A full single-hinged link type mop car working arm and a control method thereof

Abstract

The application discloses a full single-hinge connecting rod type prying trolley working arm and a control method thereof, and relates to the technical field of engineering machinery, comprising a full single-hinge connecting rod type working arm body, which is installed on an engineering vehicle through a rotating device and can adjust left and right swing angles through the rotating device; the working arm body comprises a rack, a connecting rod, a large arm, a middle arm, a small arm, a plurality of connecting rods, an end effector and four drivers; the components are sequentially hingedly connected; all hinge parts of the device are single-hinge structures, manufacturing and assembly difficulties are reduced, an operation process is simplified, costs are reduced, operation stability and efficiency are improved, and a working range is expanded.

Description

Technical Field

[0001] This invention relates to the field of engineering machinery technology, and in particular to a fully single-hinged linkage type pry bar trolley working arm and its control method. Background Technology

[0002] In mining and tunnel excavation operations, the unstable rocks and loose stones generated after blasting pose a serious threat to the safety of subsequent construction. Currently, manual removal of unstable rocks is not only inefficient and labor-intensive, but also exposes workers to high-risk environments, greatly increasing the risk of accidents. Rock removal trolleys, specifically designed for clearing unstable rubble after blasting, are gradually becoming essential equipment for ensuring construction safety.

[0003] However, existing prying trolley booms have several problems. Firstly, their limited working space and short end-effector stroke make them unsuitable for large-angle, large-span prying operations. Simply lengthening the hydraulic cylinder or piston rod to expand the working range results in a bulky overall structure, excessively large hydraulic cylinders, and consequently, insufficient boom rigidity and reduced load-bearing capacity, leading to decreased equipment adaptability and a higher failure rate. Secondly, existing booms have inadequate structural design; for example, complex articulation methods increase manufacturing and assembly difficulties, while also affecting equipment stability and reliability. Therefore, developing a prying trolley boom with a large working space, high load-bearing capacity, simple structure, and flexible and reliable operation, along with its control method, is of significant practical importance. Summary of the Invention

[0004] The purpose of this invention is to provide a fully single-hinged linkage type pry bar trolley working arm and its control method to solve the problems existing in the prior art, effectively reduce the manufacturing and assembly difficulty of the working arm, simplify the operation process, effectively reduce costs, effectively improve the stability and efficiency of operation, and effectively expand the working range.

[0005] To achieve the above objectives, the present invention provides the following solution: This invention provides a fully single-hinged linkage type prying trolley boom, comprising: a fully single-hinged linkage type boom body, which is mounted on an engineering vehicle via a slewing device, and the left and right swing angle of the boom body can be adjusted via the slewing device. The boom body includes a frame, a connecting rod, a main boom, a middle boom, a forearm, a first connecting rod, a second connecting rod, a third connecting rod, an end effector, a first driver, a second driver, a third driver, and a fourth driver. One end of the connecting rod is hinged to the frame, one end of the main boom is hinged to the frame, and one end of the first driver is hinged to the frame. One end of the first connecting rod is hinged to the upper arm; one end of the second driving rod is hinged to the connecting frame rod, and the other end is hinged to the upper arm; one end of the second driving rod is hinged to the first connecting rod, and the other end is hinged to the middle arm; one end of the third driving rod is hinged to the middle arm, and the other end is hinged to the forearm; the front end of the middle arm is hinged to the forearm; one end of the fourth driving rod is hinged to the forearm, and the other end is hinged to the third connecting rod; the third connecting rod is hinged to the forearm; the end effector is hinged to one end of the second connecting rod, and the other end of the second connecting rod is hinged to the third connecting rod; all hinged parts of the fully single-hinged linkage-type working arm body are single-hinged structures.

