CN207423262U - A kind of elevating fire truck arm support motion state dynamic checkout unit - Google Patents
A kind of elevating fire truck arm support motion state dynamic checkout unit Download PDFInfo
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- CN207423262U CN207423262U CN201721494187.0U CN201721494187U CN207423262U CN 207423262 U CN207423262 U CN 207423262U CN 201721494187 U CN201721494187 U CN 201721494187U CN 207423262 U CN207423262 U CN 207423262U
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- arm support
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- working bucket
- motion state
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Abstract
The utility model discloses a kind of elevating fire truck arm support motion state dynamic checkout unit, including a fire fighting truck beam mechanism, multiple test modules and a host computer；The fire fighting truck beam mechanism includes at least an arm support section and a working bucket；The working bucket is located at the end of last arm support section；The both ends of each arm support section are fixed with the test module；A test module is provided in the working bucket；The test module is communicated to connect with the host computer；The test module includes component, microcontroller, GPS module and the communication module of gyroscope and accelerator；The utility model can realize and meanwhile the working depth of dynamic high precision elevating fire truck arm support motion state and horizontal amplitude test, extreme position slow down test, fire fighting truck arm support pitch angle, the leveling test of working bucket, working bucket shaking amplitude test.
Description
Technical field
The utility model is related to engineering machinery fields, and in particular to a kind of elevating fire truck arm support motion state dynamic is tested
Device.
Background technology
Elevating fire truck is the important equipment that fire brigade carries out high-altitude fire fighting and rescue.Pass of the arm support as elevating fire truck
Key member is, it is necessary to bear gravity, wind-force, personnel or load in working bucket, shaking degree stationarity, each safe spacing and the limit
The securities such as the reliability of guarded by location device are most important.
Existing detection technique, which has, tests elevating fire truck arm support height and horizontal amplitude by laser range finder, often
The head end and tail end of joint arm frame install laser displacement sensor and reflector to measure arm support spread length and angle respectively, exist
Problems with：1. installation is complicated, the installation site of reflector needs specially treated, it is impossible to hinder the recycling of arm support；2. measure position
Reconnaissance difficulty is put, there cannot be barrier between laser displacement sensor and reflector, is often pacified on sky lift arm support in physical condition
Fill various plates and ladder, the installation of meeting hinder device；3. the intersection of liang joint arm frame is limited sometimes in installation site, after
The laser displacement sensor of one joint arm frame cannot be mounted on same position with the reflector of previous joint arm frame, can so cause latter
The accumulated error of joint arm frame initial position (using the length and angle of previous joint arm frame as initial value counted by later section arm support
Calculate), larger error is caused to the measurement of the entire height of fire fighting truck, measuring accuracy is low.
Utility model content
To solve the above problems, the purpose of this utility model is to provide a kind of elevating fire truck arm support motion state dynamics
Test device.
The utility model provides following technical solution：
A kind of elevating fire truck arm support motion state dynamic checkout unit,
Including a fire fighting truck beam mechanism, multiple test modules and a host computer；The fire fighting truck beam mechanism is included extremely
A few arm support section and a working bucket；The working bucket is located at the end of last arm support section；
The both ends of each arm support section are fixed with the test module；A test mould is provided in the working bucket
Block；The test module is communicated to connect with the host computer；
The test module includes component, microcontroller, GPS module and the communication module of gyroscope and accelerator；The top
The component of spiral shell instrument and accelerator, GPS module and communication module are connected by circuit board with the microcontroller.
Further, the communication module is wireless communication module or wire communication module.
Further, the component of the gyroscope and accelerator is 3 axis gyroscopes and the component of 3 axis accelerators.
Further, the GPS module in the test module accurately measures the initiating terminal of every joint arm frame and the position of end
Coordinate is transferred to host computer by communication module and is calculated, and the work of each joint arm frame of output elevating fire truck and working bucket is high
The dynamic data of degree and the pitch angle of horizontal amplitude and each joint arm frame, and figure real-time display；
The 3 of 3 axis gyroscopes in the test module and 3 axis accelerators measurement working bucket working face to angle and 3 to
Acceleration, by the space coordinates of microcontroller computing combination working bucket export elevating fire truck working bucket working face position,
Angle and acceleration are transferred to host computer finally by communication module and carry out data processing, the real-time display elevating fire truck limit
Deceleration, leveling information, the shaking amplitude of working bucket and the plateau of position.
The beneficial effects of the utility model are：
1. the present invention can realize the working depth and level of the elevating fire truck arm support motion state of dynamic high precision simultaneously
Amplitude test, the deceleration test of extreme position, fire fighting truck arm support pitch angle, the leveling test of working bucket, working bucket are rocked
Amplitude is tested.
2. there cannot be object stop between having the laser range finder and reflector of test device, with existing test device phase
Than this test device need not install reflector, not have particular/special requirement to jib structure.
3. high-precision GPS module testing precision is high, measurement error is small, it is possible to reduce laser range finder and reflector combination are surveyed
The accumulated error of amount.And installation site limits from jib structure form, and application range is wider.
Description of the drawings
Fig. 1 test device structure diagrams of the present invention
Fig. 2 test device fundamental diagrams of the present invention
Wherein 1, test module, the 2, first arm support, 3, test module, the 4, second arm support, 5, test module, the 6, the 3rd arm
Frame, 7, test module, 8 test modules, 9, working bucket, 10, host computer.
Specific embodiment
The technical solution of this patent is described in further detail With reference to embodiment.
As shown in Figure 1, it is shown that an a kind of tool of elevating fire truck arm support motion state dynamic checkout unit of the present invention
Body embodiment.
