CN112499533A - Dynamic amplitude limiting method for boom type operation vehicle - Google Patents

Dynamic amplitude limiting method for boom type operation vehicle Download PDF

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Publication number
CN112499533A
CN112499533A CN202011191259.0A CN202011191259A CN112499533A CN 112499533 A CN112499533 A CN 112499533A CN 202011191259 A CN202011191259 A CN 202011191259A CN 112499533 A CN112499533 A CN 112499533A
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CN
China
Prior art keywords
arm support
dynamic
moment
amplitude
stability coefficient
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CN202011191259.0A
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Chinese (zh)
Inventor
王然然
曾清
张晓玲
吴晓康
李敬猛
徐长浩
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Xuzhou Hailunzhe Special Vehicle Co ltd
Xuzhou Handler Special Vehicle Co Ltd
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Xuzhou Hailunzhe Special Vehicle Co ltd
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Priority to CN202011191259.0A priority Critical patent/CN112499533A/en
Publication of CN112499533A publication Critical patent/CN112499533A/en
Pending legal-status Critical Current

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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66F—HOISTING, LIFTING, HAULING OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD
    • B66F11/00—Lifting devices specially adapted for particular uses not otherwise provided for
    • B66F11/04—Lifting devices specially adapted for particular uses not otherwise provided for for movable platforms or cabins, e.g. on vehicles, permitting workmen to place themselves in any desired position for carrying out required operations
    • B66F11/044—Working platforms suspended from booms
    • B66F11/046—Working platforms suspended from booms of the telescoping type
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
    • B66C13/00—Other constructional features or details
    • B66C13/16—Applications of indicating, registering, or weighing devices
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
    • B66C23/00—Cranes comprising essentially a beam, boom, or triangular structure acting as a cantilever and mounted for translatory of swinging movements in vertical or horizontal planes or a combination of such movements, e.g. jib-cranes, derricks, tower cranes
    • B66C23/62—Constructional features or details
    • B66C23/64—Jibs
    • B66C23/70—Jibs constructed of sections adapted to be assembled to form jibs or various lengths
    • B66C23/701—Jibs constructed of sections adapted to be assembled to form jibs or various lengths telescopic
    • B66C23/705—Jibs constructed of sections adapted to be assembled to form jibs or various lengths telescopic telescoped by hydraulic jacks
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
    • B66C23/00—Cranes comprising essentially a beam, boom, or triangular structure acting as a cantilever and mounted for translatory of swinging movements in vertical or horizontal planes or a combination of such movements, e.g. jib-cranes, derricks, tower cranes
    • B66C23/62—Constructional features or details
    • B66C23/72—Counterweights or supports for balancing lifting couples
    • B66C23/78—Supports, e.g. outriggers, for mobile cranes
    • B66C23/80—Supports, e.g. outriggers, for mobile cranes hydraulically actuated
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
    • B66C23/00—Cranes comprising essentially a beam, boom, or triangular structure acting as a cantilever and mounted for translatory of swinging movements in vertical or horizontal planes or a combination of such movements, e.g. jib-cranes, derricks, tower cranes
    • B66C23/62—Constructional features or details
    • B66C23/82—Luffing gear
    • B66C23/821—Bracing equipment for booms
    • B66C23/826—Bracing equipment acting at an inclined angle to vertical and horizontal directions
    • B66C23/828—Bracing equipment acting at an inclined angle to vertical and horizontal directions where the angle is adjustable
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
    • B66C23/00—Cranes comprising essentially a beam, boom, or triangular structure acting as a cantilever and mounted for translatory of swinging movements in vertical or horizontal planes or a combination of such movements, e.g. jib-cranes, derricks, tower cranes
    • B66C23/88—Safety gear
    • B66C23/90—Devices for indicating or limiting lifting moment
    • B66C23/905—Devices for indicating or limiting lifting moment electrical
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66F—HOISTING, LIFTING, HAULING OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD
    • B66F17/00—Safety devices, e.g. for limiting or indicating lifting force
    • B66F17/006—Safety devices, e.g. for limiting or indicating lifting force for working platforms

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Structural Engineering (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Geology (AREA)
  • Forklifts And Lifting Vehicles (AREA)