[0006] Preferably, the first actuator includes a first hydraulic cylinder and a first piston rod, the first hydraulic cylinder being hinged to the frame, the first piston rod being hinged to the upper arm, and the first hydraulic cylinder and the first piston rod being slidably engaged; the second actuator includes a second hydraulic cylinder and a second piston rod, the second hydraulic cylinder being hinged to the first connecting rod, the second piston rod being hinged to the middle arm, and the second hydraulic cylinder and the second piston rod being slidably engaged; the third actuator includes a third hydraulic cylinder and a third piston rod, the third hydraulic cylinder being hinged to the middle arm, the third piston rod being hinged to the forearm, and the third hydraulic cylinder and the third piston rod being slidably engaged; the fourth actuator includes a fourth hydraulic cylinder and a fourth piston rod, the fourth hydraulic cylinder being hinged to the forearm, the fourth piston rod being hinged to the third connecting rod, and the fourth hydraulic cylinder and the fourth piston rod being slidably engaged.

[0007] Preferably, the frame, the connecting rod, the boom, the first hydraulic cylinder, the first piston rod, the first connecting rod, the second hydraulic cylinder, the second piston rod, and the middle arm constitute a nine-bar two-degree-of-freedom support mechanism.

[0008] Preferably, the frame, the first link, the connecting rod, and the boom constitute a four-bar linkage vibration reduction structure. The four-bar linkage vibration reduction structure forms an independent impact load transmission path, which is used to disperse and transmit the impact load generated by the end effector during operation to the frame.

[0009] Preferably, the fully single-hinged linkage working arm body is a seventeen-bar four-degree-of-freedom linkage mechanism.

[0010] Preferably, the hinge positions of the third actuator and the forearm, the hinge positions of the middle arm and the forearm, and the hinge positions of the fourth actuator and the forearm are all different. The hinge positions of the fourth actuator and the third link, the hinge positions of the forearm and the third link, and the hinge positions of the third link and the forearm are all different. The hinge position of the second link and the third link is different from the hinge position of the forearm and the third link, and also different from the hinge position of the fourth actuator and the third link.

[0011] Preferably, the end effector is a hydraulic breaker or an impact hammer, and the end effector is detachably hinged to the forearm end and the second connecting rod.

[0012] The present invention also provides a control method for the fully single-hinged linkage type prying trolley working arm as described in any of the preceding claims, comprising the following steps: Pose acquisition steps: The control module reads the real-time data of each sensor in the perception module at a preset sampling period, and inputs the data into the spatial mapping model to calculate the current posture of the engineering vehicle body, the initial configuration of the full single-hinged linkage working arm body, and the spatial pose of the end effector. Target calculation steps: The control module calls the forward and inverse kinematic equations to perform reverse calculation according to the target operation instruction, and sequentially calculates the target driving quantities of the first driver, the second driver, the third driver and the fourth driver to determine the target pose of the end effector; Trajectory planning steps: The control module uses an interpolation algorithm to perform trajectory planning in the joint space, generating target displacement curves, target velocity curves, and target acceleration curves for each actuator's piston rod that change continuously and smoothly over time; Collaborative control steps: The control module compares the difference between each target curve and the actual displacement data fed back in real time by the sensing module, calculates the control deviation using a closed-loop control algorithm, and outputs a control signal to drive the execution module based on the calculation result, thereby realizing the coordinated action of multiple actuators and guiding the end effector to reach the target pose to perform the prying operation. Preferably, in the target calculation step, when the target position of the end effector exceeds the reachable range of the fully single-hinged linkage work arm body, the control module controls the slewing device to adjust the swing angle of the frame to expand the working coverage area.

[0013] Preferably, the sensing module includes displacement sensors respectively disposed in each of the actuators for detecting the extension and retraction displacement of the piston rod, and tilt sensors respectively mounted on the upper arm, the middle arm and the lower arm for detecting the absolute tilt angle of each component.

[0014] The present invention achieves the following technical effects compared to the prior art: This invention provides a single-hinged linkage type working arm for a prying trolley and its control method. The single-hinged linkage structure eliminates the complex structure of traditional multi-hinged linkages, significantly reducing manufacturing and assembly difficulty, and making the overall structure simpler and more reliable. Through the reasonable configuration of the degrees of freedom of the multi-link mechanism, the working arm's operating coverage is effectively expanded without blindly lengthening the boom or increasing the size of the hydraulic cylinder, while maintaining sufficient structural rigidity and load-bearing capacity, avoiding the stability reduction problem caused by traditional extended booms. Furthermore, the four-bar linkage vibration damping structure can distribute the impact load generated by the end effector during the skidding operation to the frame along an independent path, effectively buffering and absorbing the impact. This not only reduces the damage to the core components caused by the impact but also improves the stability of the operation process. Combined with the corresponding closed-loop collaborative control method, it can quickly and accurately guide the end effector to the target operation position. The control precision is high, and the action response is smooth and stable, effectively improving the efficiency and safety of skidding operations and adapting to the needs of various complex operation scenarios such as mines and tunnels. Attached Figure Description

