CN206384792U - Can volitional check slewing angle of platform slewing equipment - Google Patents
Can volitional check slewing angle of platform slewing equipment Download PDFInfo
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- CN206384792U CN206384792U CN201621401063.9U CN201621401063U CN206384792U CN 206384792 U CN206384792 U CN 206384792U CN 201621401063 U CN201621401063 U CN 201621401063U CN 206384792 U CN206384792 U CN 206384792U
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Abstract
The utility model discloses it is a kind of can volitional check slewing angle of platform slewing equipment, slewing equipment include slew gear and bracket；The center of the top installing plate of bracket is provided with socket on the anglec of rotation detection bearing pin stretched to inside inner ring, anglec of rotation detection bearing pin and is movably installed with revolving push plank；The arc-shaped limit plate I stretched to inside inner ring is additionally provided with the top installing plate of bracket, arc-shaped limit plate I is arranged concentrically with anglec of rotation detection bearing pin；Link bottom installing plate of cranking arm is provided with the arc-shaped limit plate II stretched to inside inner ring, and arc-shaped limit plate II is arranged concentrically with anglec of rotation detection bearing pin.Originally can volitional check slewing angle of platform slewing equipment can not only be effectively increased workbench angle of revolution, improve work high above the ground convenience and flexibility, and automatic decision safe action can be realized, and then prevent dangerous further diffusion, the stability for ensureing vehicle, the security of increase operation caused by maloperation.
Description
Technical field
The utility model is related to a kind of operation platform rotating device of high altitude operation car, and specifically one kind can volitional check work
The slewing equipment of platform angle of revolution, belongs to high-altitude operation vehicle technical field.
Background technology
High-altitude operation vehicle is that the equipment transported staff and be pointed to high-altitude using equipment to high-altitude is installed, tieed up
Shield, the special vehicle of cleaning, with transaction capabilities are good, operation with traditional operating type such as scaffolding, ladder compared with
The advantages of efficiency high, job safety, it is now widely used for the infrastructure industry such as electric power, traffic, petrochemical industry, communication, gardens.
Current high-altitude operation vehicle is generally divided into three classes by arm support type：Aerial work platform truck with foldable arm, telescopic boom high-altitude
Operation Van and the mixing arm form high-altitude operation vehicle being made up of telescopic arm and cranking arm, three class high-altitude operation vehicles are by installed in arm
The aerial work platforms of frame end carry out work high above the ground；The effective operation scope of high-altitude operation vehicle is the important finger of high-altitude operation vehicle
Mark, the job area of high-altitude operation vehicle depends primarily on the length of arm support and the angle of revolution of work, a wide range of during working condition
Revolution the revolution of arm support is generally carried out by the driving of the pivoting support of arm support bottom, and be the flexibility for improving operation, as
The aerial work platforms of work high above the ground arrying main body are generally connected by slewing equipment with arm support tail end, i.e. aerial work platforms
Can be turned round, and in the case where arm support length is certain, slewing angle of platform for work high above the ground working range,
The flexibility of work high above the ground and work high above the ground efficiency suffer from particularly important meaning.
What existing workbench slewing equipment was generally turned round using oscillating motor or hydraulic motor as workbench
Executing agency, the weak point of this traditional revolving structure arrangement form is that angle of revolution is less than 180 °, workbench revolution
The scope of operation is limited；Using hydraulic control, its exposed fluid pressure line not only influences attractive in appearance, and because would generally be molten in hydraulic oil
Solution has in a small amount of air, control workbench turning course can cause air precipitation in turn result in punching under the conditions of certain temperature
Hit, so as to influence the comfortableness of operation；Meanwhile, this traditional revolving structure arrangement form sets angle of revolution synchronously detection dress
Put more difficult, the flexible stroke or oscillating stroke being typically only capable to by the use of oil cylinder are spacing as angle of revolution.
In addition, particular for aerial work platform truck with foldable arm, to ensure the usual folding arm-type high-altitude operation of whole vehicle stability
The higher limited amplitude protection device of safety coefficient is equipped with car, that is, limits the amplitude of each folding arm expansion, but due to foldable arm
The special construction of high-altitude operation vehicle, causes folding arm to fold arm and work in different change angles and slewing angle of platform
The action of platform equally is sometimes safe action, is sometimes dangerous play, is particularly across obstacle under complex working condition
Or avoidance barrier often needs to carry out to cross over the super width operation of amplitude limit in the range of the ultimate factor of safety to realize the anti-of workbench
Hit, typically operating personnel rule of thumb carry out super width across obstacle on workbench or avoid the luffing of barrier operation
Angle and slewing angle of platform control action, this only relies on the operating experience progress safe action by means of operating personnel in the presence of safety
Hidden danger, can cause dangerous further diffusion even car body to be tumbled, mesh if operating personnel are not yet done to field working conditions or Operation Van's operation
The solution of preceding use is the everything for directly forbidding getting on the bus, and by the safe operating mode of emergency recovery, but this causes operation to become
More complicated, difficulty.
