 9, control system 120 has Operation control, the function such as auxiliary control, intelligent measurement and security control
Energy.Wherein, power module is that main control unit 121 provides stable 24V power supply, main control unit 121 by itself a large amount of DI,
Realize the acquisition of all the sensors and operation instruction signal on main, right, left platform in the channel AI.121 pairs of main control unit acquisitions
After making logic judgment and related operation to signal, the control such as sound-light alarm and speech-sound intelligent casting is realized by DO output channel
Function.Main control unit 121 is by corresponding (ratio) hydraulic valve in PWM wave interface output control hydraulic executing system 130, together
When in conjunction with speed adjust potentiometer 114 realize each platform adjustable speed operation.Main control unit 121 by CAN interface with
The display module 151 of department's control platform connects, and display module 151 is diagnosed and shown to the key parameter of multi-platform apparatus for work 100
Show, while related diagnostic data is sent to by remote server 153 by data transmission module 152, to realize multi-platform operation
The remote diagnosis of device 100.
Main control unit 121 is connect by power interface with power module.Main control unit 121 is connect by On-off signal
Mouthful connect with main platform operation panel switch, travel switch, contact net high-voltage detecting device, at the same with left and right platform operating surface
Switching plate, the devices such as travel switch connect, it can be achieved that DI signal acquisition.Main control unit 121 passes through voltage input interface and master
The oil cylinder working-pressure sensor of platform 10, oil cleanliness sensor, obliquity sensor, speed adjust potentiometer and connect, while with
The oil cylinder working-pressure sensor of left and right platform connects, it can be achieved that AI signal acquisition.Main control unit 121 by CAN interface with
The display module 151 of department's control platform connects, then sends data to remote server 153 (i.e. cloud) by data transmission module 152,
The Remote Diagnosis System of control system 120 can be achieved.Main control unit 121 is divided by PWM output interface and switch output interface
It is not connect with (ratio) hydraulic valve of hydraulic executing system 130 and sound and light alarm module 170, it can be achieved that the output of the two controls.
The data of main control unit 121, which acquire, can be achieved three platforms vertical lift and all electrical signal collections of translational sideways movement, packet
Include the acquisition of main platform 10 and left and right platform all digital quantities, analog input signal.
Control system 120 further includes the display module 151 for being set to drivers' cab, and display module 151 fills multi-platform operation
It sets 100 operation and state parameter is diagnosed and shown, while being sent related diagnostic data by data transmission module 152
To remote server 153, to realize the remote diagnosis of multi-platform apparatus for work 100.
Main control unit 121 obtains main platform 10, Zuo Pingtai 20 and the right side by the transducing signal of acquisition travel switch respectively
The Working motion location information of platform 30.Main control unit 121 is obtained respectively by the transducing signal of collector's detection sensor
The operation path personnel of left platform 20 and right platform 30 are taken to pass through information.Main control unit 121 patrols collected signal
After collecting judgement and calculation process, sound and light alarm module 170 and voice are output control signals to by digital output channel respectively
Broadcasting module 180 outputs control signals to hydraulic hold by pwm signal interface to realize sound-light alarm and speech-sound intelligent casting
The respective hydraulic valves of row system 130, to realize main platform 10, Zuo Pingtai 20 and the speed governing operation of right platform 30.
The DI signal acquisition of main control unit 121 includes 18 road DI signals and each 13 tunnel of left and right platform of main platform 10
DI signal, totally 44 road DI signal.Main 18 road DI signal of platform, mainly comprising the detection of main position of platform, elevating movement control, platform
The DI signals such as permission selection, passageway personnel detection, anti-misoperation are acted, are detailed in shown in the following table 1.
The main platform DI signal of table 1
Left and right platform respectively includes 14 road DI signals, mainly has left and right position of platform to detect, lifting, stretching motion control,
The DI signal such as anti-misoperation is detailed in shown in the following table 2 and table 3.
The left platform DI signal of table 2
The right platform DI signal of table 3
The AI signal acquisition of main control unit 121 includes three platforms totally 16 road AI signal, specifically includes each oil cylinder disengaging
Mouth pressure detecting, oil cleanliness detection, speed adjust potentiometer, inclination angle detection, are detailed in shown in the following table 4.
The main platform of table 4, Zuo Pingtai and right platform AI signal
| Serial number | Function title | Quantity | Signal type | Detect position |
| 1 | Left platform stretches out pressure detecting | 1 | AI | Left telescopic oil cylinder oil inlet |
| 2 | Left platform withdraws pressure detecting | 1 | AI | Left telescopic oil cylinder oil outlet |
| 3 | Left platform unlifting pressure detection | 1 | AI | Left lifting cylinder oil inlet |
| 4 | Left platform falling pressure detection | 1 | AI | Left lifting cylinder oil inlet |
| 5 | Right platform stretches out pressure detecting | 1 | AI | Right telescopic oil cylinder oil inlet |
| 6 | Right platform withdraws pressure detecting | 1 | AI | Right telescopic oil cylinder oil outlet |
| 7 | Right platform unlifting pressure detection | 1 | AI | Right lifting cylinder oil inlet |
| 8 | Right platform falling pressure detection | 1 | AI | Right lifting cylinder oil inlet |
| 9 | Main platform unlifting pressure detection | 1 | AI | Main lifting cylinder oil inlet |
| 10 | Main platform falling pressure detection | 1 | AI | Main lifting cylinder oil inlet |
| 11 | Detect energy threshold inlet pressure | 1 | AI | Main lifting cylinder oil inlet |
| 12 | Make energy threshold oil outlet pressure detecting | 1 | AI | Main lifting cylinder oil inlet |
| 13 | The detection of oil circuit gross pressure | 1 | AI | Main hydraulic fluid port |
| 14 | Cleanliness of hydraulic oil detection | 1 | AI | Main hydraulic fluid port |
| 15 | Speed adjusts potentiometer | 1 | AI | Master control panel |
| 16 | Inclination angle detection | 1 | AI | Main platform |
6 (ratio) hydraulic valves of hydraulic executing system 130 carry out output control using PWM wave.Meanwhile in order to realize liquid
The flow of pressure valve is adjustable, adjusts the simulation 0~10V voltage signal of potentiometer 114 by the speed being arranged in main platform 10 to adjust
The PWM wave duty ratio of hydraulic valve, it is final to realize that platform movement velocity is adjustable.
Main control unit 121 carries out output switch parameter control to sound and light alarm module 170, and sound and light alarm module 170 uses
Four colored lights columns+buzzer combined type combined aural and visual alarm, four colored lights columns and buzzer fault definition are as shown in table 5 below.