[0015] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0016] Figure 1 A schematic diagram of the working arm of the fully single-hinge linkage prying trolley provided by the present invention. Figure 2 A simplified structural diagram of the working arm of the fully single-hinge linkage prying trolley provided by the present invention. Figure 3 A schematic diagram of the working state of the fully single-hinged linkage prying trolley working arm provided by the present invention when the angle between the boom and the horizontal plane is the smallest. Figure 4 A schematic diagram of the working state of the fully single-hinged linkage type prying trolley working arm provided by the present invention when the angle between the boom and the horizontal plane is the largest. Figure 5 A schematic diagram of the working state when the end effector of the fully single-hinged linkage type prying trolley working arm of the present invention reaches the maximum height from the horizontal plane. Figure 6This is a schematic diagram of the structure of the prying trolley provided by the present invention; Figure 7 A flowchart of the control method for the fully single-hinge linkage type prying trolley working arm provided by the present invention. In the diagram: 1. Frame; 2. Connecting rod; 3. First hydraulic cylinder; 4. First piston rod; 5. Boom; 6. First connecting rod; 7. Second hydraulic cylinder; 8. Second piston rod; 9. Mid-arm; 10. Third hydraulic cylinder; 11. Third piston rod; 12. Forearm; 13. Fourth hydraulic cylinder; 14. Fourth piston rod; 15. Third connecting rod; 16. Second connecting rod; 17. End effector; 18. Engineering vehicle. Detailed Implementation

[0017] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0018] The purpose of this invention is to provide a fully single-hinged linkage type pry bar trolley working arm and its control method to solve the problems existing in the prior art, effectively reduce the manufacturing and assembly difficulty of the working arm, simplify the operation process, effectively reduce costs, effectively improve the stability and efficiency of operation, and effectively expand the working range.

[0019] To make the above-mentioned objects, features and advantages of the present invention more apparent and understandable, the present invention will be further described in detail below with reference to the accompanying drawings and specific embodiments.

[0020] Example 1 This embodiment provides a fully single-hinged linkage type prying trolley working arm, such as... Figures 1-5As shown, it includes: a fully single-hinged linkage boom body, which is mounted on the engineering vehicle 18 via a slewing device, and the left and right swing angle of the fully single-hinged linkage boom body can be adjusted by the slewing device. The fully single-hinged linkage boom body includes a frame 1, a connecting rod 2, a main boom 5, a middle boom 9, a forearm 12, a first connecting rod 6, a second connecting rod 16, a third connecting rod 15, an end effector 17, a first driver, a second driver, a third driver, and a fourth driver. One end of the connecting rod 2 is hinged to the frame 1, one end of the main boom 5 is hinged to the frame 1, one end of the first driver is hinged to the frame 1, and the other end is hinged to the main boom 5. One end of the first connecting rod 6 is hinged to the connecting rod 2. The second actuator is hinged at one end to the main boom 5, and at the other end to the first connecting rod 6. The third actuator is hinged at one end to the middle boom 9 and at the other end to the forearm 12. The front end of the middle boom 9 is hinged to the forearm 12. The fourth actuator is hinged at one end to the forearm 12 and at the other end to the third connecting rod 15. The third connecting rod 15 is hinged to the forearm 12. The end effector 17 is hinged at one end to the second connecting rod 16, and at the other end to the third connecting rod 15. All hinged parts of the fully single-hinged linkage-type boom body are single-hinged structures. Mounted on the engineering vehicle 18 via a slewing device, the boom can flexibly adjust its left and right swing angles to adapt to different operational requirements. This fully single-hinged structure design reduces manufacturing and assembly difficulty, improves the load-bearing capacity and structural stability of each hinged part, and enables the boom to operate reliably under complex working conditions.