Abstract

The invention provides a method for limiting the dynamic amplitude of an arm support type operation vehicle, which comprises the steps of firstly judging whether the initial operation state of the high-altitude operation vehicle is safe, and if the initial operation state of the high-altitude operation vehicle is safe, solving the dynamic moment of a rotary part of the high-altitude operation vehicle relative to a rotary center aiming at the extension state of any arm support; then, the rollover barycentric coordinates and the dynamic coordinates of the 4 supporting points are solved in sequence, then, the rollover moment and the stabilizing moment are solved, finally, the stabilizing coefficient is solved, and the stabilizing coefficient and the stability control coefficient threshold are analyzed through the controller. According to the invention, the working amplitude of the aerial working truck can be adjusted in real time according to the state of the horizontal support leg and the load of the platform, and the stable moment and the overturning moment can be fully utilized, so that the aerial working range is expanded.

Description

Dynamic amplitude limiting method for boom type operation vehicle
Technical Field
The invention belongs to the technical field of arm support engineering equipment, and particularly relates to a dynamic amplitude limiting method for an arm support working vehicle.
Background
As a special vehicle for manned high-altitude operation, the high-altitude operation vehicle increasingly replaces the climbing operation mode with extremely high danger in the past. With the development of urban construction, the overhead working truck is not only used in large-scale infrastructures such as wharfs, airports, water conservancy, power stations and gardens, but also widely used in installation and management of urban facilities such as street lamps, communication, traffic, advertisements and photography, so that higher requirements are put forward on the overhead working truck in the aspects of road occupation, limitation of road conditions and amplitude range, and particularly the support leg stretching state and the corresponding amplitude control method are provided.
The extension state of the support leg of the existing high-altitude operation vehicle is only a full extension state, a half extension state, a full contraction state and a three-state generally, amplitude control is realized through an amplitude curve preset according to the load of a certain fixed platform, the support leg state is not flexible enough, and the amplitude control is too single. Patent document CN101615007B discloses an intelligent controller for an overhead working truck and a control method thereof, wherein the imbalance limitation scheme is as follows: according to the extending length of the left and right side legs of the high-altitude operation vehicle, the extending state of the left and right side legs is divided into 16 grades, and the 360-degree rotation section of the working arm is divided into six areas according to the extending positions of the left and right side legs: the model limiting operation radius of the six regions is respectively set. This scheme makes the landing leg state of stretching out more nimble, and the range scope is also bigger, but has the limitation, can only stretch out in grades like the landing leg, and every kind of landing leg state of stretching out all corresponds 6 amplitude curve, and the control is complicated and fixed amplitude curve can not make full use of steady moment. Patent document CN104591051B discloses a crank arm type multi-mode amplitude control system for aerial work platform, the amplitude control principle is as follows: eight kinds of amplitude limiting modes are set by judging whether the inclination angle of the vehicle body is smaller than a set inclination angle, whether the supporting legs are stretched to bear force and whether the platform load capacity is smaller than a set weight, compared with the method provided by the patent document CN101615007B patent, the method is simpler to control, but the grading state of the supporting legs is too simple, and only one supporting leg state is provided. The amplitude adjustment methods have certain limitations, so that the working range of the arm support cannot be optimally and maximally applied, various different working conditions cannot be met, and the application range is narrow.
Disclosure of Invention
The invention aims to provide a method for limiting the dynamic amplitude of a boom type operation vehicle, which can be used for adjusting the operation amplitude in real time according to the state of a horizontal supporting leg and the load of a platform and fully utilizing a stable moment and an overturning moment so as to expand the range of high-altitude operation and have stronger adaptability to different road conditions.
In order to solve the problems, the invention provides a method for limiting the dynamic amplitude of a boom type operation vehicle, which comprises the following steps:
a boom type operation vehicle dynamic amplitude limiting method comprises the following steps:
step 1: judging whether the initial operation state of the overhead working truck is safe, and if so, executing the step 2;
