CN106829813A - A kind of walking of boom type high-altitude operation vehicle dynamic balance control device and method - Google Patents
A kind of walking of boom type high-altitude operation vehicle dynamic balance control device and method Download PDFInfo
- Publication number
- CN106829813A CN106829813A CN201710038350.0A CN201710038350A CN106829813A CN 106829813 A CN106829813 A CN 106829813A CN 201710038350 A CN201710038350 A CN 201710038350A CN 106829813 A CN106829813 A CN 106829813A
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- 238000000034 method Methods 0.000 title claims abstract description 10
- 230000005484 gravity Effects 0.000 claims description 13
- 230000005540 biological transmission Effects 0.000 claims description 6
- 230000009471 action Effects 0.000 claims description 2
- 230000005611 electricity Effects 0.000 claims 1
- 230000009194 climbing Effects 0.000 abstract description 5
- 238000012544 monitoring process Methods 0.000 abstract description 3
- 230000000694 effects Effects 0.000 abstract description 2
- 230000008859 change Effects 0.000 description 3
- 238000010586 diagram Methods 0.000 description 3
- 230000008569 process Effects 0.000 description 3
- 238000010276 construction Methods 0.000 description 2
- 238000005303 weighing Methods 0.000 description 2
- 229910000831 Steel Inorganic materials 0.000 description 1
- 230000004888 barrier function Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000008901 benefit Effects 0.000 description 1
- 230000001276 controlling effect Effects 0.000 description 1
- 230000000875 corresponding effect Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 238000005259 measurement Methods 0.000 description 1
- 239000000203 mixture Substances 0.000 description 1
- 238000004540 process dynamic Methods 0.000 description 1
- 238000011897 real-time detection Methods 0.000 description 1
- 239000010959 steel Substances 0.000 description 1
- 230000007704 transition Effects 0.000 description 1
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66F—HOISTING, LIFTING, HAULING OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD
- B66F11/00—Lifting devices specially adapted for particular uses not otherwise provided for
- B66F11/04—Lifting devices specially adapted for particular uses not otherwise provided for for movable platforms or cabins, e.g. on vehicles, permitting workmen to place themselves in any desired position for carrying out required operations
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- Engineering & Computer Science (AREA)
- Structural Engineering (AREA)
- Life Sciences & Earth Sciences (AREA)
- Geology (AREA)
- Mechanical Engineering (AREA)
- Jib Cranes (AREA)
- Forklifts And Lifting Vehicles (AREA)
Abstract
The invention discloses a kind of boom type high-altitude operation vehicle walking dynamic balance control device and method, including signal collection device, controller and regulation device, and associative operation is carried out by steps such as the collection of step relevant parameter, controller signals treatment, compensating operation and compensation reinspections；Simple structure of the present invention, effect substantially, by the real-time monitoring to vehicle chassis angle of inclination, arm support lifting angle, and lifting angle is compensated realize vehicle climbing dynamic equilibrium, improve staff security；Distinctive lifting angle is compensated to realize vehicle dynamic equilibrium, and equipment is increased without extra, does not increase cost.
Description
Technical field
The present invention relates to a kind of dynamic equilibrium control device, belong to engineering machinery field, specifically a kind of boom type high-altitude is made
Dynamic balance control device is walked by industry garage.
Background technology
Self-walking aerial working car is mainly used in the industries such as construction, steel construction, venue, work-yard when most
Surface condition is poor, and slope, hollow and barrier are more, and vehicle need often to change in operation process operating position or
Transition, therefore walking performance and stability to vehicle has requirement very high.The climbing energy of self-walking aerial working car in industry
Power is universal more than 40%, and climbing capacity is stronger, and this operating mode risk is big.
In the process of moving, when carrying out working uphill, if the gradient is larger, the change of tilting moment is very big, vehicle for vehicle
Stability be greatly reduced, it is more likely that topple, had a strong impact on the Personal Safety of staff.
The content of the invention
For the problem that above-mentioned prior art is present, the present invention provides a kind of boom type high-altitude operation vehicle walking dynamic balancing control
Device processed, can be automatically obtained the dynamic equilibrium of vehicle.
To achieve these goals, the technical solution adopted by the present invention is：A kind of boom type high-altitude operation vehicle walking is dynamic flat
Weighing apparatus control device, including signal collection device, controller and regulation device；The signal collection device is used for measurement car in real time
Part angle of inclination, and be connected with controller；The controller is used to receive the angle signal of signal collection device feedback,
And calculate the compensation rate of lifting angle, and transmission signal is to regulation device；The regulation device sends for receiving controller
Compensation rate signal and compensate work.