[0021] In a preferred embodiment, the first actuator includes a first hydraulic cylinder 3 and a first piston rod 4. The first hydraulic cylinder 3 is hinged to the frame 1, and the first piston rod 4 is hinged to the boom 5. The first hydraulic cylinder 3 and the first piston rod 4 are in sliding engagement. The second actuator includes a second hydraulic cylinder 7 and a second piston rod 8. The second hydraulic cylinder 7 is hinged to a first connecting rod 6, and the second piston rod 8 is hinged to a middle boom 9. The second hydraulic cylinder 7 and the second piston rod 8 are in sliding engagement. The third actuator includes a third hydraulic cylinder 10 and a third piston rod 11. The third hydraulic cylinder 10 is hinged to a first connecting rod 6, and the second piston rod 11 is in sliding engagement with the middle boom 9. The middle arm 9 is hinged, the third piston rod 11 is hinged to the forearm 12, the third hydraulic cylinder 10 is slidably engaged with the third piston rod 11, and the fourth actuator includes a fourth hydraulic cylinder 13 and a fourth piston rod 14. The fourth hydraulic cylinder 13 is hinged to the forearm 12, the fourth piston rod 14 is hinged to the third connecting rod 15, and the fourth hydraulic cylinder 13 is slidably engaged with the fourth piston rod 14. The sliding engagement of the hydraulic cylinder and the piston rod is used as the driving method, which provides a large and stable output force and can provide reliable power for the movement of various parts of the working arm, meeting the requirements of strength and stability for prying operations.

[0022] In a preferred embodiment, the frame 1, connecting rod 2, boom 5, first hydraulic cylinder 3, first piston rod 4, first connecting rod 6, second hydraulic cylinder 7, second piston rod 8, and middle arm 9 constitute a nine-bar two-degree-of-freedom support mechanism. The nine-bar two-degree-of-freedom support mechanism makes the stress distribution of the working arm more uniform, has higher rigidity than a simple structure, and can better withstand various loads during operation, ensuring the stability and reliability of the working arm during operation.

[0023] In a preferred embodiment, the frame 1, the first link 6, the connecting rod 2, and the boom 5 constitute a four-bar linkage vibration damping structure. The four-bar linkage vibration damping structure forms an independent impact load transmission path, which is used to disperse and transmit the impact load generated by the end effector 17 during operation to the frame 1. The four-bar linkage vibration damping structure can effectively disperse the impact load generated by the end effector 17 during operation, reduce the impact on other components of the boom, improve the load-bearing capacity and impact resistance of the boom, and extend the service life of the boom.

[0024] In a preferred embodiment, the fully single-hinged linkage working arm body is a seventeen-bar four-degree-of-freedom linkage mechanism. The seventeen-bar four-degree-of-freedom design gives the working arm multiple degrees of freedom of motion, enabling it to perform complex movements, expanding the working range, and meeting the needs of prying operations in different scenarios. At the same time, the compact structural design improves power transmission efficiency.

[0025] In a preferred embodiment, the hinge positions of the third actuator and the forearm 12, the hinge positions of the middle arm 9 and the forearm 12, and the hinge positions of the fourth actuator and the forearm 12 are all different. The hinge positions of the fourth actuator and the third link 15, the hinge positions of the forearm 12 and the third link 15, and the hinge positions of the third link 15 and the forearm 12 are all different. The hinge position of the second link 16 and the third link 15 is different from the hinge position of the forearm 12 and the third link 15, and also different from the hinge position of the fourth actuator and the third link 15. This unique hinge position design makes the movements of each component independent and coordinated, which helps to achieve precise and flexible motion control of the working arm and improve the accuracy and efficiency of the operation.

[0026] In a preferred embodiment, the end effector 17 is a hydraulic breaker or an impact hammer. The end effector 17, the front end of the boom 12, and the second link 16 are all detachably hinged. The replaceable end effector 17 allows for the selection of appropriate tools according to different prying operation requirements, improving the versatility of the working arm. The detachable hinge method facilitates the replacement and maintenance of the end effector 17, reducing operating costs.