The content of the invention
In view of the above-mentioned problems, the utility model provide it is a kind of can volitional check slewing angle of platform slewing equipment,
The angle of revolution that workbench can not only be effectively increased, the job area for increasing workbench, the convenience of raising work high above the ground
Property and flexibility, and can realize and carry out angle initialization and adjustment according to actual needs, while can realize that automatic decision is pacified
It is complete to act, and then prevent dangerous further diffusion, the stability for ensureing vehicle, the security of increase operation caused by maloperation.
To achieve the above object, originally can volitional check slewing angle of platform slewing equipment be arranged on high-altitude operation vehicle
Workbench and between cranking arm, high-altitude operation vehicle also includes bodywork assembly, hydraulic leg, arm support assembly, controller, supporting leg branch
Counter-force detection switch sensor, oil passage change-over valve, arm support action control hydraulic valve bank, jib angle sensor, arm support assembly are returned
Angle of revolution sensor；Platform range sensor is additionally provided with workbench, more than one piece platform range sensor is at least separately mounted to
Front portion, bottom, four positions of left part and right part of workbench；Described arm support assembly angle of revolution sensor is arranged on described
Bodywork assembly turntable on；Described arm support assembly includes multiple joint arms, described jib angle number of sensors and joint arm
Quantity coordinate and be separately mounted to it is every section section arm on；Described arm support action control hydraulic valve bank is arranged on described car body
On the turntable of assembly；Described oil passage change-over valve is arranged on described bodywork assembly；Described supporting leg support reaction detection switch
Sensor is respectively arranged on four hydraulic legs；Described controller is arranged on the turntable of described bodywork assembly, control
Device is fed back to including supporting leg support reaction measure loop, oil circuit switching control loop, limited amplitude protection backfeed loop, workbench anticollision
Road, jib angle data-acquisition loop, inclination data multilevel iudge loop and the super width control loop of arm support, controller respectively with arm
Frame assembly angle of revolution sensor, jib angle sensor, platform range sensor, arm support action control hydraulic valve bank, oil circuit
Switching valve and the electrical connection of supporting leg support reaction detection switch sensor, controller are electrically connected with vehicle-mounted limited amplitude protection device, controller
Electrically connected with the turntable driving of bodywork assembly；
Originally can volitional check slewing angle of platform slewing equipment include slew gear and bracket；Slew gear includes
Inner ring, outer ring and revolution driving, inner ring and outer ring socket, which coordinate, installs, and revolution driving is fixedly mounted on outer ring and turns round drive
Dynamic drive shaft is connected by bindiny mechanism and inner ring；Bracket is fixedly mounted by the top installing plate on its top with inner ring,
And the center of the top installing plate in correspondence inner ring axle center is provided with being fixedly connected with installing plate, axial along inner ring on bracket
It is socketed and is movably installed with anglec of rotation detection bearing pin that direction is set, stretching to inside inner ring, anglec of rotation detection bearing pin
The revolving push plank that radially direction is set；It is additionally provided with the top installing plate of bracket and is secured to that connection, protrusion top peace are installed
Dress plate top surface and the arc-shaped limit plate I stretched to inside inner ring, arc-shaped limit plate I detect that bearing pin is concentric with the anglec of rotation and set
Put；
The link of cranking arm being connected with cranking arm is fixedly mounted by the bottom installing plate of its bottom with outer ring to be connected, connection of cranking arm
It is additionally provided with the installing plate of frame bottom and is secured to that connect, protrusion bottom installing plate basal surface and the arc stretched to inside inner ring are installed
Limiting plate II, arc-shaped limit plate II is arranged concentrically with anglec of rotation detection bearing pin；The lower surface of arc-shaped limit plate II is limited with arc
Provided with gap between the upper surface of position plate I, the distance between revolving push plank baseplane distance bracket top installing plate top surface size is small
In arc-shaped limit plate I along the anglec of rotation detect bearing pin axial direction on thickness, revolving push plank top plane separation link bottom
The distance between installing plate basal surface size is less than arc-shaped limit plate II along the thickness on anglec of rotation detection bearing pin axial direction
Size, and the arc radius size of arc-shaped limit plate I and arc-shaped limit plate II is respectively less than revolving push plank along anglec of rotation test pin
Length dimension on Axial and radial direction；The center on corresponding rotation angle detection bearing pin top is set up on the installing plate of link bottom
Slewing angle of platform sensor, rotation bottom and the anglec of rotation test pin of slewing angle of platform sensor are installed
Axle top is fixedly connected；
Revolution driving and slewing angle of platform sensor are electrically connected with described controller respectively, and controller also includes
Slewing angle of platform acquisition circuit, slewing angle of platform data multilevel iudge loop.
As further improvement of the utility model scheme, described arc-shaped limit plate I and arc-shaped limit plate II relative to
Anglec of rotation detection bearing pin homonymy direction is set.
As further improvement of the utility model scheme, described arc-shaped limit plate I and the arc of arc-shaped limit plate II
Central angle is respectively less than 180 °.
As further improvement of the utility model scheme, described jib angle sensor and slewing angle of platform
Sensor is electrically connected with the controller by CAN.