5 four colored lights column of table and buzzer fault definition
| State classification | Buzzer | Green light | Indigo plant etc. | Amber light | Red light |
| Normal condition | It does not ring | It is bright | It goes out | It goes out | It goes out |
| Platform inclination angle is greater than 5 degree | It rings | It goes out | It is always on | It goes out | It goes out |
| Press scram button | It rings | It goes out | It goes out | It is always on | It goes out |
| Danger zone detects foreign matter | It rings | It goes out | It goes out | It goes out | It is always on |
| Contact net electrification in high voltage | It rings | It goes out | It goes out | It is always on | It is always on |
| Other failures | It rings | It goes out | It goes out | It is always on | It is always on |
Main platform controller 11 is set to main platform 10, as shown in Fig. 13, the main operation of main platform controller 11
Panel 111 is further provided with:
Low speed traveling knob 1, for adjusting the output to the low speed traveling gear signal of drivers' cab；Low speed traveling knob
One 112 can rotate from neutral gear to IV grades, send 0,3,5, five 7,10km/h gear signals to drivers' cab respectively；
Stop button 1 is bypassed, the 1 traveling stop signal of repairing car for overhead contact line equipment for given output to drivers' cab；
Speed adjusts potentiometer 114, for adjusting the movement velocity of main platform 10, Zuo Pingtai 20 and right platform 30；
Left platform confirms main platform action indicator 115, when left platform 20 is not in initial position, if main platform 10 needs
Descending operation is carried out, left platform confirms that main platform action indicator 115 lights；
Tool box headlamp knob 1, is threaded to 1, and front panel illunminator lights, and is threaded to 0, front panel illunminator is closed；
Right platform confirms main platform action indicator 117, when right platform 30 is not in initial position, if main platform 10 needs
Descending operation is carried out, right platform confirms that main platform action indicator 117 lights；
Front panel illunminator knob 1 is threaded to 1, and front panel illunminator lights, and is threaded to 0, front panel illunminator is closed；
Scram button 1, when in case of emergency, scram button 1 is pressed, and multi-platform apparatus for work 100 stops institute
There is movement, while sound and light alarm module 170 is sent out a warning and buzzer warning；
Intercom 1 is, it can be achieved that being in communication with each other between left platform 20, right platform 30, drivers' cab；
Reversing switch 1, for the forward or backward signal of given output to drivers' cab, when middle position, does not send any
Signal；
Spare bit 1；
Left platform movement permission forbids button 1113, if the contact net electrification of neighbouring left platform 20, presses left platform movement
Permission forbids button 1113, and Zuo Pingtai 20 not can be carried out movement；
Right platform movement permission forbids button 1114, if the contact net electrification of neighbouring right platform 30, is acted by lower right platform
Permission forbids button 1114, and right platform 30 not can be carried out movement；
The main main platform descending operation handle 1115 of platform courses rises or falls instruction for give main platform 10.
Left platform controller 21 is set to left platform 20, as shown in Fig. 14, the left operation of left platform controller 21
Panel 211 is further provided with:
Low speed traveling knob 2 212, for adjusting the output to the low speed traveling gear signal of drivers' cab；Low speed traveling knob
One 112 can rotate from neutral gear to IV grades, send 0,3,5, five 7,10km/h gear signals to drivers' cab respectively；
Stop button 2 213 is bypassed, the 1 traveling stop signal of repairing car for overhead contact line equipment for given output to drivers' cab；
Spare bit 2 214；
Left platform confirms main platform Action Button 215, and when left platform 20 is not in initial position, it is true to need to press left platform
Recognize main platform Action Button 215, main platform 10 just can be carried out descending operation；
Transfinite indicator light 1, and when left platform 20 extends over setting length (such as 500mm), transfinite indicator light 1
It lights；When left platform 20 is stretched out less than setting length (such as 500mm), the indicator light 1 that transfinites goes out；
Permission indicator light 217 is forbidden in left platform movement, after left platform movement permission forbids button 1113 to press, Zuo Pingtai
Movement forbids permission indicator light 217 to light；
Tool box headlamp knob 2 218, is threaded to 1, and front panel illunminator lights, and is threaded to 0, front panel illunminator is closed；
Scram button 2 219, when in case of emergency, scram button 2 219 is pressed, and multi-platform apparatus for work 100 stops institute
There is movement, while sound and light alarm module 170 is sent out a warning and buzzer warning；
Intercom 2 2110 is, it can be achieved that being in communication with each other between right platform 30, main platform 10, drivers' cab；
Reversing switch 2 2111, the forward or backward signal for given output to drivers' cab；
Left stretching, which is transfinited, confirms switch 2112, when left platform 20, which stretches out, reaches setting length (such as 500mm), Zuo Pingtai 20
Stop stretch out, such as continue extending action, need to open it is left stretching transfinite confirmation switch 2112；
The left main platform descending operation handle 2113 of platform courses rises or falls instruction for give main platform 10；
Front panel illunminator knob 2 2114 is threaded to 1, and front panel illunminator lights, and is threaded to 0, front panel illunminator is closed；
The left left platform descending operation handle 2115 of platform courses rises or falls instruction for give left platform 20；
The left left platform scaling operation handle 2116 of platform courses, for giving the stretching of left platform 20 or shrinking instruction.
Right platform controller 31 is set to right platform 30, as shown in Fig. 15, the right operation of right platform controller 31
Panel 311 is further provided with:
Low speed traveling knob 3 312, for adjusting the output to the low speed traveling gear signal of drivers' cab；Low speed traveling knob
One 112 can rotate from neutral gear to IV grades, send 0,3,5, five 7,10km/h gear signals to drivers' cab respectively；
Stop button 3 313 is bypassed, the 1 traveling stop signal of repairing car for overhead contact line equipment for given output to drivers' cab；
Spare bit 3 314；
Right platform confirms main platform Action Button 315, when right platform 30 is not in initial position, needs true by lower right platform
Recognize main platform Action Button 315, main platform 10 just can be carried out descending operation；
Transfinite indicator light 2 316, and when right platform 30 extends over setting length (such as 500mm), transfinite indicator light 2 316
It lights；When left platform 20 is stretched out less than setting length (such as 500mm), the indicator light 1 that transfinites goes out；
Permission indicator light 317 is forbidden in right platform movement, after right platform movement permission forbids button 1114 to press, right platform
Movement forbids permission indicator light 317 to light；
Tool box headlamp knob 3 318, is threaded to 1, and front panel illunminator lights, and is threaded to 0, front panel illunminator is closed；
Scram button 3 319, when in case of emergency, scram button 3 319 is pressed, and multi-platform apparatus for work 100 stops institute
There is movement, while sound and light alarm module 170 is sent out a warning and buzzer warning；
Intercom 3 3110 is, it can be achieved that being in communication with each other between left platform 20, main platform 10, drivers' cab；
Reversing switch 3 3111, for the forward or backward signal of given output to drivers' cab, when middle position, does not send any
Signal；
Right stretching, which is transfinited, confirms switch 3112, when right platform 30, which stretches out, reaches setting length (such as 500mm), right platform 30
Stop stretch out, such as continue extending action, need to open it is right stretching transfinite confirmation switch 3112；
The right main platform descending operation handle 3113 of platform courses rises or falls instruction for give main platform 10；
Front panel illunminator knob 3 3114 is threaded to 1, and front panel illunminator lights, and is threaded to 0, front panel illunminator is closed；
The right right platform descending operation handle 3115 of platform courses rises or falls instruction for give right platform 30；
The right right platform scaling operation handle 3116 of platform courses, for giving the stretching of right platform 30 or shrinking instruction.