[0027] Example 2 This embodiment provides a prying trolley, such as Figure 6As shown, the equipment includes an engineering vehicle 18, a slewing device, and a single-hinged linkage-type prying trolley working arm as described in Embodiment 1. The single-hinged linkage-type prying trolley working arm is mounted on the front end of the engineering vehicle 18 via the slewing device. The engineering vehicle 18 is used to move the entire equipment to the work area. The slewing device can cause the entire working arm to swing left and right, adjusting the working position to adapt to different site requirements. The engineering vehicle 18 realizes the mobility function of the equipment, facilitating the transportation of the prying trolley to different work areas. The cooperation between the slewing device and the working arm allows the working arm to flexibly adjust its working position, improving the adaptability of the prying trolley to different work sites.

[0028] In a preferred embodiment, the corners of the engineering vehicle 18 are provided with support seats for supporting and leveling the engineering vehicle 18. There are four support seats, which are respectively set at the four corners of the engineering vehicle 18. Each support seat is a hydraulic outrigger support seat, and the extension and retraction of each support seat is independently adjustable. The four hydraulic outrigger support seats are set at the four corners of the engineering vehicle 18, and the extension and retraction are independently adjustable. This allows the engineering vehicle 18 to be quickly and accurately supported and leveled according to different terrains and operational needs, ensuring the stability of the prying trolley during operation and improving operational safety.

[0029] Example 3 This embodiment provides a control system for a barbed wire prying trolley, including: The sensing module includes displacement sensors, tilt sensors, vehicle posture sensors, and support seat pressure sensors. Displacement sensors are integrated into the first to fourth hydraulic cylinders 13 to detect the actual extension and retraction displacement of each piston rod in real time. Tilt sensors are installed on the boom 5, middle boom 9, and forearm 12 to detect the absolute tilt angle of each component relative to the horizontal plane. The vehicle posture sensors are installed on the body of the engineering vehicle 18 to detect the roll angle, pitch angle, and rotation angle of the slewing device. Support seat pressure sensors are located at the hydraulic outriggers of the four corner support seats to detect the contact pressure between each support seat and the ground. The sensing module comprehensively collects various data from the boom and engineering vehicle 18 in real time through multiple sensors, providing accurate information to the control module. This allows the control system to understand the equipment status in real time and provides a data foundation for precise control.

[0030] The control module employs a programmable logic controller (PLC). By receiving feedback signals collected by the sensing module, it calculates real-time control quantities based on kinematic algorithms, including the extension and retraction of each piston rod of the working device and the leveling of the vehicle body support. The PLC features high reliability and flexible programming. Combined with kinematic algorithms, it can quickly and accurately process the feedback signals from the sensing module, calculate real-time control quantities, and achieve precise control of the working arm and the vehicle body.

[0031] The execution module includes four sets of electro-hydraulic proportional valves and four sets of support seat leveling valves. For the working device control, the control module outputs PWM control signals to the electro-hydraulic proportional valves, precisely adjusting the flow and direction of hydraulic oil entering each hydraulic cylinder by changing the valve core opening. For the vehicle body control, the control module outputs control signals to the support seat leveling valves, independently adjusting the extension and retraction of the four support seats to achieve automatic leveling and stable attachment of the vehicle body. The electro-hydraulic proportional valves precisely control the flow and direction of hydraulic oil entering the hydraulic cylinders, achieving precise control of the movement of each component of the working arm. The support seat leveling valves independently adjust the extension and retraction of the support seats, achieving automatic leveling and stable attachment of the vehicle body, improving the stability and reliability of the prying trolley operation.

[0032] The human-machine interface terminal is located in the cab. Operators can use it to input the target spatial position and working posture commands of the end effector 17, and at the same time monitor the grounding pressure of the support base in real time. The human-machine interface terminal provides operators with a convenient operating interface, enabling them to easily input working commands and understand key information such as the grounding pressure of the support base in real time. This allows operators to adjust working parameters in a timely manner according to the actual situation, thereby improving the safety and efficiency of the operation.

