Control method and control system of foldable arm rest and engineering machinery

Abstract

The invention discloses a control method of a foldable arm rest. The control method includes a detection step: detecting whether each arm section is in a completely closed state or not, a calculation step: ensuring that the arm section is in a completely folding state when the arm section is not in a completely closed state, obtaining the folding state of each arm section, working out the maximum distance L between the arm rest portion which is between the predetermined arm section and the tail end of the folding arm rest and a hinge point of the root end of the predetermined arm section according to the folding state of each arm section, and working out the allowable maximum angular velocity w when the predetermined arm section moves according to a predetermined linear velocity V and the maximum distance L, and a control step: controlling an actuating part which drives the predetermined arm section, and enabling the predetermined arm section to move at an angular velocity which is less than or equal to the maximum angular velocity w. The invention correspondingly discloses a control system of the foldable arm rest and engineering machinery. The control method and the control system has the advantages of being capable of improving folding speed of the foldable arm rest and working efficiency, easy to control, low in cost and good in stability.

Description

technical field [0001] The invention relates to the field of engineering machinery, in particular to a control method and a control system for a folding boom, and also relates to an engineering machinery with the control system. Background technique [0002] In construction machinery such as concrete pump trucks, a folding arm frame is provided. The folding arm frame may include a plurality of boom sections hinged in sequence, and each boom section may be equipped with a corresponding hydraulic cylinder to drive the boom section relative to its root end. The hinge point pivots to realize different degrees of folding of the boom, and the folding boom can be driven by a hydraulic motor to realize the rotation of the whole boom. That is to say, the action of folding the boom may include folding and turning. For example Figure 1 to Figure 3 It shows a construction machine (such as a concrete pump truck) with a folding boom, which has three boom sections hinged in sequence, res...

AI Technical Summary

Problems solved by technology

However, in the control of the existing folding boom, no matter what the folding state of the boom is, the maximum allowable angular velocity of the action remains as the angular velocity allowed when the boom is fully expanded (ie the minimum allowable angular velocity), which will cause the boom to expand It takes a long time, and the longer the boom, the longer the time required, resulting in lower work efficiency

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