Elevating fire truck has three sections of arm, and the initiating terminal of later section arm support is the end of previous joint arm frame, and test module 1 is pacified
Initiating terminal loaded on the first arm support 2, test module 3 are installed on the initiating terminal of the second arm support 4, and test module 5 is installed on the 3rd arm
The initiating terminal of frame 6, test module 7 are installed on the end of the 3rd arm support 6, test are equipped in the end working bucket 9 of the 3rd arm support 6
Module 8.
Test module 1,3,5,7,8 include the components of 3 axis gyroscopes and 3 axis accelerators, microcontroller, GPS module and
Wifi wireless communication modules.
Elevating fire truck working depth and the test of horizontal amplitude Dynamic High-accuracy：The GPS module accurately measures first
Arm support 2, the second arm support 4, the initiating terminal of the 3rd arm support 6 and the position coordinates of end, are transferred to by wifi wireless communication modules
It is stored in host computer 10, through formula operation, calculates the stroke L per joint arm frame1, L2, L3The height of arm support and horizontal width
Degree；Such as pass through the coordinate (X of arm support test module 11、Y1、Z1), the coordinate position (X of arm support test module 33、Y3、Z3) can count
Calculate the length L of the first joint arm 21, the working depth H of the first joint arm 21, 2 horizontal amplitude D of the first joint arm1,
H1=Z3-Z1
Pass through the coordinate (X of arm support test module 11、Y1、Z1), the coordinate position (X of arm support test module 77、Y7、Z7) can be with
Calculate sky lift working depth H, sky lift horizontal operation amplitude D.
H=Z7-Z1
Host computer 10 calculates the spatial coordinate location of each test module, each joint arm frame of output elevating fire truck and work
Make the working depth of bucket 9 and the dynamic data of horizontal amplitude, and pass through and graphically carry out real-time display, fundamental diagram such as Fig. 2
It is shown.
The deceleration Dynamic High-accuracy test of elevating fire truck extreme position：Elevating fire truck working bucket 9 is close to maximum height
Or maximum functional amplitude extreme position when need to slow down, 3 axis accelerators in test module 8 measurement working bucket 93 to
Acceleration exports the deceleration of elevating fire truck extreme position, most by the space coordinates of microcontroller computing combination working bucket 9
It is transferred to afterwards by wireless communication module in host computer 10 and carries out data output and graphic software platform.
The leveling Dynamic High-accuracy test of elevating fire truck working bucket：Working bucket 9 needs during the motion can be in error model
Enclosing interior moment carries out leveling, the 3 axis gyroscopes measurement working bucket 9 in test module 83 to angle；Pass through microcontroller computing knot
Position and the angle of 9 working face of space coordinates output elevating fire truck working bucket of working bucket 9 are closed, finally by wireless communication
Module transfer carries out the output of leveling data and graphic software platform into host computer 10.
The shaking amplitude Dynamic High-accuracy test of elevating fire truck working bucket：3 axis gyros in working bucket test module 8
Instrument, the 3 of 3 axis accelerators measurement measurement 9 working face of working bucket pass through microcontroller computing combination work to angle and 3 to acceleration
Make position, angle and the acceleration of 9 working face of space coordinates output elevating fire truck working bucket of bucket 9, finally by wireless
Communication module is transferred in host computer 10 and is exported, and is capable of the shaking amplitude and plateau of real-time display working bucket.
Elevating fire truck arm support pitch angle dynamic is tested：Pass through the coordinate (X of test module 11、Y1、Z1), test module 3
Coordinate position (X3、Y3、Z3), host computer 10 calculates the working depth H of the first arm support 21, the horizontal amplitude D of the first arm support 21, lead to
Cross H1、D1The arm support pitch angle of the first arm support 2 is calculated, can similarly calculate the pitch angle of the second arm support 4, the 3rd arm support 6
Pitch angle.Display is patterned to each arm support movement angle by host computer 10.
Above example be the application preferred embodiment, those of ordinary skill in the art can also on this basis into
The various conversion of row or improvement, on the premise of the total design of the application is not departed from, these conversion or improvement should all belong to this Shen
Within the scope of please being claimed.
Claims (3)
1. a kind of elevating fire truck arm support motion state dynamic checkout unit, it is characterised in that：
Including a fire fighting truck beam mechanism, multiple test modules and a host computer；The fire fighting truck beam mechanism includes at least one
Arm support section and a working bucket；The working bucket is located at the end of last arm support section；
The both ends of each arm support section are fixed with the test module；A test module is provided in the working bucket；
The test module is communicated to connect with the host computer；
The test module includes component, microcontroller, GPS module and the communication module of gyroscope and accelerator；The gyroscope
It is connected with component, GPS module and the communication module of accelerator by circuit board with the microcontroller.
2. a kind of elevating fire truck arm support motion state dynamic checkout unit according to claim 1, it is characterised in that：Institute
Communication module is stated as wireless communication module or wire communication module.
3. a kind of elevating fire truck arm support motion state dynamic checkout unit according to claim 1, it is characterised in that：Institute
The component of gyroscope and accelerator is stated as 3 axis gyroscopes and the component of 3 axis accelerators.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201721494187.0U CN207423262U (en) | 2017-11-10 | 2017-11-10 | A kind of elevating fire truck arm support motion state dynamic checkout unit |
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| CN201721494187.0U CN207423262U (en) | 2017-11-10 | 2017-11-10 | A kind of elevating fire truck arm support motion state dynamic checkout unit |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107727151A (en) * | 2017-11-10 | 2018-02-23 | 公安部上海消防研究所 | A kind of elevating fire truck arm support motion state dynamic checkout unit |
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2017
- 2017-11-10 CN CN201721494187.0U patent/CN207423262U/en active Active
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107727151A (en) * | 2017-11-10 | 2018-02-23 | 公安部上海消防研究所 | A kind of elevating fire truck arm support motion state dynamic checkout unit |
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