Further, the signal collection device includes obliquity sensor and arm support angular transducer；The inclination angle sensing
Device is fixed on vehicle chassis, for real-time measuring vehicle chassis angle of inclination, the angle measured as vehicle ramp angle；It is described
Arm support angular transducer is fixed on vehicle arm support, for real-time measuring vehicle arm support angle of inclination；The obliquity sensor with
And the angle that arm support angular transducer will be measured each is transmitted to controller.
Further, the regulation device includes lifting magnetic valve and amplitude oil cylinder；The lifting magnetic valve is used to receive
Controller signals and amplitude oil cylinder is connected to by oil circuit, making opening and closing to control by controller acts, by opening and closing
Act and then control amplitude oil cylinder to be lifted；The amplitude oil cylinder is moved by lifting the control of magnetic valve and then making lifting
Make.
A kind of boom type high-altitude operation vehicle walking dynamic balancing control method, it includes that step is as follows：
A, relevant parameter are collected：
Measuring vehicle chassis angle of inclination is distinguished by obliquity sensor and arm support angular transducer and vehicle arm support is inclined
Angle and transmission of angle signal are to controller；
B, controller signals treatment：
The signal that controller will be subject to is processed, and the angle for needing the arm support for compensating to lift is calculated according to formula
Value, and send a signal to lifting magnetic valve；
C, compensating operation：
If the compensation of arm support lifting angle need to be carried out, lifting magnetic valve is controlled by controller and then amplitude oil cylinder is made liter
Drop is acted；
D, compensation are rechecked：
While controller control regulation device carries out arm support lifting angle to be compensated, controller normally receives vehicle chassis inclination
Angle and the value at vehicle arm support angle of inclination, and then calculate whether Current vehicle center of gravity is in home, if need to also be after
It is continuous to carry out the compensation of arm support lifting angle, and compensating movement is transferred to step C or stopping compensation is dynamic to control regulation device to proceed
Make.
Further, the definition of home is in the step D：Car amount center of gravity is located between vehicle front and back wheel.
The beneficial effects of the invention are as follows：It is by the real-time monitoring to vehicle chassis angle of inclination, arm support lifting angle and right
Lifting angle compensates to realize the dynamic equilibrium of vehicle climbing, improves the security of staff；Distinctive lifting angle
Compensate to realize vehicle dynamic equilibrium, equipment is increased without extra, do not increase cost.
Brief description of the drawings
Fig. 1 is structured flowchart of the present invention；
Fig. 2 is schematic structural view of the invention；
Fig. 3 is level land schematic diagram of the present invention；
Fig. 4 is gradient schematic diagram of the present invention；
Fig. 5 is schematic diagram after Fig. 4 compensation.
In figure：101st, signal collection device, 102, regulation device, 1, obliquity sensor, 2, arm support angular transducer, 3, control
Device processed, 4, lifting magnetic valve, 5, amplitude oil cylinder.
Specific embodiment
The invention will be further described below in conjunction with the accompanying drawings.
As depicted in figs. 1 and 2, a kind of boom type high-altitude operation vehicle walking dynamic balance control device, including signal collection dress
Put 101, controller 3 and regulation device 102；The signal collection device 101 is used for real-time measuring vehicle part angle of inclination,
And it is connected with controller 3；The controller 3 is used to receive the angle signal of the feedback of signal collection device 101, and calculates act
The compensation rate of angle, and transmission signal are risen to regulation device 102；The regulation device 102 is used to receive the benefit that controller 3 sends
The amount of repaying signal simultaneously compensates work.
Further, the signal collection device 101 includes obliquity sensor 1 and arm support angular transducer 2；The inclination angle
Sensor 1 is fixed on vehicle chassis, for real-time measuring vehicle chassis angle of inclination, the angle measured as vehicle upgrade angle
Degree；The arm support angular transducer 2 is fixed on vehicle arm support, for real-time measuring vehicle arm support angle of inclination；The inclination angle
The angle value that sensor 1 and arm support angular transducer 2 will be measured is transmitted to controller 3.
Further, the regulation device 102 includes lifting magnetic valve 4 and amplitude oil cylinder 5；The lifting magnetic valve 4 is used
Amplitude oil cylinder 5 is connected in the signal for receiving controller 3 and by oil circuit, controls lifting magnetic valve 4 to make by controller 3
Opening and closing are acted, and act and then control amplitude oil cylinder 5 to be lifted by opening and closing；The amplitude oil cylinder 5 is by lifting magnetic valve 4
Control so that make lifting action.