[0033] Example 4 This embodiment also provides a control method for the fully single-hinged linkage type prying trolley working arm as described in any of the above embodiments, such as... Figure 7 As shown, it includes the following steps: Steps to obtain pose: The control module reads real-time data from each sensor in the sensing module according to a preset sampling period. This data is then input into a spatial mapping model to calculate the current attitude of the engineering vehicle 18, the initial configuration of the working arm, and the spatial pose of the end effector 17. This step enables real-time and accurate acquisition of the position and attitude information of each part of the equipment, providing a reliable data foundation for subsequent operations such as automatic leveling and target calculation, ensuring the accuracy and effectiveness of the entire control process. For example, in complex mining environments, the initial position and attitude of the equipment may vary due to factors such as terrain. This step allows for precise knowledge of the current state, facilitating subsequent targeted adjustments.

[0034] Automatic leveling steps: Based on the roll and pitch angle data fed back by the vehicle's attitude sensors, the control module calculates the target extension and retraction of each support seat. It then drives the support seat leveling valves to automatically level the vehicle, bringing it to a horizontal position. Simultaneously, based on feedback from the support seat pressure sensors, it ensures that each support seat reaches the preset ground pressure. During this process, the control module calculates the independent target extension and retraction of each of the four support seats in real time based on the roll and pitch angle data from the vehicle's attitude sensors. During leveling, it performs closed-loop adjustment based on real-time feedback from the support seat pressure sensors, ensuring that the contact pressure between each support seat and the ground is consistent and reaches the preset value. This step is performed after the engineering vehicle 18 arrives at the work position and before the target calculation step. The automatic leveling operation allows the prying trolley to quickly adjust to a stable state under different terrain conditions, ensuring that the working arm has a stable support base during operation. By calculating and adjusting the extension and retraction and pressure of each support seat in real time and in a closed-loop manner, operational instability caused by vehicle tilting or uneven support can be effectively avoided, greatly improving operational safety and equipment stability. For example, when operating on uneven mine surfaces, the automatic leveling system can respond quickly, adjust the support base, keep the vehicle body level, prevent the boom from being unbalanced due to vehicle tilt, and extend the service life of the equipment.

[0035] Target solution steps: Based on the target operation command, the control module calls upon the forward and inverse kinematic equations for reverse calculation, sequentially calculating the target drive quantities of the first, second, third, and fourth drive cylinders, thereby determining the target pose of the end effector 17. When the target position of the end effector 17 exceeds the reachable range of the working arm, the control module controls the slewing device to adjust the swing angle of the frame 1 to expand the work coverage area. Through precise target calculation, the operation command can be translated into specific action requirements for each drive cylinder, ensuring that the end effector 17 can accurately reach the target position and maintain the desired posture. When the target position exceeds the initial range, the work coverage area is expanded by adjusting the slewing device, enhancing the work adaptability of the working arm and enabling it to meet the needs of prying operations in different locations, improving work efficiency and accuracy. For example, in some large mine roadways, the locations of dangerous rocks that need to be cleared may be relatively scattered. This function allows the working arm to cover a larger area and effectively complete the task.

[0036] Trajectory planning steps: The control module uses interpolation algorithms (such as polynomial interpolation or spline interpolation) for trajectory planning within the joint space, generating target displacement, velocity, and acceleration curves for each drive cylinder's piston rod that change continuously and smoothly over time. This ensures that the displacement, velocity, and acceleration of each piston rod change continuously during its movement between the initial and target positions, avoiding impact loads on the components. Using appropriate interpolation algorithms for trajectory planning ensures smooth piston rod movement in each drive cylinder, avoiding impact loads caused by sudden velocity changes, protecting the components of the working arm, and extending the equipment's service life. Continuous and smooth motion curves also improve operational accuracy, allowing the end effector 17 to reach the target position more accurately along the predetermined trajectory, reducing errors. For example, during rapid movement and posture changes of the working arm, smooth trajectory planning prevents wear or damage caused by impacts between components, ensuring long-term stable operation of the equipment.