step 2: solving dynamic moment M of the overhead working truck aiming at any arm support extension stateOEstablishing a reference coordinate system and determining the coordinates of the center of gravity of the tipping;
and step 3: determining the dynamic coordinates of each supporting point through the extension of each horizontal supporting leg;
and 4, step 4: firstly, dividing a rotation area into a front side area, a rear side area, a left side area and a right side area through 4 supporting points;
then, based on the dynamic coordinates of any 2 adjacent supporting points, respectively establishing tilting line equations corresponding to the four areas, and finally obtaining tilting moments and stabilizing moments of the getting-on and getting-off relative to each tilting line;
and 5: according to the formula of stability coefficient lambda ═ MStable/MTilting deviceSolving the stability coefficient;
and comparing the stability coefficient with a stability coefficient threshold preset by the controller, judging the stability coefficient to be in a safe working state when the stability coefficient is within the preset stability coefficient threshold, and otherwise, stopping the operation and adjusting the arm support.
Preferably, step 1 is specifically as follows:
step 11: unfolding the supporting legs according to the road space to ensure that the vertical supporting legs land;
step 12: determining the maximum platform load G corresponding to the worst working condition of the arm supportCarry maxObtaining the working load G of the platform in real time according to the load sensor of the platformCarrierIf G isCarrier＞GCarry maxIf the operation is not safe, the loading action is forbidden; otherwise, the operation is judged to be safe.
Preferably, in step 2, the dynamic moment M is obtained based on the boom elongation Δ l and the boom variable amplitude angle θO(ii) a The weight of the rotary part comprises the working load capacity of the platform and the weight of each part on the vehicle G2＝GCarrier+∑Gi。
Preferably, each horizontal leg is symmetrically arranged; the horizontal supporting legs at the front side 2 and the horizontal supporting legs at the rear side 2 are V-shaped.
Preferably, each horizontal leg elongation is subjected to signal acquisition and output through a length sensor arranged on the horizontal leg elongation;
the extension amount of the arm support is over-mounted on a length sensor of the arm support to acquire and output signals;
the amplitude variation angle of the arm support is subjected to signal acquisition and output through an angle sensor arranged on the arm support. Preferably, the elongation of each horizontal supporting leg is subjected to signal acquisition and output through a telescopic oil cylinder;
the extension amount of the arm support is subjected to signal acquisition and output through a telescopic oil cylinder; the amplitude variation angle of the arm support is subjected to signal acquisition and output through an amplitude variation oil cylinder.
Compared with the prior art, the invention has the advantages that:
(1) the invention is based on signal acquisition of each sensor arranged on the operation vehicle, and the signal acquisition is used as a variable parameter calculated by the controller, so that a stable coefficient of the operation vehicle in the working state is obtained, and the coefficient is compared with a coefficient threshold value preset in the controller.
(2) The invention fully utilizes the stable moment based on the state of the supporting leg and the load capacity of the platform, and compared with the tipping moment, the control range of the operation amplitude is wider without being limited to the control of an amplitude curve;
(3) the extension amount of the horizontal supporting leg can be obtained in real time through the length sensor arranged on the horizontal supporting leg and is used as a basic parameter of a tipping line, so that the obtained stability coefficient can reflect all working states of the working vehicle, the traditional supporting leg is not limited to fixed and graded extension, the extension of the supporting leg is more flexible, the extension amount of the supporting leg can be adjusted according to road space, the application range of the supporting leg is higher, and the supporting stability is greatly improved;
(4) the weight of the platform load is obtained in real time through the platform load sensor and is used as variable input, the limitation that only one fixed load or a plurality of fixed loads exist in the prior art is broken through, the mechanical characteristics of the mechanical mechanism are fully utilized, and the bearing capacity of the overhead working truck is greatly improved.
Drawings
Fig. 1 is a flowchart of a method for limiting a dynamic amplitude of a boom-type work vehicle according to an embodiment of the present invention;
FIG. 2 is a schematic structural view of an aerial cage on which the present invention is based;
FIG. 3 is a schematic diagram of the solution of the dynamic coordinates of the support points in FIG. 1;
fig. 4 is a schematic diagram illustrating a solution of a front-side stability coefficient in the method for limiting the dynamic amplitude of the boom-type work vehicle according to the embodiment of the present invention;
fig. 5 is a schematic diagram illustrating a solution of a left-side stability coefficient in the method for limiting the dynamic amplitude of the boom-type work vehicle according to the embodiment of the present invention;