Compared with prior art, originally can volitional check slewing angle of platform slewing equipment high-altitude operation vehicle occur
During amplitude limit, the operating mode that controller combines at that time is sensed by angle signal, slewing angle of platform to every section section arm collection
The angle signal of device collection is compared calculating with parameter preset, judges the safe action that often section section arm and workbench can be carried out, together
When forbid dangerous play, in the case where not cutting off action of getting on the bus, realize automatic decision safe action, continue Operation Van's work；
If occurring platform Anti-bumping protection during work, controller be able to will hinder after the specific direction platform range sensor action of reading platform
Object space position is hindered to be compared meter with pre-setting anticollision parameter group with reference to arm support angle at that time, slewing angle of platform
Calculate, in combination with the pressure value of supporting leg support reaction detection switch sensor feedback, so that it is remote to judge that workbench can be carried out
From the safe action of rammer, forbid dangerous play, controller can be without operating personnel's experience and situation about artificially judging
Under realize volitional check revolution amplitude or platform Anti-bumping protection, safe and reliable, automaticity is high, caused by can preventing maloperation
Dangerous further diffusion, the stability for ensureing vehicle.
Brief description of the drawings
Fig. 1 is the structural representation for being provided with high-altitude operation vehicle of the present utility model；
Fig. 2 is structural representation of the present utility model；
Fig. 3 is the three dimensional structure diagram of the utility model bracket portion；
Fig. 4 is that the utility model is cranked arm the three dimensional structure diagram of part.
In figure：1st, controller, 2, supporting leg support reaction detection switch sensor, 3, oil passage change-over valve, 4, arm support action control
Hydraulic valve bank, 5, workbench, 51, platform range sensor, 6, jib angle sensor, 6A, a joint arm obliquity sensor,
6B, two joint arm obliquity sensors, 6C, obliquity sensor of cranking arm, 7, arm support assembly angle of revolution sensor, R, operation amplitude, 8,
Can volitional check slewing angle of platform slewing equipment, 81, slew gear, 811, inner ring, 812, outer ring, 813, work it is flat
Platform revolution driving, 82, bracket, 821, anglec of rotation detection bearing pin, 822, revolving push plank, 823, arc-shaped limit plate I, 9, crank arm,
91st, crank arm link, 911, arc-shaped limit plate II, 912, slewing angle of platform sensor.
Embodiment
The utility model is described further below in conjunction with the accompanying drawings (below with workbench 5 and the direction for 9 installations of cranking arm
Described for rear).
As shown in figure 1, originally can volitional check slewing angle of platform slewing equipment 8 be arranged on high-altitude operation vehicle work
Make platform 5 and crank arm between 9；High-altitude operation vehicle also includes bodywork assembly, hydraulic leg, arm support assembly, controller 1, supporting leg branch
Counter-force detection switch sensor 2, oil passage change-over valve 3, arm support action control hydraulic valve bank 4, jib angle sensor 6, arm support are total
Into angle of revolution sensor 7, platform range sensor 51 is additionally provided with workbench 5.
Described arm support assembly angle of revolution sensor 7 is arranged on the turntable of described bodywork assembly, for detection arm
The angle of revolution of frame assembly.
Described arm support assembly includes multiple joint arms, the quantity of the described quantity of jib angle sensor 6 and joint arm coordinates,
And be separately mounted on every section section arm, for detecting the inclination angle of often section section arm.
Described workbench 5 is filled by the revolution of self-level(l)ing device and Ben Ke volitional check slewing angle of platform
The cranking arm on 9 of the 8 minor details joint arms for being arranged on arm support assembly is put, described platform range sensor 51 is set to more than one piece, and more than one piece is put down
Platform range sensor 51 is at least separately mounted to the front portion, bottom, four positions of left part and right part of workbench 5, for detecting
The distance between workbench 5 and barrier.
Described arm support action control hydraulic valve bank 4 is arranged on the turntable of described bodywork assembly, for controlling each section
The action of arm.
Described oil passage change-over valve 3 is arranged on described bodywork assembly, for the oil circuit for controlling to get off and getting on the bus.
Described supporting leg support reaction detection switch sensor 2 is respectively arranged on four hydraulic legs, for detecting respectively
Whether four hydraulic legs, which land, is supportted real and feedback pressure numerical value.
Described controller 1 is arranged on the turntable of described bodywork assembly, is passed for gathering arm support assembly angle of revolution
Sensor 7, jib angle sensor 6, platform range sensor 51 and supporting leg support reaction detection switch sensor 2 feedback signal simultaneously
Arm support action control hydraulic valve bank 4 is controlled, controller 1 includes supporting leg support reaction measure loop, oil circuit switching control loop, amplitude limit
Protect backfeed loop, workbench anticollision backfeed loop, jib angle data-acquisition loop, inclination data multilevel iudge loop and
The super width control loop of arm support, controller 1 respectively with arm support assembly angle of revolution sensor 7, jib angle sensor 6, platform away from
It is electrically connected from sensor 51, arm support action control hydraulic valve bank 4, oil passage change-over valve 3 and supporting leg support reaction detection switch sensor 2
Connect, controller 1 is electrically connected with vehicle-mounted limited amplitude protection device, controller 1 is electrically connected with the turntable driving of bodywork assembly.