Main anti-misoperation switch is additionally provided on main platform 10, it can be by operating the main main platform descending operation hand of platform courses
The main platform descending operation handle 2113 of handle 1115, left platform courses or the main platform descending operation handle 3113 of right platform courses are realized
The elevating movement of main platform 10, but only one of which operation handle has permission the elevating movement for controlling main platform 10 simultaneously, first
The operation handle for implementing control obtains the descending operation control of main platform 10.And if only if the logic judgment condition of all settings
Meet, and when a certain platform in main platform 10, Zuo Pingtai 20 and right platform 30 obtains the descending operation control of main platform 10,
Main platform 10 just can be carried out elevating movement.Left anti-misoperation switch is additionally provided on left platform 20, it can only be by left platform 20
The upper left left platform descending operation handle 2115 of platform courses of operation realizes the elevating movement of left platform 20, can only be by Zuo Pingtai
The stretching motion that the left platform scaling operation handle 2116 of left platform courses realizes left platform 20 is operated on 20.It is also set on right platform 30
It is equipped with right anti-misoperation switch, it can only be real by operating the right platform descending operation handle 3115 of right platform courses on right platform 30
The elevating movement of existing right platform 30, can only be by operating the right platform scaling operation handle 3116 of right platform courses on right platform 30
Realize the stretching motion of right platform 30.
It should be strongly noted that the concrete form of the operating members such as above-mentioned all keys, switch, handle can be interchanged,
Main operation panel 111, left operation panel 211 and right operation panel 311 can use pseudo operation interface, the institute on operation panel
There are the physical components such as key, switch, handle, indicator light that can also use virtual component form.
As shown in attached drawing 16 and attached drawing 17, multi-platform apparatus for work 100 further includes hydraulic spare pumping source 140, by hydraulic
Spare pumping source 140, or the Hydraulic Main pumping source 6 being set on the car body 200 of repairing car for overhead contact line equipment 1 is that hydraulic executing system 130 mentions
For hydraulic power supply.Main power source is provided by Hydraulic Main pumping source 6, and hydraulic emergency power source (is provided) by hydraulic spare pumping source 140
Emergency power is provided in the case where main power source failure for the recovery of multi-platform apparatus for work 100.In hydraulic executing system 130
Main platform is provided on hydraulic main circuit makes energy threshold 160, is provided with left lifting liquid on the liquid separation pressure pipe road of left elevating mechanism 60
Pressure valve 162 and coupled left lifting cylinder 191.It is hydraulic that left is provided on the liquid separation pressure pipe road of left mechanism 70
Valve 163 and coupled left oil cylinder 192.Main raise-lower hydraulic valve is provided on the liquid separation pressure pipe road of main hoist 50
161 and coupled main lifting cylinder 190.Right translation hydraulic valve is provided on the liquid separation pressure pipe road of right translation mechanism 90
164 and coupled right translation oil cylinder 193.Right raise-lower hydraulic valve is provided on the liquid separation pressure pipe road of right elevating mechanism 80
165 and coupled right lifting cylinder 194.Main raise-lower hydraulic valve 161 further comprises under main platform rising threshold and main platform
Valve drops, and left raise-lower hydraulic valve 162 further comprises left platform rising threshold and left platform lowering valve, left hydraulic valve 163 into one
Step includes that left platform stretches out valve and left platform shrinking valve, and right translation hydraulic valve 164 further comprises that right platform stretches out valve and the right side is flat
Platform shrinking valve, right raise-lower hydraulic valve 165 further comprise right platform rising threshold and right platform lowering valve.
Main control unit 121 acquires speed and adjusts current signal value on potentiometer 114, is then converted into and hydraulic executes system
The corresponding dutyfactor value of hydraulic valve in system 130, then corresponding electric current is exported according to hydraulic proportion valve electric current-discharge characteristic, it completes
The adjusting of hydraulic valve difference hydraulic flow, to realize that the movement velocity of main platform 10, Zuo Pingtai 20 and right platform 30 is adjusted, simultaneously
Preservation can be configured to the speed interval of each platform in the display interface of display module 151.
Multi-platform apparatus for work 100 is damaged under overload condition in operation process in order to prevent, control system 120 is set
It is equipped with the function of overload judgement and control.Multi-platform apparatus for work 100 during startup or operation, passes through the corresponding oil cylinder of detection
The pressure value of rod chamber and rodless cavity, then calculates the overall load of corresponding platform according to the size of oil cylinder, then subtracts platform
Due to self weight and frictional force bring load when unloaded, the operating load of platform can be calculated.If operating load is greater than design
Load controls the output that the different levels such as sound-light alarm, prohibited acts are carried out by grade.
The control mode of hydraulic valve uses pulsewidth modulation (PWM) power control mode, is accounted for by adjusting voltage pulse output
Sky compares to adjust output electric current, and the output voltage of main control unit 121 is 24V, and electric current is exported when duty ratio is 100% and is
1.2A.The impact of moment is started and stopped when platform movement in order to reduce, control system 120 is provided with that start and stop moment slow
Rush function.Moment is started and stopped in platform, by the control for uniformly increasing or reducing (ratio) hydraulic valve within the set time
Electric current, control system 120 (adjust potentiometer 114 by speed to determine according to minimum current (hydraulic valve dead zone electric current), maximum current
It is fixed), the parameters such as time value carry out corresponding association operation and determine the amplitude increasedd or decreased in the current unit time, to realize
Start and stop buffering.Multi-platform apparatus for work 100 in actual operation, impacts that excessive to carry out starting slow starting moment in order to prevent
Punching, buffer time Tbuf, speed is slowly increased by small in buffer time.Simultaneously as static friction is greater than the factors such as dynamic friction,
Multi-platform apparatus for work 100 starts moment as second order dynamic response characteristic, and in order to alleviate starting transient fluctuation, starting buffering is preceding also
It joined a pulse current Ipulse, burst length Tpulse.And consider from operational safety angle, since hydraulic flow is with electricity
Stream is dull to be increased, i.e. Qmax(I)=Q (Imax), practice can use a maximum output current Imax.Similarly, it is also necessary to take one
Minimum output current Imin。
Therefore, main raise-lower hydraulic valve 161, left raise-lower hydraulic valve 162, left hydraulic valve 163, right translation hydraulic valve 164
And hydraulic flow Q (t) variation of right raise-lower hydraulic valve 165 during the motion determines according to the following formula:
Wherein, t is the run duration of main platform 10, Zuo Pingtai 20 or right platform 30, IpulseTo be applied to before starting buffering
Main raise-lower hydraulic valve 161, left raise-lower hydraulic valve 162, left hydraulic valve 163, right translation hydraulic valve 164 or right raise-lower hydraulic valve
165 pulse current, TpulseFor pulse current IpulseThe time of application, ImaxTo be applied to main raise-lower hydraulic valve 161, left lifting
Hydraulic valve 162, left hydraulic valve 163, right translation hydraulic valve 164 or right raise-lower hydraulic valve 165 maximum current, IminTo apply
It is added on main raise-lower hydraulic valve 161, left raise-lower hydraulic valve 162, left hydraulic valve 163, right translation hydraulic valve 164 or right lifting liquid
The minimum current of pressure valve 165, TbufTo start buffer time, TendFor the movement knot of main platform 10, Zuo Pingtai 20 or right platform 30
The beam time.Main raise-lower hydraulic valve 161, left raise-lower hydraulic valve 162, left hydraulic valve 163, right translation hydraulic valve 164 and right liter
Descending liquid pressure valve 165 is respectively provided with respective hydraulic flow function Q (t), pulse current I thereinpulse, pulse current application time
Tpulse, maximum current Imax, minimum current IminAnd starting buffer time TbufEtc. parameters can be in display circle of display module 151
It is configured in face.The flexible fortune of the elevating movement of main platform 10, Zuo Pingtai 20 and right platform 30, Zuo Pingtai 20 and right platform 30
It is dynamic to be provided with pooling feature.The buffering of above-mentioned hydraulic flow function Q (t) divides three phases, and first stage is pulse control rank
Section, second stage are to accelerate the control stage, and three phases are at the uniform velocity to control the stage.