fig. 6 is a schematic diagram of the position of a sensor according to an embodiment of the present invention.
The system comprises a rotary table 1, a cantilever crane 2, a working platform 3, a horizontal supporting leg 4, a vertical supporting leg 5, a controller 6, a platform load sensor 7, a cantilever crane length sensor 8, an angle sensor 9, a horizontal supporting leg length sensor 10 and a rotation angle sensor 11.
Detailed Description
The present invention will now be described in more detail with reference to the accompanying schematic drawings, in which preferred embodiments of the invention are shown, it being understood that one skilled in the art may modify the invention herein described while still achieving the advantageous effects of the invention. Accordingly, the following description should be construed as broadly as possible to those skilled in the art and not as limiting the invention.
Taking a telescopic aerial work platform with a first-stage three-section arm as an example, as shown in fig. 6, the related mechanical components include an auxiliary frame, a movable support leg, a rotary table 1, an arm support system 2 and a working platform 3. Among them, known from the prior art are: the movable supporting legs comprise horizontal supporting legs 4 and vertical supporting legs 5, the arrangement mode of the supporting legs is bilateral symmetry, a V shape is formed between the two groups of horizontal supporting legs 4 on the front side, and a V shape is formed between the two groups of horizontal supporting legs 4 on the rear side; the rotary table 1 can rotate around a rotation center line; the arm support system 2 comprises an arm support, and the arm support is hinged with the rotary table 1.
In the invention, the related control components comprise a controller 6, a platform load sensor 7 arranged at the bottom of the working platform 3, an arm support length sensor 8 and an angle sensor 9 arranged in the arm support system 2, a horizontal leg length sensor 10 arranged on the horizontal leg 4 and a rotary angle sensor 11 arranged on the rotary table 1.
As shown in fig. 1 to 5, a method for limiting the dynamic amplitude of a boom-type working vehicle includes the following steps:
step 1: and (4) judging whether the initial operation state of the overhead working truck is safe or not, and if so, executing the step 2.
The specific steps for judging whether the initial operation state of the overhead working truck is safe are as follows:
step 11: unfolding the supporting legs according to the road space to ensure that the vertical supporting legs land;
step 12: according to finite element analysis or analysisThe method obtains and determines the corresponding platform maximum load G when the arm support is in the worst working conditionCarry maxObtaining the working load G of the platform in real time according to the platform load sensor 7 arranged at the bottom of the working platform 3CarrierIf G isCarrier＞GCarry maxIf the operation is not safe, the loading action is forbidden; otherwise, the operation is judged to be safe.
Step 2: solving dynamic moment M of the overhead working truck aiming at any arm support extension stateOAnd establishing a reference coordinate system to determine the coordinates of the center of gravity of the rollover.
Specifically, a reference coordinate system is established, and the dynamic moment M determined according to the step 2OAnd the total weight G of the rotating part2Obtaining the distance L between the tilting gravity center and the rotation centerKO。
In the present embodiment, the roll center of gravity K coordinate (X) is known by setting the vehicle rear direction as the positive X-axis direction and the vehicle left side as the positive Y-axis direction, and setting the turning angle obtained by the turning angle sensor 11 attached to the turntable 1 as αK，yK)；
And step 3: and determining dynamic coordinates of 4 supporting points corresponding to the 4 vertical supporting legs through the extension amount of each horizontal supporting leg.
As shown in FIG. 3, A0The initial position of the right front horizontal leg; a is the operation position of the right front horizontal supporting leg; q is the intersection point of the two front horizontal supporting legs on the X axis; beta is a1Is the included angle between the front horizontal supporting leg and the X axis; beta is a2Is the included angle between the rear horizontal supporting leg and the X axis; lA0，lB0，lC0，lD0Respectively the distance between the supporting point of the vertical supporting leg and the point Q when each horizontal supporting leg is fully contracted; Δ lA，ΔlB，ΔlC，ΔlDThe amounts of protrusion of the respective horizontal legs are obtained by the length sensors 10 mounted on the horizontal legs 4, whereby the support point coordinates a of the initial position of the right front leg are known0(xA0,yA0) And the working position supporting point coordinate A (x) of the right front legA,yA). And the working position supporting point coordinates of the rest vertical and horizontal supporting legs 5 can be obtained in the same way.
And 4, step 4: a rollover moment and a stabilizing moment are determined.