As shown in Fig. 2 originally can volitional check slewing angle of platform slewing equipment 8 include slew gear 81 and bracket
82；Slew gear 81 includes inner ring 811, outer ring 812 and workbench revolution driving 813, and inner ring 811 and the socket of outer ring 812 are matched somebody with somebody
Close and install, workbench revolution driving 813 is fixedly mounted on outer ring 812 and the drive shaft of workbench revolution driving 813 is led to
Cross bindiny mechanism to be connected with inner ring 811, workbench revolution driving 813 can drive inner ring 811 coaxial relative to outer ring 812
Rotation；Bracket 82 is fixedly mounted by the top installing plate on its top with inner ring 811, and correspondence inner ring 811 axle center on bracket 82
Top installing plate center be provided be fixedly connected with installing plate, along the axial direction of inner ring 811 set, stretch to inner ring
Anglec of rotation detection bearing pin 821 inside 811, as shown in figure 3, socket is movably installed with edge on anglec of rotation detection bearing pin 821
The revolving push plank 822 that its radial direction is set, revolving push plank 822 can detect that the axle center of bearing pin 821 is rotated freely along the anglec of rotation；
It is additionally provided with the top installing plate of bracket 82 and is secured to that connect, protrusion top installing plate top surface is installed and stretches to inner ring 811
Internal arc-shaped limit plate I 823, arc-shaped limit plate I 823 is arranged concentrically with anglec of rotation detection bearing pin 821.
It is fixedly mounted and is connected with outer ring 812 by the bottom installing plate of its bottom with 9 links 91 of cranking arm being connected of cranking arm, such as
Shown in Fig. 4, it is additionally provided with the bottom installing plate of link 91 of cranking arm and is secured to that connect, protrusion bottom installing plate basal surface is installed and stretches
Enter to the arc-shaped limit plate II 911 inside inner ring 811, arc-shaped limit plate II 911 detects that bearing pin 821 is concentric with the anglec of rotation and set
Put；Gap, the bottom of revolving push plank 822 are provided between the lower surface of arc-shaped limit plate II 911 and the upper surface of arc-shaped limit plate I 823
The distance between the top of plane distance bracket 82 installing plate top surface size is less than arc-shaped limit plate I 823 and detects bearing pin along the anglec of rotation
The distance between thickness, the bottom installing plate basal surface of the top of revolving push plank 822 plane separation link 91 on 821 axial directions chi
The very little thickness detected less than arc-shaped limit plate II 911 along the anglec of rotation on the axial direction of bearing pin 821, and arc-shaped limit plate I
823 and the arc radius size of arc-shaped limit plate II 911 be respectively less than revolving push plank 822 and detect bearing pin 821 radially along the anglec of rotation
Length dimension on direction, i.e. revolving push plank 822 can both touch arc when detecting 821 central rotation of bearing pin along the anglec of rotation and limit
Position and can touch arc-shaped limit plate II 911 at plate I 823；Corresponding rotation angle detection bearing pin 821 is pushed up on the bottom installing plate of link 91
The center at end sets up and is provided with slewing angle of platform sensor 912, the rotation of slewing angle of platform sensor 912
Turn bottom to be fixedly connected with anglec of rotation detection bearing pin 821 top.
Workbench revolution driving 813 and slewing angle of platform sensor 912 are electrically connected with described controller 1 respectively
Connect, controller 1 also includes slewing angle of platform acquisition circuit, slewing angle of platform data multilevel iudge loop.
Workbench 5 can be by controlling the rotating of workbench revolution driving 813 to realize control inner ring in working condition
811 rotate relative to the coaxial both forward and reverse directions in outer ring 812, drive the coaxial rotating of bracket 82 to realize work in the rotary course of inner ring 811
Platform 5 turns round the change of operating angle, drive in the rotary course of bracket 82 anglec of rotation detection coaxial rotating of bearing pin 821 and then
The rotation bottom coaxial rotating of slewing angle of platform sensor 912 is driven to realize the detection of the angle of revolution of workbench 5；When
Bracket 82, which is rotated to the curved end of set angle, arc-shaped limit plate I 823, touches the continuation rotation of the tail-bracket 82 of revolving push plank 822
Turn, then arc-shaped limit plate I 823 promotes revolving push plank 822 to continue coaxial rotating, make when bracket 82 continues to rotate to set angle
When revolving push plank 822 touches the arc positioning end face of arc-shaped limit plate II 911, revolving push plank 822 is i.e. by arc-shaped limit plate II
911 positioning can not continue rotation, now workbench 5 be positioned at the limit anglec of rotation position so that realize programme-control and
The purpose of mechanical double limitation.