[0037] Collaborative control steps: The control module compares the difference between each target curve and the actual displacement data fed back in real time by the sensing module, calculates the control deviation using a closed-loop control algorithm, and outputs control signals to drive the execution module based on the calculation results. Specifically, the control module outputs four PWM control signals to four sets of electro-hydraulic proportional valves. These four sets of valves control the flow and direction of the first, second, third, and fourth drive cylinders, respectively, achieving synchronous and coordinated action of the four drive cylinders. This guides the end effector 17 to the target position to perform the prying operation. Through real-time difference comparison and closed-loop control, the movement of each drive cylinder can be adjusted in a timely manner to ensure consistency with the predetermined target curve, achieving precise coordinated action of multiple drive cylinders. This allows the working arm to move accurately along the predetermined trajectory, ensuring that the end effector 17 accurately reaches the target position, greatly improving operational accuracy. For example, in fine prying operations, the accuracy of the coordinated action of each drive cylinder directly affects the work effect. This step ensures accurate operation of the working arm and avoids unnecessary damage to the surrounding rock mass caused by misoperation.

[0038] Stability monitoring steps: During operation, the control module continuously monitors data from the support seat pressure sensor and the vehicle body attitude sensor. The preset range is set to a roll angle not exceeding ±2° and a pitch angle not exceeding ±3°. An abnormal support seat pressure is determined when the pressure of any support seat falls below 80% of the preset value. When the vehicle body attitude deviates from the preset range or the support seat pressure is abnormal, the control module prioritizes correcting the vehicle body attitude by adjusting the extension and retraction of each support seat. If the adjustment fails to restore the vehicle body to the preset range, the operation is automatically paused and an audible and visual alarm is issued. This step is continuously executed throughout the operation. When an abnormality is detected and cannot be restored after fine-tuning, the control module pauses the collaborative control steps and maintains the current boom attitude. Operation resumes after the abnormality is resolved. The stability monitoring step monitors changes in vehicle body attitude and support seat pressure in real time during operation, promptly identifying potential safety hazards. By setting reasonable preset ranges and judgment conditions, rapid action can be taken when the equipment shows signs of instability. Prioritizing fine-tuning attempts to restore equipment stability without affecting the continuity of operation. If the abnormality is severe, operation is paused and an alarm is triggered, effectively ensuring the safety of personnel and equipment. For example, if abnormal pressure occurs on a support due to ground subsidence or other reasons during operation, the monitoring system can detect it promptly and take corresponding measures to prevent safety accidents caused by unstable supports. The automatic leveling step and the stability monitoring step together form a closed loop of safety assurance, ensuring the safety and stability of the scaffolding trolley operation from pre-operation preparation to real-time monitoring during operation.

[0039] Specific examples have been used to illustrate the principles and implementation methods of this invention. The descriptions of the above embodiments are only for the purpose of helping to understand the method and core ideas of this invention. Furthermore, those skilled in the art will recognize that, based on the ideas of this invention, there will be changes in the specific implementation methods and application scope. Therefore, the content of this specification should not be construed as a limitation of this invention.

Claims

1. A fully single-hinged linkage type prying trolley working arm, characterized in that: include: A fully single-hinged linkage type working arm body, wherein the fully single-hinged linkage type working arm body is mounted on an engineering vehicle via a slewing device, and the left and right swing angle of the fully single-hinged linkage type working arm body can be adjusted via the slewing device. The fully single-hinged linkage-type work arm body includes a frame, a connecting rod, a main arm, a middle arm, a forearm, a first connecting rod, a second connecting rod, a third connecting rod, an end effector, a first driver, a second driver, a third driver, and a fourth driver. One end of the connecting rod is hinged to the frame, one end of the main arm is hinged to the frame, one end of the first driver is hinged to the frame and the other end is hinged to the main arm, one end of the first connecting rod is hinged to the connecting rod and the other end is hinged to the main arm, one end of the second driver is hinged to the first connecting rod and the other end is hinged to the middle arm, one end of the third driver is hinged to the middle arm and the other end is hinged to the forearm, the front end of the middle arm is hinged to the forearm, one end of the fourth driver is hinged to the forearm and the other end is hinged to the third connecting rod, the third connecting rod is hinged to the forearm, the end effector is hinged to one end of the second connecting rod, and the other end of the second connecting rod is hinged to the third connecting rod. All hinged parts of the fully single-hinged linkage working arm body are single-hinged structures.