The 360 ° revolution area is first divided into four areas of a front side, a rear side, a left side and a right side by 4 supporting points. Wherein, as shown in fig. 3, the tipping line corresponding to the front area is AB; the tipping line corresponding to the rear area is CD; the corresponding tipping line of the left area is BC; the rollover line for the right area is AD.
Then, based on the dynamic coordinates of any 2 adjacent supporting points, respectively establishing rollover line equations corresponding to the four areas; then the rollover line equation is combined with the rollover barycentric coordinates to obtain the rollover moment of the turning part relative to each rollover line. Namely, the front rollover moment, the rear rollover moment, the left rollover moment and the right rollover force are finally obtained.
Taking the forward tilting moment as an example, the following solution is obtained;
(1) expression of the tipping line AB
As shown in fig. 4, the equation AB (x, y) for the rollover line AB is:
(yB-yA)x-(xB-xA)y-xA(yB-yA)+yAxB-xA＝0
(2) tilting arm of force of the turning part relative to the tilting line AB
Referring to FIG. 4, the distance L between the roll center of gravity K and the roll line AB can be found by using the point-to-line distance formulaKE；
(3) Calculating the forward tilting moment MAB dip
MAB dip＝G2·LKE
And based on the tipping line equation, obtaining the stable moment arm of the center of gravity of the lower car from each tipping line, and finally obtaining the stable moment of the lower car relative to each tipping line. Namely, the front stabilizing moment, the rear stabilizing moment, the left stabilizing moment and the right stabilizing moment are finally obtained respectively.
Because different outrigger stretching states have little influence on the gravity center position of the lower vehicle, the gravity center position of the lower vehicle is assumed to be fixed at a J point.
As shown in fig. 4 and 5, the forward steady moment is solved as follows.
(4) Stable force arm of opposite and tipping line AB of vehicle getting-off part
As shown in FIG. 4, the distance l from the lower vehicle center of gravity J to the rollover line AB can be found by using the point-to-line distance formulaJF；
(5) Calculating the front stable moment MAB stability
MAB stability＝G1·lJF
Wherein: g1Is the total weight of the lower vehicle.
And 5: according to the formula of stability coefficient lambda ═ MStable/MTilting deviceAnd solving the stability coefficient.
According to the national standard GB25849, the stability coefficient lambda of the overhead working truck is equal to MStable/MTilting deviceSequentially solving a front stability coefficient, a rear stability coefficient, a left stability coefficient and a right stability coefficient;
(1) forward stability factor lambda is calculatedAB
Figure RE-GDA0002929422290000071
Stability factor lambda of the leftBCRear stability factor λCDRight stability factor lambdaADCalculation method and preceding stability factor lambdaABLeft stability factor lambdaBCThe same, therefore, will not be described in detail.
Stability factor function λ (θ, Δ l, G)Carrier，α，Δli，Δlj) The variable can be obtained by real-time feedback of the sensors, when the high-altitude operation vehicle works, the controller solves the dynamic value lambda of the stability coefficient according to the variable value fed back by each sensor in real time, and the real-time lambda and the preset stability coefficient threshold lambda are comparedmaxComparing to ensure that the lambda of the overhead working truck is less than or equal to lambdamaxThe working is normal, and the safety and the stability of the operation are ensured.
And comparing the stability coefficient with a stability coefficient threshold preset by the controller, judging the stability coefficient to be in a safe working state when the stability coefficient is within the preset stability coefficient threshold, and otherwise, stopping the operation and adjusting the arm support.
The dynamic amplitude limiting method in the embodiment of the invention is not only suitable for overhead working vehicles, but also can be applied to arm frame type working vehicles such as cranes, cleaning vehicles, fire fighting vehicles, pump trucks and the like.
In the embodiment, the elongation of each horizontal leg is acquired and output by a length sensor arranged on the horizontal leg; the extension amount of the arm support is over-mounted on a length sensor of the arm support to acquire and output signals; the amplitude variation angle of the arm support is subjected to signal acquisition and output through an angle sensor arranged on the arm support.
In other embodiments except this embodiment, the extension amount of each horizontal supporting leg is subjected to signal acquisition and output through a telescopic oil cylinder; the extension amount of the arm support is subjected to signal acquisition and output through a telescopic oil cylinder; the amplitude variation angle of the arm support is subjected to signal acquisition and output through an amplitude variation oil cylinder.
The above description is only a preferred embodiment of the present invention, and does not limit the present invention in any way. It will be understood by those skilled in the art that various changes, substitutions and alterations can be made herein without departing from the spirit and scope of the invention as defined by the appended claims.