As shown in Fig. 18, when repairing car for overhead contact line equipment 1 is in curve operation, multi-platform apparatus for work 100 is in leveling shape
Under state, 20 zero load of Zuo Pingtai rises to highest, and main platform 10 is fully loaded to rise to highest, and right platform 30 is fully loaded to be risen to highest and extend to farthest
Point, repairing car for overhead contact line equipment 1 bear positive side wind pressure (wind direction is with operation position), are at this time most dangerous situation, most easily topple, need
Check whether repairing car for overhead contact line equipment 1 in the case meets antidumping condition by calculating.In general, by contact net
The light weight load of tool car 1 generates stabilizing moment, generates tilting moment by other load in addition to own load, they are all
It is that the result calculated for the axis D that topples of defined (will cross the tangent line regulation in internal rail vertex straight rail direction in the present embodiment
For the axis that topples).It is most dangerous situation when having wind, superelevation of outer rail operation, most easily topples, vehicle force analysis such as attached drawing
It is shown.Main control unit 121 further carries out static stability judgement according to the following formula:
Mw=mgL
Mq=Pwh1+m1gL1+m2gL2+m3gL3+Fbh2
As coefficient of stability k1Greater than setting threshold value when, adjusted accordingly by levelling device 7.
Wherein, k1For the coefficient of stability, MwFor the stabilizing moment to the axis that topples, MqFor the tilting moment to the axis that topples, m
For the weight of the repairing car for overhead contact line equipment 1 in addition to multi-platform apparatus for work 100, g is gravity unit of acceleration, and L is except multi-platform work
The mass center of repairing car for overhead contact line equipment 1 is away from the distance for the axis that topples, P other than industry device 100wFor wind load, h1For wind load action point away from
The distance of tipping point, m1For the weight of multi-platform apparatus for work 100, m2For the payload ratings of main platform 10, m3For left platform 20 or
The payload ratings of right platform 30, L1For distance of the mass center in the horizontal direction away from the axis that topples of multi-platform apparatus for work 100, L2For
Distance of main 10 payload ratings of platform in the horizontal direction away from the axis that topples, L3Payload ratings for left platform 20 or right platform 30 exist
Distance of the horizontal direction away from the axis that topples, FbMaximum for the thread-moving device of multi-platform apparatus for work 100 dials line power, h2To dial line
Distance of the point of force application away from tipping point, wind load Pw=CqA, q are wind pressure, and C is wind factor, and A is multi-platform apparatus for work 100
The sum of with the front face area of car body 200.In attached drawing 18, B is the mass center of multi-platform apparatus for work 100, and D is the axis that topples, and E is rail
Face, F are the mass center of main platform 10, and G is the mass center of the repairing car for overhead contact line equipment 1 in addition to multi-platform apparatus for work 100, H Zuo Pingtai
20 or right platform 30 mass center.
The multi-platform apparatus for work control system of above-mentioned specific embodiment description, is applied to contact net upkeep operation, by leading
The part such as platform controller 11, left platform controller 21, right platform controller 31 and main control unit 121 is constituted.It is main
The control command and peripheral sensor signal of main, the left and right each platform controller by acquisition of control device 121, then lead to
Cross output PWM wave control corresponding (ratio) hydraulic valve can realize the logic control of each platform operations movement, platform speed adjust,
Traffic safety interlocking, intelligent voice prompt, sound-light alarm, intelligent fault diagnosis, hydraulic system intelligent measurement, illumination and power supply etc.
Function, it can be ensured that the safe and reliable operation of multi-platform apparatus for work 100 can be realized the operation of multi-platform apparatus for work 100
The functions such as control, carrying control, security control, intelligent measurement, auxiliary control, emergency flight control, and then ensure multi-platform operation dress
Setting 100 can run safer and more reliablely, have the characteristics that automatic intelligent degree is high, simple and practical, reliable for operation.
As shown in Fig. 19, the embodiment of the multi-platform apparatus for work control method of a kind of present invention, for multi-platform work
Industry device 100 is controlled, this method specifically includes the following steps:
S101) operator is by operating main platform controller 11, left platform controller 21 or right platform courses dress
Corresponding holding function switch on 31 is set, to issue the action control for controlling main platform 10, Zuo Pingtai 20 or right platform 30 and moving
Instruction；
S102) main control unit 121 acquires corresponding action directive and peripheral sensor signal；
S103) main control unit 121 carries out logic fortune according to collected action directive and peripheral sensor signal
It calculates；
S104) main control unit 121 carries out corresponding output control according to logic operation result, to realize hydraulic valve harmony
Light controlling alarm；
S105) while main platform 10, Zuo Pingtai 20 or right platform 30 move, main control unit 121 is passed according to periphery
The signal feedback of sensor realizes the automatic control that main platform 10, Zuo Pingtai 20 or right platform 30 stop in extreme position.
Step S101) further comprise:
By main platform controller 11, left platform controller 21 or right platform controller 31 to main control unit
121 issue main 10 elevating control of platform instruction；
Left 20 elevating control of platform instruction or left platform 20 are issued to main control unit 121 by left platform controller 21
Extension and contraction control instruction；
Right 30 elevating control of platform instruction or right platform 30 are issued to main control unit 121 by right platform controller 31
Extension and contraction control instruction.
Main platform controller 11 is set to main platform 10, and left platform controller 21 is set to left platform 20, right platform
Control device 31 is set to right platform 30.Multi-platform apparatus for work 100 allows the premise acted to include but is not limited to the following conditions:
A) main platform 10, Zuo Pingtai 20 and right platform 30 are not carried out emergent stopping motion action；
B) drivers' cab allows multi-platform apparatus for work 100 to act.
Low speed traveling knob 1, bypass stop button 1, speed are arranged on main platform controller 11 to adjust
Potentiometer 114, left platform confirm that main platform action indicator 115, right platform confirm that main platform action indicator 117, emergency stop are pressed
Button 1, reversing switch 1, left platform movement permission forbid button 1113, right platform movement permission forbid button 1114,
The main main platform descending operation handle 1115 of platform courses and main anti-misoperation switch.
It is true that low speed traveling knob 2 212, bypass stop button 2 213, left platform are set on left platform controller 21
Recognize main platform Action Button 215, the indicator light 1 that transfinites, left platform movement forbid permission indicator light 217, scram button two
219, reversing switch 2 2111, left stretching, which are transfinited, confirms switch 2112, the main platform descending operation handle 2113 of left platform courses, a left side
The left platform descending operation handle 2115 of platform courses, the left platform scaling operation handle 2116 of left platform courses and left anti-misoperation are opened
It closes.
It is true that low speed traveling knob 3 312, bypass stop button 3 313, right platform are set on right platform controller 31
Recognize main platform Action Button 315, the indicator light 2 316 that transfinites, right platform movement forbid permission indicator light 317, scram button three
319, reversing switch 3 3111, right stretching, which are transfinited, confirms switch 3112, the main platform descending operation handle 3113 of right platform courses, the right side
The right platform descending operation handle 3115 of platform courses, the right platform scaling operation handle 3116 of right platform courses and right anti-misoperation are opened
It closes.