As shown in figure 1, be provided with originally can the high-altitude operation vehicle of slewing equipment of volitional check slewing angle of platform exist
In use, this high-altitude operation vehicle that automatic amplitude limit can be achieved first is rested in into Work places appropriate location, hydraulic pressure branch is then controlled
Leg is stretched out and is supported in ground, oil circuit switching control loop starts, and controller 1 is passed to supporting leg support reaction detection switch first
Sensor 2 is detected that, if at least one supporting leg support reaction detection switch sensor 2 is not acted, controller 1 controls oil
Road switching valve 3 makes oil circuit be maintained at carry out drive-through operation of getting off；When all supporting leg support reaction detection switch sensors 2 have been moved
Make and feed back to pressure signal after controller 1, controller 1 thinks that four vertical leg supports are real, and the control oil circuit of controller 1 is cut
Change valve 3 and switch to oil circuit and get on the bus, it is allowed to which progress is got on the bus operation.
Then arm support assembly and workbench 5 carry out expansion action, limited amplitude protection backfeed loop, workbench anticollision feedback
Loop and slewing angle of platform acquisition circuit are started working, vehicle-mounted once there is limited amplitude protection during each joint arm expansion
Limited amplitude protection device is to feed back to controller 1, and jib angle data-acquisition loop is started working, and controller 1 divides in real time
The angle-data information for not reading the feedback of the jib angle sensor 6 in each joint arm carries out data acquisition and stored；
Once during the turnover expansion of each joint arm the front of the Real-time Feedback workbench of platform range sensor 51 and/or under
There is barrier in side and/or left or right, controller 1 reads arm support assembly angle of revolution sensor 7, each section respectively in real time
The angle-data information that jib angle sensor 6 on arm feeds back carries out data acquisition and stored；
Operating personnel on workbench 5 by control originally can volitional check slewing angle of platform slewing equipment 8
Control the angle that read work platform angle of revolution sensor 912 feeds back in real time simultaneously of controller 1 during the revolution of workbench 5
Degrees of data information carries out data acquisition and stored.
Jib angle data-acquisition loop and slewing angle of platform data multilevel iudge loop starts, controller
The 1 angle-data information for feeding back real-time each jib angle sensor 6 and slewing angle of platform sensor 912 with it is preset
Each jib angle sensor 6 of setting and the reference value information of slewing angle of platform sensor 912 carry out diversity ratio respectively
Compared with, and the change width direction of each joint arm safe action of safe action programmed decision according to comparative result and preset setting；
Controller 1 according to the direction of the feedback and judge arm support assembly safe action of platform range sensor 51, if platform away from
From sensor 51 feed back barrier be located at workbench left or right when, controller 1 judge bodywork assembly turntable and
The direction of rotation of the safe action of workbench revolution driving 813；If it is flat positioned at work that platform range sensor 51 feeds back barrier
When the front or lower section of platform, angle-data information and preset setting that controller 1 feeds back real-time each jib angle sensor 6
Security parameter group information carry out comparison in difference one by one, it is and each according to the safe action programmed decision of comparative result and preset setting
The change width direction of joint arm safe action；
The pressure value that controller 1 feeds back according to supporting leg support reaction detection switch sensor 2 judges that the safety of workbench 5 is dynamic
The direction of work, if the pressure value of some supporting leg support reaction detection switch sensor 2 feedback is examined more than other supporting leg support reactions
During the pressure value that slowdown monitoring switch sensor 2 feeds back, controller 1 then returns real-time each jib angle sensor 6 and workbench
The angle-data information that angle of revolution sensor 912 is fed back and the security parameter group information of preset setting carry out comparison in difference one by one,
And according to comparative result and the turntable and workbench revolution driving 813 of the safe action programmed decision bodywork assembly of preset setting
The direction of rotation of safe action is away from the direction of this side leg.
Then controller 1 is acted according to each joint arm of judgement and the luffing direction controlling arm support of the safe action of workbench 5
Control hydraulic valve bank 4 closes non-security action and becomes the valve road of width direction, allows to open the valve road that safe action becomes width direction, even if
The input of non-security action and output failure, operating personnel had both made maloperation or will not responded, it is ensured that each joint arm will not be after
It is continuous to be moved again to dangerous direction, it may only be acted to safe direction；
If the feedback barrier of platform range sensor 51 is located at the left or right of workbench, the basis of controller 1
The turntable of the bodywork assembly of judgement and/or the direction of rotation of the safe action of workbench revolution driving 813 control bodywork assembly
Turntable drives and/or workbench revolution driving 813 closes the valve road of non-security action direction of rotation, allow to open safe action
The valve road of direction of rotation, operating personnel had both made maloperation or will not responded, it is ensured that arm support assembly will not continue to again to danger
Direction rotates, and may only be rotated to safe direction；
If the feedback barrier of platform range sensor 51 is located at the front or lower section of workbench, the basis of controller 1
The luffing direction controlling arm support action control hydraulic valve bank 4 of each folding arm safe action judged closes non-security action luffing side
To valve road, allow to open the valve road that safe action becomes width direction, operating personnel had both made maloperation or will not respond, it is ensured that
Fold arm to will not continue to move to dangerous direction again, may only be acted to safe direction.