A kind of boom type high-altitude operation vehicle walking dynamic balancing control method, it includes that step is as follows：
A, relevant parameter are collected：
Measuring vehicle chassis angle of inclination is distinguished by obliquity sensor and arm support angular transducer and vehicle arm support is inclined
Angle and transmission of angle signal are to controller；
B, controller signals treatment：
The signal that controller will be subject to is processed, and the angle for needing the arm support for compensating to lift is calculated according to formula
Value, and send a signal to lifting magnetic valve；
C, compensating operation：
If the compensation of arm support lifting angle need to be carried out, lifting magnetic valve is controlled by controller and then amplitude oil cylinder is made liter
Drop is acted；
D, compensation are rechecked：
While controller control regulation device carries out arm support lifting angle to be compensated, controller normally receives vehicle chassis inclination
Angle and the value at vehicle arm support angle of inclination, and then calculate whether Current vehicle center of gravity is in home, if need to also be after
It is continuous to carry out the compensation of arm support lifting angle, and compensating movement is transferred to step C or stopping compensation is dynamic to control regulation device to proceed
Make.
Further, the definition of home is in the step D：Car amount center of gravity is located between vehicle front and back wheel.
Operation principle of the invention is：
The chassis angle of inclination that controller 3 passes through real-time detection, the i.e. ramp angle of vehicle, controller 3 draw again by computing
During secondary realization balance, the lifting offset angle needed for arm support, and then control arm support lifting magnetic valve 4 so that execution unit arm support
Amplitude oil cylinder 5 makes corresponding actions, and the angle of adjustment arm support lifting, controller real-time judge is regulateed whether in place, final realization
The dynamic equilibrium of vehicle.
Specially：As shown in figure 3, when vehicle parking is in level ground, the 2 points of supports of composition vehicle of A, B at wheel
Face, the center of gravity of vehicle is located at C points, and gravity G is acted between 2 points of A, B, and now vehicle is in a stable state；Now arm support
It is θ relative to the lifting angle of car body；
Again as indicated at 4, when vehicle reaches the slope that an angle is α, in the case where arm support lifting angle θ is constant, center of gravity C
Equally keep constant, now the direction of center of gravity active force has exceeded B points, be no longer between 2 points of A, B, now vehicle just has
The danger toppled.
As shown in figure 5, when vehicle reaches the slope that an angle is α, now arm support is calculated automatically in control system
The angle value β of compensation is needed, the angle of arm support is increased β by controlling amplitude oil cylinder, now lifting angle is changed into θ+β；Vehicle
Center of gravity moves to reach D points with the change of arm support part center of gravity, during now the direction of center of gravity active force comes back to 2 points of A, B
Between, intact stability is recovered again.The process dynamics realization that this process is climbed in vehicle, realizes that the dynamic of vehicle is put down
Weighing apparatus.
In sum, simple structure of the present invention, effect is obvious, by vehicle chassis angle of inclination, arm support lifting angle
Real-time monitoring, and lifting angle is compensated realize vehicle climbing dynamic equilibrium, improve staff security；
Distinctive lifting angle is compensated to realize vehicle dynamic equilibrium, and equipment is increased without extra, does not increase cost.
Claims (5)
1. a kind of boom type high-altitude operation vehicle walking dynamic balance control device, it is characterised in that including signal collection device
（101）, controller（3）And regulation device（102）；The signal collection device（101）Incline for real-time measuring vehicle part
Rake angle, and and controller（3）Connection；The controller（3）For receiving signal collection device（101）The angle letter of feedback
Number, and the compensation rate of lifting angle is calculated, and transmission signal is to regulation device（102）；The regulation device（102）For connecing
Admission controller（3）The compensation rate signal that sends simultaneously compensates work.
2. a kind of boom type high-altitude operation vehicle walking dynamic balance control device according to claim 1, it is characterised in that institute
State signal collection device（101）Including obliquity sensor（1）And arm support angular transducer（2）；The obliquity sensor（1）Gu
Vehicle chassis is scheduled on, for real-time measuring vehicle chassis angle of inclination, the angle measured as vehicle ramp angle；The arm support
Angular transducer（2）It is fixed on vehicle arm support, for real-time measuring vehicle arm support angle of inclination；The obliquity sensor（1）
And arm support angular transducer（2）The angle value that will be measured is transmitted to controller（3）.
3. a kind of boom type high-altitude operation vehicle walking dynamic balance control device according to claim 1, it is characterised in that institute
State regulation device（102）Including lifting magnetic valve（4）And amplitude oil cylinder（5）；The lifting magnetic valve（4）For receiving control
Device（3）Signal and amplitude oil cylinder is connected to by oil circuit（5）, by controller（3）Control lifting magnetic valve（4）Make
Opening and closing are acted, and amplitude oil cylinder is acted and then controlled by opening and closing（5）Lifted；The amplitude oil cylinder（5）By lifting electricity
Magnet valve（4）Control so that make lifting action.