It can control main platform 10 on main platform 10, Zuo Pingtai 20 or right platform 30 to rise, but main platform 10, Zuo Pingtai
20 and right platform 30 in can only there is the main platform 10 of a platform courses to rise simultaneously, main platform 10 is controlled by main platform 10 and is risen
Logical condition include but is not limited to:
1a) 1100 pressure of total hydraulic fluid port of hydraulic executing system 130 is greater than given threshold；
1b) main 10 position of platform is unlocked；
1c) the main platform descending operation handle 1115 of main platform courses switches to raise-position；
1d) main anti-misoperation switch is pressed；
1e) main platform 10 does not overload；
1f) main platform 10 is not under-voltage；
1g) left platform confirms that main platform Action Button 215 is pressed or left platform 20 is in transporting position；
1h) right platform confirms that main platform Action Button 315 is pressed or right platform 30 is in transporting position；
1i) Zuo Pingtai 20 does not operate main platform 10 and goes up and down；
1j) right platform 30 does not operate main platform 10 and goes up and down；
When above-mentioned condition meets, platform opens energy threshold 160, while main platform rising threshold is by setting duty ratio output.
Main platform 10, Zuo Pingtai 20 and right platform 30 can control main platform 10 and rise, but main platform 10, Zuo Pingtai 20 and
There can only be the main platform 10 of a platform courses to rise simultaneously in right platform 30, patrolling for the main rising of platform 10 is controlled by left platform 20
The condition of collecting includes but is not limited to:
2a) the main platform descending operation handle 2113 of left platform courses switches to raise-position；
2b) 1100 pressure of total hydraulic fluid port of hydraulic executing system 130 is greater than given threshold；
2c) main 10 position of platform is unlocked；
2d) left anti-misoperation switch is pressed；
2e) main platform 10 does not overload；
2f) left platform movement permission forbids button 1113 not press；
2g) main platform 10 is not under-voltage；
2h) right platform confirms that main platform Action Button 315 is pressed；
2i) main platform 10 is not operated by the main platform descending operation handle 1115 of main platform courses to go up and down；
2j) main platform 10 is not operated by the main platform descending operation handle 3113 of right platform courses to go up and down；
When above-mentioned condition meets, platform opens energy threshold 160, while main platform rising threshold is by setting duty ratio output.
Main platform 10, Zuo Pingtai 20 and right platform 30 can control main platform 10 and rise, but main platform 10, Zuo Pingtai 20 and
There can only be the main platform 10 of a platform courses to rise simultaneously in right platform 30, patrolling for the main rising of platform 10 is controlled by right platform 20
The condition of collecting includes but is not limited to:
3a) the main platform descending operation handle 3113 of right platform courses switches to raise-position；
3b) 1100 pressure of total hydraulic fluid port of hydraulic executing system 130 is greater than given threshold；
3c) main 10 position of platform is unlocked；
3d) right anti-misoperation switch is pressed；
3e) main platform 10 does not overload；
3f) right platform movement permission forbids button 1114 not press；
3g) main platform 10 is not under-voltage；
3h) left platform confirms that main platform Action Button 215 is pressed；
3i) main platform 10 is not operated by the main platform descending operation handle 1115 of main platform courses to go up and down；
3j) main platform 10 is not operated by the main platform descending operation handle 2113 of left platform courses to go up and down；
When above-mentioned condition meets, platform opens energy threshold 160, while main platform rising threshold is by setting duty ratio output.
Main platform 10, Zuo Pingtai (20 and right platform 30 can control main platform 10 and decline, but main platform 10, Zuo Pingtai 20
And can only there is the main platform 10 of a platform courses to decline simultaneously in right platform 30, control what main platform 10 declined by main platform 10
Logical condition includes but is not limited to:
4a) the main platform descending operation handle 1115 of main platform courses switches to lower demotion；
4b) main 10 position of platform is unlocked；
4c) main anti-misoperation switch is pressed；
4d) left platform confirms that main platform Action Button 215 is pressed；
4e) right platform confirms that main platform Action Button 315 is pressed；
4f) main platform 10 is not operated by the main platform descending operation handle 2113 of left platform courses to go up and down；
4g) main platform 10 is not operated by the main platform descending operation handle 3113 of right platform courses to go up and down；
4h) main platform 10 does not drop to transporting position；
When above-mentioned condition meets, platform opens energy threshold 160, while main platform lowering valve is by setting duty ratio output.
Main platform 10, Zuo Pingtai 20 and right platform 30 can control main platform 10 and decline, but main platform 10, Zuo Pingtai 20 and
There can only be the main platform 10 of a platform courses to decline simultaneously in right platform 30, patrolling for the main decline of platform 10 is controlled by left platform 20
The condition of collecting includes but is not limited to:
5a) the main platform descending operation handle 2113 of left platform courses switches to lower demotion；
5b) main 10 position of platform is unlocked；
5c) left anti-misoperation switch is pressed；
5d) left platform movement permission forbids button 1113 not press；
5e) right platform confirms that main platform Action Button 315 is pressed or right platform 30 is in transporting position；
5f) main platform 10 is not operated by the main platform descending operation handle 1115 of main platform courses to go up and down；
5g) main platform 10 is not operated by the main platform descending operation handle 3113 of right platform courses to go up and down；
5h) main platform 10 does not drop to transporting position；
When above-mentioned condition meets, platform opens energy threshold 160, while main platform lowering valve is by setting duty ratio output.
Main platform 10, Zuo Pingtai 20 and right platform 30 can control main platform 10 and decline, but main platform 10, Zuo Pingtai 20 and
There can only be the main platform 10 of a platform courses to decline simultaneously in right platform 30, patrolling for the main decline of platform 10 is controlled by right platform 30
The condition of collecting includes but is not limited to:
6a) the main platform descending operation handle 2113 of right platform courses switches to lower demotion；
6b) main 10 position of platform is unlocked；
6c) right anti-misoperation switch is pressed；
6d) right platform movement permission forbids button 1114 not press；
6e) left platform confirms that main platform Action Button 215 is pressed or left platform 20 is in transporting position；
6f) main platform 10 is not operated by the main platform descending operation handle 1115 of main platform courses to go up and down；
6g) main platform 10 is not operated by the main platform descending operation handle 2113 of left platform courses to go up and down；
6h) main platform 10 does not drop to transporting position；
When above-mentioned condition meets, platform opens energy threshold 160, while main platform lowering valve is by setting duty ratio output.
Left platform 20 can only be controlled by left platform 20 to rise, and the logic item that left platform 20 rises is controlled by left platform 20
Part includes but is not limited to:
7a) the left platform descending operation handle 2115 of left platform courses switches to raise-position；
7b) 1100 pressure of total hydraulic fluid port of hydraulic executing system 130 is greater than given threshold；
7c) 20 position Zuo Pingtai is unlocked；
7d) left anti-misoperation switch is pressed；
7e) Zuo Pingtai 20 does not overload；
7f) Zuo Pingtai 20 is not under-voltage；
7g) left platform movement permission forbids button 1113 not press；
When above-mentioned condition meets, platform opens energy threshold 160, while left platform rising threshold is by setting duty ratio output.
Left platform 20 can only be controlled by left platform 20 to decline, and the logic item that left platform 20 declines is controlled by left platform 20
Part includes but is not limited to:
8a) the left platform descending operation handle 2115 of left platform courses switches to lower demotion；
8b) left anti-misoperation switch is pressed；
8c) Zuo Pingtai 20 does not drop to transporting position；
When above-mentioned condition meets, platform opens energy threshold 160, while left platform lowering valve is by setting duty ratio output.