In order to realize the large-angle slewing of workbench 5, as further improvement of the utility model scheme, as shown in Fig. 2
Described arc-shaped limit plate I 823 and arc-shaped limit plate II 911 is set relative to anglec of rotation detection bearing pin 821 homonymy direction.
In order to further realize more than 180 ° angle rotaries of workbench 5, further improvement of the utility model is used as
Scheme, as shown in Figure 3, Figure 4, described arc-shaped limit plate I 823 and the arc central angle of arc-shaped limit plate II 911 are respectively less than
180°。
Because CAN has higher Performance And Reliability, therefore as further improvement of the utility model scheme,
Described jib angle sensor 6 and slewing angle of platform sensor 912 is electrically connected by CAN with controller 1.
In order to solve the problems, such as control cable, with the gyration of workbench 5, the winding produced and external control cable be not
The problem of attractive in appearance, easy damaged, as further improvement of the utility model scheme, it is described crank arm link 91 and bracket 82 it is equal
It is hollow structure, control cable is arranged in the hollow structure of crank arm link 91 and bracket 82.
So that two joint arms fold arm high-altitude operation vehicle as an example, express for convenience, jib angle sensor 6 is separately marked into
One joint arm jib angle sensor 6A, two joint arm jib angle sensor 6B, crank arm jib angle sensor 6C.
Once there is limited amplitude protection in operating process of getting on the bus, controller 1 can read joint arm jib angle sensing respectively
Device 6A, two joint arm jib angle sensor 6B, crank arm jib angle sensor 6C and slewing angle of platform sensor 912
Data, and with the joint arm jib angle sensor 6A, the two joint arm jib angle sensors that are pre-set in the program of controller 1
6B, crank arm jib angle sensor 6C and slewing angle of platform sensor 912 reference angle value progress comparison in difference, root
Judge the safety operation that often section section arm can be carried out according to fiducial value, and make the input and output failure of non-security action, it is allowed to safety
The input and output of action.
Amplitude limit under working condition as shown in Figure 1, first controller 1 are by reading be separately mounted on every section section arm one
Joint arm jib angle sensor 6A, two joint arm jib angle sensor 6B, crank arm jib angle sensor 6C and workbench time
The angle value of angle of revolution sensor 912, by a joint arm jib angle sensor 6A, two joint arm arm supports now in controller 1
Obliquity sensor 6B, crank arm jib angle sensor 6C and slewing angle of platform sensor 912 angle value and controller 1
Interior joint arm jib angle sensor 6A set in advance, two joint arm jib angle sensor 6B, jib angle sensor of cranking arm
6C and the reference value of slewing angle of platform sensor 912 carry out comparison in difference respectively, and now two section is understood according to comparative result
Working arm progress luffing rises, the action fallen with a section working arm progress luffing job of cranking arm is the operation half of reduction workbench
Footpath, the safe action for reducing operation amplitude；So controller 1 forbids arm support action control hydraulic valve bank 4 simultaneously in this case
To two section working arm luffings fall, crank arm and one section working arm luffing work action output, but allow two section working arms progress
Luffing rises, crank arm carries out the action output that luffing work falls with a section working arm, therefore operator both can be achieved maloperation sheet
The high-altitude operation vehicle of automatic amplitude limit will not also be responded, thus ensure each folding arm will not continue to move to dangerous direction again, can only
Moved to safe direction.
If platform Anti-bumping protection rather than limited amplitude protection, platform range sensor 51 can be in the one end for barrier occur
It is signaled to controller 1, the pressure value peace that controller 1 feeds back according to supporting leg support reaction detection switch sensor 2 simultaneously
The signal travel direction that platform range sensor 51 is sent judges, it is first determined barrier is located at which direction of workbench, such as
Fruit barrier appears in platform sinistral or right side, and now controller 1 only needs to forbid arm support action control hydraulic valve bank 4 to export a left side
Right-hand rotation is acted；If barrier is in the front or lower section of workbench, controller 1 will be according to the tool of barrier
Body direction combines jib angle sensor 6 and the angle value of slewing angle of platform sensor 912 now per joint arm frame, with
The security parameter group of setting compares simultaneously one by one in controller 1 in advance, further determines that the safe action that can be carried out, and passes through limitation
Protection is realized in the action of arm support action control hydraulic valve bank 4 and workbench revolution driving 813.