4. a kind of boom type high-altitude operation vehicle walking dynamic balancing control method, the control described in usage right requirement any one of 1-3
Device, and as follows：
A, relevant parameter are collected：
Measuring vehicle chassis angle of inclination is distinguished by obliquity sensor and arm support angular transducer and vehicle arm support is inclined
Angle and transmission of angle signal are to controller；
B, controller signals treatment：
The signal that controller will be subject to is processed, and the angle for needing the arm support for compensating to lift is calculated according to formula
Value, and send a signal to lifting magnetic valve；
C, compensating operation：
If the compensation of arm support lifting angle need to be carried out, lifting magnetic valve is controlled by controller and then amplitude oil cylinder is made liter
Drop is acted；
D, compensation are rechecked：
While controller control regulation device carries out arm support lifting angle to be compensated, controller normally receives vehicle chassis inclination
Angle and the value at vehicle arm support angle of inclination, and then calculate whether Current vehicle center of gravity is in home, if need to also be after
It is continuous to carry out the compensation of arm support lifting angle, and compensating movement is transferred to step C or stopping compensation is dynamic to control regulation device to proceed
Make.
5. a kind of boom type high-altitude operation vehicle walking dynamic balancing control method according to claim 4, it is characterised in that institute
The definition for stating home in step D is：Car amount center of gravity is located between vehicle front and back wheel.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710038350.0A CN106829813A (en) | 2017-01-19 | 2017-01-19 | A kind of walking of boom type high-altitude operation vehicle dynamic balance control device and method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710038350.0A CN106829813A (en) | 2017-01-19 | 2017-01-19 | A kind of walking of boom type high-altitude operation vehicle dynamic balance control device and method |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN106829813A true CN106829813A (en) | 2017-06-13 |
Family
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710038350.0A Pending CN106829813A (en) | 2017-01-19 | 2017-01-19 | A kind of walking of boom type high-altitude operation vehicle dynamic balance control device and method |
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Cited By (12)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109333499A (en) * | 2018-10-23 | 2019-02-15 | 航天科工智能机器人有限责任公司 | Dangerous ammunition transfer robot |
| CN109826908A (en) * | 2018-12-31 | 2019-05-31 | 武汉理工大学 | High-altitude operation vehicle counterweight determines method and determining device |
| CN110155891A (en) * | 2019-06-28 | 2019-08-23 | 徐工集团工程机械股份有限公司建设机械分公司 | Lifting equipment |
| CN110640726A (en) * | 2019-11-06 | 2020-01-03 | 北京京金吾高科技股份有限公司 | Robot |
| CN111017839A (en) * | 2020-01-02 | 2020-04-17 | 湖南星邦智能装备股份有限公司 | Driving control method, controller, control system and overhead working truck |
| CN111559209A (en) * | 2020-05-18 | 2020-08-21 | 中国重汽集团济南动力有限公司 | Traction seat height control system and method and tractor |
| CN111571557A (en) * | 2020-05-25 | 2020-08-25 | 必飞科技(佛山)有限公司 | Balancing device on traveling mechanism |
| CN113733040A (en) * | 2021-09-14 | 2021-12-03 | 广东博智林机器人有限公司 | Safety monitoring method and device for working robot and working robot |
| CN113821060A (en) * | 2021-08-17 | 2021-12-21 | 湖南中联重科智能高空作业机械有限公司 | Leveling device and load control device for aerial work platform |
| CN113880015A (en) * | 2021-09-02 | 2022-01-04 | 潍柴动力股份有限公司 | Aerial work platform control method and device, electronic equipment and storage medium |
| CN114906752A (en) * | 2021-02-09 | 2022-08-16 | 广东博智林机器人有限公司 | Mobile device and control method for controlling movement of mobile device |
| CN118439547A (en) * | 2024-07-08 | 2024-08-06 | 临工重机股份有限公司 | Safety operation control method for telescopic boom forklift and telescopic boom forklift |
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| CN109826908A (en) * | 2018-12-31 | 2019-05-31 | 武汉理工大学 | High-altitude operation vehicle counterweight determines method and determining device |
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| CN111559209B (en) * | 2020-05-18 | 2021-07-20 | 中国重汽集团济南动力有限公司 | A traction seat height control system, method and tractor |
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| CN113821060A (en) * | 2021-08-17 | 2021-12-21 | 湖南中联重科智能高空作业机械有限公司 | Leveling device and load control device for aerial work platform |
| CN113821060B (en) * | 2021-08-17 | 2024-01-05 | 湖南中联重科智能高空作业机械有限公司 | Leveling device and load control device for aerial working platform |
| CN113880015A (en) * | 2021-09-02 | 2022-01-04 | 潍柴动力股份有限公司 | Aerial work platform control method and device, electronic equipment and storage medium |
| CN113733040A (en) * | 2021-09-14 | 2021-12-03 | 广东博智林机器人有限公司 | Safety monitoring method and device for working robot and working robot |
| CN118439547A (en) * | 2024-07-08 | 2024-08-06 | 临工重机股份有限公司 | Safety operation control method for telescopic boom forklift and telescopic boom forklift |
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