Right platform 30 can only be controlled by right platform 30 to rise, and the logic item that right platform 30 rises is controlled by right platform 30
Part includes but is not limited to:
9a) the right platform descending operation handle 3115 of right platform courses switches to raise-position；
9b) 1100 pressure of total hydraulic fluid port of hydraulic executing system 130 is greater than given threshold；
9c) right 30 position of platform is unlocked；
9d) right anti-misoperation switch is pressed；
9e) right platform 30 does not overload；
9f) right 30 unlifting pressure of platform is less than given threshold；
9g) right platform movement permission forbids button 1114 not press；
When above-mentioned condition meets, platform opens energy threshold 160, while right platform rising threshold is by setting duty ratio output.
Right platform 30 can only be controlled by right platform 30 to decline, and the logic item that right platform 30 declines is controlled by right platform 30
Part includes but is not limited to:
10a) the right platform descending operation handle 3115 of right platform courses switches to lower demotion；
10b) right anti-misoperation switch is pressed；
10c) right platform 30 does not drop to transporting position；
When above-mentioned condition meets, platform opens energy threshold 160, while right platform lowering valve is by setting duty ratio output.
Left platform 20 can only be controlled by left platform 20 to stretch out, and the logic item that left platform 20 stretches out is controlled by left platform 20
Part includes but is not limited to:
11a) the left platform scaling operation handle 2116 of left platform courses, which switches to, stretches out position；
11b) 1100 pressure of total hydraulic fluid port of hydraulic executing system 130 is greater than given threshold；
11c) Zuo Pingtai 20 does not overload；
11d) 20 position Zuo Pingtai is unlocked；
11e) left anti-misoperation switch is pressed；
11f) the stretching pressure of Zuo Pingtai 20 is less than given threshold；
11g) left platform movement permission forbids button 1113 not press；
If movement stops when 11h) stretching of left platform 20 reaches setting length, only pressing left stretching transfinites confirmation switch
2112, Zuo Pingtai 20 could continue to stretch；
When above-mentioned condition meets, platform opens energy threshold 160, while left platform stretches out valve by setting duty ratio output.
Left platform 20 can only be controlled by left platform 20 to shrink, and the logic item that left platform 20 is shunk is controlled by left platform 20
Part includes but is not limited to:
12a) the left platform scaling operation handle 2116 of left platform courses switches to punctured bit；
12b) left anti-misoperation switch is pressed；
12c) Zuo Pingtai 20 is unrecovered to transporting position；
When above-mentioned condition meets, platform opens energy threshold 160, while left platform shrinking valve is by setting duty ratio output.
Right platform 20 can only be controlled by right platform 30 to stretch out, and the logic item that right platform 30 stretches out is controlled by right platform 30
Part includes but is not limited to:
13a) the right platform scaling operation handle 3116 of right platform courses, which switches to, stretches out position；
13b) 1100 pressure of total hydraulic fluid port of hydraulic executing system 130 is greater than given threshold；
13c) right platform 30 does not overload；
13d) right 30 position of platform is unlocked；
13e) right anti-misoperation switch is pressed；
13f) right platform 30 stretches out pressure less than given threshold；
13g) right platform movement permission forbids button 1114 not press；
If movement stops when 13h) the right stretching of platform 30 reaches setting length, the confirmation switch that transfinites only is stretched out by lower right
3112, right platform 30 could continue to stretch；
When above-mentioned condition meets, platform opens energy threshold 160, while right platform stretches out valve by setting duty ratio output.
Right platform 20 can only be controlled by right platform 30 to shrink, and the logic item that right platform 30 is shunk is controlled by right platform 30
Part includes but is not limited to:
14a) the right platform scaling operation handle 3116 of right platform courses switches to punctured bit；
14b) right anti-misoperation switch is pressed；
14c) right platform 30 is unrecovered to transporting position；
When above-mentioned condition meets, platform opens energy threshold 160, while right platform shrinking valve is by setting duty ratio output.
By implementing the technical solution of the multi-platform apparatus for work control method of specific embodiment of the invention description, can produce
Raw following technical effect:
(1) the multi-platform apparatus for work control method of specific embodiment of the invention description, using motion control logic and peace
Full control, can be realized automation, the intelligent operation of multi-platform apparatus for work, and can guarantee the stability, reliable of operation
Property, safety；
(2) the multi-platform apparatus for work control method of specific embodiment of the invention description, using vehicle intelligent diagnostics and is answered
Anxious control, can further increase automation, the intelligence degree of multi-platform apparatus for work, and guarantee operation stability, can
By property, safety；
(3) the multi-platform apparatus for work control method of specific embodiment of the invention description, is trembled using motion process shock resistance
Dynamic damping control technique, can further increase stability and safety of the multi-platform apparatus for work in operation process；
(4) the multi-platform apparatus for work control method of specific embodiment of the invention description, using remote diagnosis and intelligent language
Sound prompt auxiliary control, can further increase the intelligence degree and maintainability of multi-platform apparatus for work；
(5) the multi-platform apparatus for work control method of specific embodiment of the invention description, is toppled protection using job platform,
Overturn-preventing regulatory function can be realized by levelling device, can further increase multi-platform apparatus for work in operation process
Stability and safety.
Each embodiment in this specification is described in a progressive manner, the highlights of each of the examples are with it is other
The difference of embodiment, the same or similar parts in each embodiment may refer to each other.
The above described is only a preferred embodiment of the present invention, being not intended to limit the present invention in any form.Though
So the present invention is disclosed as above with preferred embodiment, and however, it is not intended to limit the invention.It is any to be familiar with those skilled in the art
Member, in the case where not departing from Spirit Essence of the invention and technical solution, all using in the methods and techniques of the disclosure above
Appearance makes many possible changes and modifications or equivalent example modified to equivalent change to technical solution of the present invention.Therefore,
Anything that does not depart from the technical scheme of the invention are made to the above embodiment any simple according to the technical essence of the invention
Modification, equivalent replacement, equivalence changes and modification still fall within the range of technical solution of the present invention protection.
Claims (18)
1. a kind of multi-platform apparatus for work control method, described multi-platform for controlling multi-platform apparatus for work (100)
Apparatus for work (100) includes main platform (10), Zuo Pingtai (20) and right platform (30), which is characterized in that the method includes with
Lower step:
S101) operator is by operating main platform controller (11), left platform controller (21) or right platform courses dress
Corresponding holding function switch on (31) is set, controls the main platform (10), Zuo Pingtai (20) or right platform (30) fortune to issue
Dynamic action directive；
S102) main control unit (121) acquires corresponding instruction action control instruction and peripheral sensor signal；
S103) main control unit (121) carries out logic according to collected action directive and peripheral sensor signal
Operation；
S104) main control unit (121) carries out corresponding output control according to logic operation result, with realize hydraulic valve and
Sound-light alarm control；
S105) while main platform (10), Zuo Pingtai (20) or right platform (30) move, main control unit (121) root
Realize that the main platform (10), Zuo Pingtai (20) or right platform (30) stop in extreme position according to the signal feedback of peripheral sensor
Automatic control.
2. multi-platform apparatus for work control method according to claim 1, which is characterized in that the step S101) into one
Step includes:
By the main platform controller (11), left platform controller (21) or right platform controller (31) to main control
Device (121) issues main platform (10) elevating control instruction；
Left platform (20) elevating control instruction or a left side are issued to main control unit (121) by the left platform controller (21)
The instruction of platform (20) extension and contraction control；
Right platform (30) elevating control instruction or the right side are issued to main control unit (121) by the right platform controller (31)
The instruction of platform (30) extension and contraction control.