There is barrier below workbench as shown in Figure 1, controller 1, which will be read, is now respectively arranged in every section work
A joint arm jib angle sensor 6A, two joint arm jib angle sensor 6B on arm, crank arm jib angle sensor 6C and work
Make the angle value of platform angle of revolution sensor 912, and will be with upper angle with going out in controller below platform set in advance
The reference value that working arm angle is often saved during existing barrier carries out comparison in difference, understands now to crank arm and two section works by comparing to calculate
It is that can lift the safe action of workbench operation height to make arm luffing with a joint arm luffing to fall, therefore now controller 1
Forbid arm support action control hydraulic valve bank 4 to export to crank arm with two actions that section working arm luffing falls, a joint arm luffing rises to prevent
Workbench continues to fall to be bumped against with barrier, is driven while allowing arm support action control hydraulic valve bank 4 to export bodywork assembly turntable
Revolution, the actions fallen with two section working arm luffings, a joint arm luffing of cranking arm are moved to lift workbench away from barrier to protect
Demonstrate,prove workbench safety；If barrier occurs in workbench front portion, controller 1, which will now be read, is respectively arranged in every section work
A joint arm jib angle sensor 6A, two joint arm jib angle sensor 6B on arm, the angle for the jib angle sensor 6C that cranks arm
Angle value, and the ginseng of working arm angle is often saved during by with upper angle with there is barrier before platform set in advance in controller 1
Examine value and carry out comparison in difference, fall that to be risen with two joint arm luffings be energy with a section working arm luffing by comparing to calculate to understand now to crank arm
Enough make what workbench operation was moved in the reverse direction, therefore now controller 1 forbids arm support action control hydraulic valve bank 4 to export
Crank arm and an action that section working arm luffing rises and two joint arm luffings fall, while allowing arm support action control hydraulic valve bank 4 to export
The driving of bodywork assembly turntable is turned round, cranks arm with an action that section working arm luffing falls, two joint arm luffings rise to prevent workbench
Bump against with barrier；By that analogy when there is workbench collision-proof alarm, controller 1 can be according to alarm direction volitional check folding
Fold the dangerous play of arm, allow the safe action of folding arm, operator both makes maloperation occur, and Operation Van will not also ring
Should, so as to accomplish in platform anticollision, meanwhile, the situation for both having made operating personnel not have experience without the everything that stops getting on the bus
Under play a protective role.
Originally can volitional check slewing angle of platform slewing equipment when there is amplitude limit in high-altitude operation vehicle, controller 1
Pass through the angle signal gathered to every section section arm, the angle of the collection of slewing angle of platform sensor 912 with reference to operating mode at that time
Degree signal is compared calculating with parameter preset, the safe action that often section section arm and workbench 5 can be carried out is judged, while forbidding danger
Action, in the case where not cutting off action of getting on the bus, realizes automatic decision safe action, continues Operation Van's work；If during work
There is platform Anti-bumping protection, controller 1 can be after the specific direction platform range sensor 51 of reading platform be acted by obstacle object space
Position is compared calculating with reference to arm support angle at that time, slewing angle of platform with pre-setting anticollision parameter group, simultaneously
The pressure value fed back with reference to supporting leg support reaction detection switch sensor 2, so as to judge the remote shock that workbench 5 can be carried out
The safe action of thing, forbids dangerous play, and controller 1 can be realized in the case of without operating personnel's experience and artificial judgement
Amplitude or platform Anti-bumping protection are turned round in volitional check, and safe and reliable, automaticity is high, and danger is entered caused by can preventing maloperation
The diffusion of one step, the stability for ensureing vehicle.
Claims (4)
1. it is a kind of can volitional check slewing angle of platform slewing equipment (8), installed in the workbench of high-altitude operation vehicle
(5) and crank arm between (9), high-altitude operation vehicle also includes bodywork assembly, hydraulic leg, arm support assembly, controller (1), supporting leg branch
Counter-force detection switch sensor (2), oil passage change-over valve (3), arm support action control hydraulic valve bank (4), jib angle sensor
(6) platform range sensor (51), more than one piece platform are additionally provided with, arm support assembly angle of revolution sensor (7), workbench (5)
Range sensor (51) is at least separately mounted to the front portion, bottom, four positions of left part and right part of workbench (5)；Described
Arm support assembly angle of revolution sensor (7) is arranged on the turntable of described bodywork assembly；Described arm support assembly includes multiple
Joint arm, described jib angle sensor (6) quantity and the quantity of joint arm coordinate and are separately mounted on every section section arm；It is described
Arm support action control hydraulic valve bank (4) be arranged on described bodywork assembly turntable on；Described oil passage change-over valve (3) is installed
On described bodywork assembly；Described supporting leg support reaction detection switch sensor (2) is respectively arranged on four hydraulic legs；
Described controller (1) be arranged on described bodywork assembly turntable on, controller (1) include supporting leg support reaction measure loop,
Oil circuit switching control loop, limited amplitude protection backfeed loop, workbench anticollision backfeed loop, jib angle data-acquisition loop,
Inclination data multilevel iudge loop and the super width control loop of arm support, controller (1) respectively with arm support assembly angle of revolution sensor
(7), jib angle sensor (6), platform range sensor (51), arm support action control hydraulic valve bank (4), oil passage change-over valve