2. The fully single-hinge linkage type prying trolley working arm according to claim 1, characterized in that: The first actuator includes a first hydraulic cylinder and a first piston rod. The first hydraulic cylinder is hinged to the frame, and the first piston rod is hinged to the boom. The first hydraulic cylinder and the first piston rod are slidably engaged. The second actuator includes a second hydraulic cylinder and a second piston rod. The second hydraulic cylinder is hinged to the first connecting rod, and the second piston rod is hinged to the middle arm. The second hydraulic cylinder and the second piston rod are slidably engaged. The third actuator includes a third hydraulic cylinder and a third piston rod. The third hydraulic cylinder is hinged to the middle arm, and the third piston rod is hinged to the forearm. The third hydraulic cylinder and the third piston rod are slidably engaged. The fourth actuator includes a fourth hydraulic cylinder and a fourth piston rod. The fourth hydraulic cylinder is hinged to the forearm, and the fourth piston rod is hinged to the third connecting rod. The fourth hydraulic cylinder and the fourth piston rod are slidably engaged.

3. The fully single-hinged linkage type prying trolley working arm according to claim 2, characterized in that: The frame, the connecting rod, the boom, the first hydraulic cylinder, the first piston rod, the first connecting rod, the second hydraulic cylinder, the second piston rod, and the middle arm constitute a nine-bar two-degree-of-freedom support mechanism.

4. The fully single-hinged linkage type prying trolley working arm according to claim 3, characterized in that: The frame, the first link, the connecting rod, and the boom constitute a four-bar linkage vibration reduction structure. The four-bar linkage vibration reduction structure forms an independent impact load transmission path, which is used to disperse and transmit the impact load generated by the end effector during operation to the frame.

5. The fully single-hinged linkage type prying trolley working arm according to claim 1, characterized in that: The main body of the fully single-hinged linkage working arm is a seventeen-bar, four-degree-of-freedom linkage mechanism.

6. The fully single-hinged linkage type prying trolley working arm according to claim 1, characterized in that: The hinge positions of the third actuator and the forearm, the middle arm and the forearm, and the fourth actuator and the forearm are all different. The hinge positions of the fourth actuator and the third link, the forearm and the third link, and the third link and the forearm are all different. The hinge position of the second link and the third link is different from the hinge position of the forearm and the third link, and also different from the hinge position of the fourth actuator and the third link.

7. The fully single-hinged linkage type prying trolley working arm according to claim 1, characterized in that: The end effector is a hydraulic breaker or an impact hammer, and the end effector, the forearm front end, and the second connecting rod are all detachably hinged.

8. A control method for a fully single-hinged linkage type pry bar trolley working arm as described in any one of claims 1 to 7, characterized in that: Includes the following steps: Pose acquisition steps: The control module reads the real-time data of each sensor in the perception module at a preset sampling period, and inputs the data into the spatial mapping model to calculate the current posture of the engineering vehicle body, the initial configuration of the full single-hinged linkage working arm body, and the spatial pose of the end effector. Target calculation steps: The control module calls the forward and inverse kinematic equations to perform reverse calculation according to the target operation instruction, and sequentially calculates the target driving quantities of the first driver, the second driver, the third driver and the fourth driver to determine the target pose of the end effector; Trajectory planning steps: The control module uses an interpolation algorithm to perform trajectory planning in the joint space, generating target displacement curves, target velocity curves, and target acceleration curves for each actuator's piston rod that change continuously and smoothly over time; Collaborative control steps: The control module compares the difference between each target curve and the actual displacement data fed back in real time by the sensing module, calculates the control deviation using a closed-loop control algorithm, and outputs a control signal to drive the execution module based on the calculation result, thereby realizing the coordinated action of multiple actuators and guiding the end effector to reach the target pose to perform the prying operation.

9. The control method for the fully single-hinged linkage type prying trolley working arm according to claim 8, characterized in that: In the target calculation step, when the target position of the end effector exceeds the reachable range of the fully single-hinged linkage working arm body, the control module controls the slewing device to adjust the swing angle of the frame to expand the working coverage area.

10. The control method for the fully single-hinged linkage type prying trolley working arm according to claim 9, characterized in that: The sensing module includes displacement sensors disposed in each of the actuators for detecting the extension and retraction displacement of the piston rod, and tilt sensors mounted on the upper arm, the middle arm, and the lower arm for detecting the absolute tilt angle of each component.

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