3. multi-platform apparatus for work control method according to claim 1 or 2, which is characterized in that the main platform courses
Device (11) is set to the main platform (10), and the left platform controller (21) is set to the left platform (20), described
Right platform controller (31) is set to the right platform (30)；The multi-platform apparatus for work (100) allows the premise acted
Including but not limited to the following conditions:
A) the main platform (10), Zuo Pingtai (20) and right platform (30) are not carried out emergent stopping motion action；
B) drivers' cab allows the multi-platform apparatus for work (100) to act.
4. multi-platform apparatus for work control method according to claim 3, it is characterised in that:
Low speed traveling knob one (112), bypass stop button one (113), speed are set on the main platform controller (11)
Degree adjusts potentiometer (114), left platform confirms main platform action indicator (115), right platform confirms main platform action indicator
(117), scram button one (119), reversing switch one (1111), left platform movement permission forbid button (1113), right platform dynamic
The main platform descending operation handle (1115) of button (1114), main platform courses and main anti-misoperation is forbidden to switch as permission；
Low speed traveling knob two (212), bypass stop button two (213), a left side are set on the left platform controller (21)
Platform confirm main platform Action Button (215), the indicator light one (216) that transfinites, the movement of left platform forbid permission indicator light (217),
Scram button two (219), reversing switch two (2111), left stretching, which are transfinited, confirms switch (2112), the main platform liter of left platform courses
Operation handle (2113), the left platform descending operation handle (2115) of left platform courses, the left platform scaling operation of left platform courses drop
Handle (2116) and left anti-misoperation switch；
Low speed traveling knob three (312), bypass stop button three (313), the right side are set on the right platform controller (31)
Platform confirm main platform Action Button (315), the indicator light two (316) that transfinites, the movement of right platform forbid permission indicator light (317),
Scram button three (319), reversing switch three (3111), right stretching, which are transfinited, confirms switch (3112), the main platform liter of right platform courses
Operation handle (3113), the right platform descending operation handle (3115) of right platform courses, the right platform scaling operation of right platform courses drop
Handle (3116) and right anti-misoperation switch.
5. multi-platform apparatus for work control method according to claim 4, which is characterized in that the main platform (10), a left side
Platform (20) and right platform (30) can control main platform (10) rising, but the main platform (10), Zuo Pingtai (20) Ji Youping
There can only be main platform (10) described in a platform courses to rise simultaneously in platform (30), main platform is controlled by the main platform (10)
(10) logical condition risen includes but is not limited to:
1a) total hydraulic fluid port (1100) pressure of hydraulic executing system (130) is greater than given threshold；
1b) main platform (10) position is unlocked；
1c) the main platform descending operation handle (1115) of main platform courses switches to raise-position；
1d) main anti-misoperation switch is pressed；
1e) main platform (10) is not overloaded；
1f) main platform (10) is not under-voltage；
1g) left platform confirms that main platform Action Button (215) is pressed or Zuo Pingtai (20) is in transporting position；
1h) right platform confirms that main platform Action Button (315) is pressed or right platform (30) is in transporting position；
1i) Zuo Pingtai (20) does not operate main platform (10) lifting；
1j) right platform (30) does not operate main platform (10) lifting；
When above-mentioned condition meets, platform opens energy threshold (160), while main platform rising threshold is by setting duty ratio output.
6. multi-platform apparatus for work control method according to claim 4, which is characterized in that the main platform (10), a left side
Platform (20) and right platform (30) can control main platform (10) rising, but the main platform (10), Zuo Pingtai (20) Ji Youping
There can only be main platform (10) described in a platform courses to rise simultaneously in platform (30), main platform is controlled by the left platform (20)
(10) logical condition risen includes but is not limited to:
2a) the main platform descending operation handle (2113) of left platform courses switches to raise-position；
2b) total hydraulic fluid port (1100) pressure of hydraulic executing system (130) is greater than given threshold；
2c) main platform (10) position is unlocked；
2d) left anti-misoperation switch is pressed；
2e) main platform (10) is not overloaded；
2f) left platform movement permission forbids button (1113) not press；
2g) main platform (10) is not under-voltage；
2h) right platform confirms that main platform Action Button (315) is pressed；
Main platform (10) lifting 2i) is not operated by the main platform descending operation handle (1115) of main platform courses；
Main platform (10) lifting 2j) is not operated by the main platform descending operation handle (3113) of right platform courses；
When above-mentioned condition meets, platform opens energy threshold (160), while main platform rising threshold is by setting duty ratio output.
7. multi-platform apparatus for work control method according to claim 4, which is characterized in that the main platform (10), a left side
Platform (20) and right platform (30) can control main platform (10) rising, but the main platform (10), Zuo Pingtai (20) Ji Youping
There can only be main platform (10) described in a platform courses to rise simultaneously in platform (30), main platform is controlled by the right platform (20)
(10) logical condition risen includes but is not limited to:
3a) the main platform descending operation handle (3113) of right platform courses switches to raise-position；
3b) total hydraulic fluid port (1100) pressure of hydraulic executing system (130) is greater than given threshold；
3c) main platform (10) position is unlocked；
3d) right anti-misoperation switch is pressed；
3e) main platform (10) is not overloaded；
3f) right platform movement permission forbids button (1114) not press；
3g) main platform (10) is not under-voltage；
3h) left platform confirms that main platform Action Button (215) is pressed；
Main platform (10) lifting 3i) is not operated by the main platform descending operation handle (1115) of main platform courses；
Main platform (10) lifting 3j) is not operated by the main platform descending operation handle (2113) of left platform courses；
When above-mentioned condition meets, platform opens energy threshold (160), while main platform rising threshold is by setting duty ratio output.
8. multi-platform apparatus for work control method according to claim 4, which is characterized in that main platform (10), Zuo Pingtai
(20) or right platform (30) can control main platform (10) decline, but the main platform (10), Zuo Pingtai (20) or right platform
(30) there can only be main platform (10) decline described in a platform courses in simultaneously, main platform is controlled by the main platform (10)
(10) logical condition declined includes but is not limited to:
4a) the main platform descending operation handle (1115) of main platform courses switches to lower demotion；
4b) main platform (10) position is unlocked；
4c) main anti-misoperation switch is pressed；
4d) left platform confirms that main platform Action Button (215) is pressed；
4e) right platform confirms that main platform Action Button (315) is pressed
Main platform (10) lifting 4f) is not operated by the main platform descending operation handle (2113) of left platform courses；
Main platform (10) lifting 4g) is not operated by the main platform descending operation handle (3113) of right platform courses；
4h) main platform (10) does not drop to transporting position；
When above-mentioned condition meets, platform opens energy threshold (160), while main platform lowering valve is by setting duty ratio output.
9. multi-platform apparatus for work control method according to claim 4, which is characterized in that main platform (10), Zuo Pingtai
(20) and right platform (30) can control main platform (10) decline, but the main platform (10), Zuo Pingtai (20) and right platform
(30) there can only be main platform (10) decline described in a platform courses in simultaneously, main platform is controlled by the left platform (20)
(10) logical condition declined includes but is not limited to:
5a) the main platform descending operation handle (2113) of left platform courses switches to lower demotion；
5b) main platform (10) position is unlocked；
5c) left anti-misoperation switch is pressed；
5d) left platform movement permission forbids button (1113) not press；
5e) right platform confirms that main platform Action Button (315) or right platform (30) are in transporting position；
Main platform (10) lifting 5f) is not operated by the main platform descending operation handle (1115) of main platform courses；
Main platform (10) lifting 5g) is not operated by the main platform descending operation handle (3113) of right platform courses；
5h) main platform (10) does not drop to transporting position；
When above-mentioned condition meets, platform opens energy threshold (160), while main platform lowering valve is by setting duty ratio output.