(3) electrically connect, controller (1) is electrically connected with vehicle-mounted limited amplitude protection device, control with supporting leg support reaction detection switch sensor (2)
Device (1) is electrically connected with the turntable driving of bodywork assembly；Characterized in that,
Originally can volitional check slewing angle of platform slewing equipment (8) include slew gear (81) and bracket (82)；Revolution
Mechanism (81) includes inner ring (811), outer ring (812) and workbench revolution driving (813), inner ring (811) and outer ring (812) set
Connect cooperation to install, workbench revolution driving (813) is fixedly mounted on outer ring (812) and workbench revolution driving (813)
Drive shaft pass through bindiny mechanism and inner ring (811) and be connected；Top installing plate and inner ring that bracket (82) passes through its top
(811) it is fixedly mounted, and the center of the top installing plate in correspondence inner ring (811) axle center is provided with and installing plate on bracket (82)
The anglec of rotation being fixedly connected, being set along inner ring (811) axial direction, stretching to inner ring (811) inside detects bearing pin
(821), socket is movably installed with the revolving push plank (822) that radially direction is set on anglec of rotation detection bearing pin (821)；Support
It is additionally provided with the top installing plate of frame (82) and is secured to that connect, protrusion top installing plate top surface is installed and stretches to inner ring
(811) internal arc-shaped limit plate I (823), arc-shaped limit plate I (823) is arranged concentrically with anglec of rotation detection bearing pin (821)；
It is fixedly mounted and is connected with outer ring (812) by the bottom installing plate of its bottom with the link of cranking arm (91) that (9) be connected of cranking arm,
Crank arm be additionally provided with the installing plate of link (91) bottom be secured to install connection, protrusion bottom installing plate basal surface and stretch to
The internal arc-shaped limit plate II (911) of inner ring (811), arc-shaped limit plate II (911) and anglec of rotation detection bearing pin (821) are concentric
Set；Gap, revolving push plank are provided between the lower surface of arc-shaped limit plate II (911) and the upper surface of arc-shaped limit plate I (823)
(822) the distance between baseplane distance bracket (82) top installing plate top surface size is less than arc-shaped limit plate I (823) along the anglec of rotation
Thickness, revolving push plank (822) top plane separation link (91) bottom installing plate bottom on degree detection bearing pin (821) axial direction
The distance between surface size is less than arc-shaped limit plate II (911) along the thickness on anglec of rotation detection bearing pin (821) axial direction
Size is spent, and the arc radius size of arc-shaped limit plate I (823) and arc-shaped limit plate II (911) is respectively less than revolving push plank (822)
The length dimension of bearing pin (821) in the radial direction is detected along the anglec of rotation；Corresponding rotation angle on the installing plate of link (91) bottom
The center on detection bearing pin (821) top, which is set up, is provided with slewing angle of platform sensor (912), workbench revolution
The rotation bottom of angular transducer (912) is fixedly connected with anglec of rotation detection bearing pin (821) top；
Workbench revolution driving (813) and slewing angle of platform sensor (912) are electric with described controller (1) respectively
Connection, controller (1) also includes slewing angle of platform acquisition circuit, slewing angle of platform data multilevel iudge and returned
Road.
2. it is according to claim 1 can volitional check slewing angle of platform slewing equipment, it is characterised in that it is described
Arc-shaped limit plate I (823) and arc-shaped limit plate II (911) relative to the anglec of rotation detection bearing pin (821) homonymy direction set.
3. it is according to claim 2 can volitional check slewing angle of platform slewing equipment, it is characterised in that it is described
Arc-shaped limit plate I (823) and the arc central angle of arc-shaped limit plate II (911) be respectively less than 180 °.
4. according to claim 1 or 2 or 3 can volitional check slewing angle of platform slewing equipment, its feature exists
In described jib angle sensor (6) and slewing angle of platform sensor (912) passes through CAN and controller (1)
Electrical connection.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201621401063.9U CN206384792U (en) | 2016-12-20 | 2016-12-20 | Can volitional check slewing angle of platform slewing equipment |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201621401063.9U CN206384792U (en) | 2016-12-20 | 2016-12-20 | Can volitional check slewing angle of platform slewing equipment |
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| Publication Number | Publication Date |
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| CN206384792U true CN206384792U (en) | 2017-08-08 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201621401063.9U Expired - Fee Related CN206384792U (en) | 2016-12-20 | 2016-12-20 | Can volitional check slewing angle of platform slewing equipment |
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| CN (1) | CN206384792U (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106629525A (en) * | 2016-12-20 | 2017-05-10 | 徐州海伦哲专用车辆股份有限公司 | Rotation device capable of automatically limiting rotation angle of working platform, and control method |
| CN109850778A (en) * | 2019-01-07 | 2019-06-07 | 宝鸡市铁安工程机械有限公司 | A kind of track derrick car rotary limit device |
-
2016
- 2016-12-20 CN CN201621401063.9U patent/CN206384792U/en not_active Expired - Fee Related
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106629525A (en) * | 2016-12-20 | 2017-05-10 | 徐州海伦哲专用车辆股份有限公司 | Rotation device capable of automatically limiting rotation angle of working platform, and control method |
| CN106629525B (en) * | 2016-12-20 | 2022-05-17 | 徐州海伦哲专用车辆股份有限公司 | Slewing device capable of automatically limiting slewing angle of working platform and control method |
| CN109850778A (en) * | 2019-01-07 | 2019-06-07 | 宝鸡市铁安工程机械有限公司 | A kind of track derrick car rotary limit device |
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Granted publication date: 20170808 Termination date: 20211220 |