Claims (6)

1. A method for limiting the dynamic amplitude of a boom type operation vehicle is characterized by comprising the following steps:
step 1: judging whether the initial operation state of the overhead working truck is safe, and if so, executing the step 2;
step 2: solving dynamic moment M of the overhead working truck aiming at any arm support extension stateOEstablishing a reference coordinate system and determining the coordinates of the center of gravity of the tipping;
and step 3: determining the dynamic coordinates of each supporting point through the extension of each horizontal supporting leg;
and 4, step 4: firstly, dividing a rotation area into a front side area, a rear side area, a left side area and a right side area through 4 supporting points;
then, based on the dynamic coordinates of any 2 adjacent supporting points, respectively establishing tilting line equations corresponding to the four areas, and finally obtaining tilting moments and stabilizing moments of the getting-on and getting-off relative to each tilting line;
and 5: according to the formula of stability coefficient lambda ═ MStable/MTilting deviceSolving the stability coefficient;
and comparing the stability coefficient with a stability coefficient threshold preset by the controller, judging the stability coefficient to be in a safe working state when the stability coefficient is within the preset stability coefficient threshold, and otherwise, stopping the operation and adjusting the arm support.
2. The boom type work vehicle dynamic amplitude limiting method according to claim 1, wherein the step 1 is as follows:
step 11: unfolding the supporting legs according to the road space to ensure that the vertical supporting legs land;
step 12: determining the maximum platform load G corresponding to the worst working condition of the arm supportCarry maxObtaining the working load G of the platform in real time according to the load sensor of the platformCarrierIf G isCarrier＞GCarry maxIf the operation is not safe, the loading action is forbidden; otherwise, the operation is judged to be safe.
3. The boom type work vehicle dynamic amplitude limiting method according to claim 1, wherein in the step 2, the dynamic moment M is obtained based on the boom elongation Δ l and the boom amplitude angle θO(ii) a The weight of the slewing part including the working load of the platform and the weight of each part on board, i.e. G2＝GCarrier+∑Gi。
4. The boom type work vehicle dynamic amplitude limiting method according to claim 1, wherein each horizontal leg is symmetrically arranged; the horizontal supporting legs at the front side 2 and the horizontal supporting legs at the rear side 2 are V-shaped.
5. The boom type work vehicle dynamic amplitude limiting method according to claim 1, wherein each horizontal leg extension is subjected to signal acquisition and output by a length sensor mounted thereon;
the extension amount of the arm support is over-mounted on a length sensor of the arm support to acquire and output signals;
the amplitude variation angle of the arm support is subjected to signal acquisition and output through an angle sensor arranged on the arm support.
6. The boom type work vehicle dynamic amplitude limiting method according to claim 1, wherein the elongation of each horizontal leg is subjected to signal acquisition and output through a telescopic cylinder;
the extension amount of the arm support is subjected to signal acquisition and output through a telescopic oil cylinder; the amplitude variation angle of the arm support is subjected to signal acquisition and output through an amplitude variation oil cylinder.
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CN113353823A (en) * 2021-06-18 2021-09-07 安徽柳工起重机有限公司 Crane control method based on crane performance table database
CN113452121A (en) * 2021-07-14 2021-09-28 三一重机有限公司 Charging control method and device for electric engineering machinery and electric engineering machinery
CN113479780A (en) * 2021-06-30 2021-10-08 山东理工大学 Automatic control method for maintaining attitude of automobile crane chassis in loading operation
CN113772564A (en) * 2021-08-04 2021-12-10 中联重科股份有限公司 Method and device for adjusting stress of supporting leg and engineering machinery
CN114427297A (en) * 2022-01-24 2022-05-03 三一汽车制造有限公司 Anti-rollover control method and device and operation machine
CN116588859A (en) * 2023-07-17 2023-08-15 临工重机股份有限公司 Stability control system and method for forklift truck with telescopic arms

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Application publication date: 20210316