10. multi-platform apparatus for work control method according to claim 4, which is characterized in that main platform (10), Zuo Pingtai
(20) and right platform (30) can control main platform (10) decline, but the main platform (10), Zuo Pingtai (20) and right platform
(30) there can only be main platform (10) decline described in a platform courses in simultaneously, main platform is controlled by the right platform (30)
(10) logical condition declined includes but is not limited to:
6a) the main platform descending operation handle (2113) of right platform courses switches to lower demotion；
6b) main platform (10) position is unlocked；
6c) right anti-misoperation switch is pressed；
6d) right platform movement permission forbids button (1114) not press；
6e) left platform confirms that main platform Action Button (215) is pressed or Zuo Pingtai (20) is in transporting position；
Main platform (10) lifting 6f) is not operated by the main platform descending operation handle (1115) of main platform courses；
Main platform (10) lifting 6g) is not operated by the main platform descending operation handle (2113) of left platform courses；
6h) main platform (10) does not drop to transporting position；
When above-mentioned condition meets, platform opens energy threshold (160), while main platform lowering valve is by setting duty ratio output.
11. multi-platform apparatus for work control method according to claim 4, which is characterized in that can only be by described left flat
Platform (20) controls left platform (20) and rises, by the left platform (20) control the logical condition that left platform (20) rises include but
It is not limited to:
7a) the left platform descending operation handle (2115) of left platform courses switches to raise-position；
7b) total hydraulic fluid port (1100) pressure of hydraulic executing system (130) is greater than given threshold；
7c) Zuo Pingtai (20) position is unlocked；
7d) left anti-misoperation switch is pressed；
7e) Zuo Pingtai (20) does not overload；
7f) Zuo Pingtai (20) is not under-voltage；
7g) left platform movement permission forbids button (1113) not press；
When above-mentioned condition meets, platform opens energy threshold (160), while left platform rising threshold is by setting duty ratio output.
12. multi-platform apparatus for work control method according to claim 4, which is characterized in that can only be by described left flat
Platform (20) controls the decline of left platform (20), include by the logical condition that the left platform (20) controls left platform (20) decline but
It is not limited to:
8a) the left platform descending operation handle (2115) of left platform courses switches to lower demotion；
8b) left anti-misoperation switch is pressed；
8c) Zuo Pingtai (20) does not drop to transporting position；
When above-mentioned condition meets, platform opens energy threshold (160), while left platform lowering valve is by setting duty ratio output.
13. multi-platform apparatus for work control method according to claim 4, which is characterized in that can only be by described right flat
Platform (30) controls right platform (30) and rises, by the right platform (30) control the logical condition that right platform (30) rises include but
It is not limited to:
9a) the right platform descending operation handle (3115) of right platform courses switches to raise-position；
9b) total hydraulic fluid port (1100) pressure of hydraulic executing system (130) is greater than given threshold；
9c) right platform (30) position is unlocked；
9d) right anti-misoperation switch is pressed；
9e) right platform (30) is not overloaded；
9f) right platform (30) unlifting pressure is less than given threshold；
9g) right platform movement permission forbids button (1114) not press；
When above-mentioned condition meets, platform opens energy threshold (160), while right platform rising threshold is by setting duty ratio output.
14. multi-platform apparatus for work control method according to claim 4, which is characterized in that can only be by described right flat
Platform (30) controls the decline of right platform (30), include by the logical condition that the right platform (30) controls right platform (30) decline but
It is not limited to:
10a) the right platform descending operation handle (3115) of right platform courses switches to lower demotion；
10b) right anti-misoperation switch is pressed；
10c) right platform (30) does not drop to transporting position；
When above-mentioned condition meets, platform opens energy threshold (160), while right platform lowering valve is by setting duty ratio output.
15. multi-platform apparatus for work control method according to claim 4, which is characterized in that can only be by described left flat
Platform (20) controls left platform (20) and stretches out, by the left platform (20) control the logical condition that left platform (20) is stretched out include but
It is not limited to:
11a) the left platform scaling operation handle (2116) of left platform courses, which switches to, stretches out position；
11b) total hydraulic fluid port (1100) pressure of hydraulic executing system (130) is greater than given threshold；
11c) Zuo Pingtai (20) does not overload；
11d) Zuo Pingtai (20) position is unlocked；
11e) left anti-misoperation switch is pressed；
11f) the stretching pressure of Zuo Pingtai (20) is less than given threshold；
11g) left platform movement permission forbids button (1113) not press；
If 11h) Zuo Pingtai (20) stretching reach setting length when movement stop, only pressing it is left stretching transfinite confirmation switch
(2112), Zuo Pingtai (20) could continue to stretch；
When above-mentioned condition meets, platform opens energy threshold (160), while left platform stretches out valve by setting duty ratio output.
16. multi-platform apparatus for work control method according to claim 4, which is characterized in that can only be by described left flat
Platform (20) controls left platform (20) and shrinks, by the left platform (20) control the logical condition that left platform (20) is shunk include but
It is not limited to:
12a) the left platform scaling operation handle (2116) of left platform courses switches to punctured bit；
12b) left anti-misoperation switch is pressed；
12c) Zuo Pingtai (20) is unrecovered to transporting position；
When above-mentioned condition meets, platform opens energy threshold (160), while left platform shrinking valve is by setting duty ratio output.
17. multi-platform apparatus for work control method according to claim 4, which is characterized in that can only be by described right flat
Platform (30) controls right platform (20) and stretches out, by the right platform (30) control the logical condition that right platform (30) is stretched out include but
It is not limited to:
13a) the right platform scaling operation handle (3116) of right platform courses, which switches to, stretches out position；
13b) total hydraulic fluid port (1100) pressure of hydraulic executing system (130) is greater than given threshold；
13c) right platform (30) is not overloaded；
13d) right platform (30) position is unlocked；
13e) right anti-misoperation switch is pressed；
13f) right platform (30) stretches out pressure less than given threshold；
13g) right platform movement permission forbids button (1114) not press；
If 13h) right platform (30) stretches out movement stopping when reaching setting length, the confirmation switch that transfinites only is stretched out by lower right
(3112), right platform (30) could continue to stretch；
When above-mentioned condition meets, platform opens energy threshold (160), while right platform stretches out valve by setting duty ratio output.
18. multi-platform apparatus for work control method according to claim 4, which is characterized in that can only be by described right flat
Platform (30) controls right platform (20) and shrinks, by the right platform (30) control the logical condition that right platform (30) is shunk include but
It is not limited to:
14a) the right platform scaling operation handle (3116) of right platform courses switches to punctured bit；
14b) right anti-misoperation switch is pressed；
14c) right platform (30) is unrecovered to transporting position；
When above-mentioned condition meets, platform opens energy threshold (160), while right platform shrinking valve is by setting duty ratio output.
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| CN113643466A (en) * | 2021-06-28 | 2021-11-12 | 丁汉云 | Intelligent safety remote control system |
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| CN110134085B (en) | 2022-03-15 |
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