Multi-degree-of-freedom lifting platform device and automatic leveling method

Abstract

The invention discloses a multi-degree-of-freedom lifting platform device and an automatic leveling method. A workbench angle sensor and a tilt angle sensor are arranged on a workbench, and the rotating angles of a lower arm, an upper arm and a fly arm and the horizontal angle of the workbench are controlled through a lower arm amplitude-change hydraulic cylinder, an upper arm amplitude-change hydraulic cylinder, a fly arm amplitude-change oil cylinder and a leveling oil cylinder correspondingly. According to the multi-degree-of-freedom lifting platform device and the automatic leveling method, hydraulic driving is adopted, a plurality of arm frames are adopted, multiple degrees of freedom are achieved, and large-range operation can be achieved; in the aerial operation process, shaking ofthe workbench is reduced, and dynamic impact such as direction switching is avoided; and compared with an aerial operation platform which is independently subjected to electro-hydraulic proportional driving or driven leveling, the response speed can be increased through master-slave composite control, the phenomenon that leveling lag is caused due to the fact that the distance between a control valve and an execution element is long and the execution element cannot rapidly respond is reduced, operation is easy, and the bearing capacity is high.

Description

technical field [0001] The invention belongs to the technical field of construction machinery, and in particular relates to a multi-degree-of-freedom lifting platform device and an automatic leveling method. Background technique [0002] With the development of shipbuilding, construction, port and other industries, the application of aerial work vehicles is becoming more and more extensive, and the technical solution of workbench leveling is one of the key technologies of aerial work vehicles. Foreign developed countries have successively developed a batch of high-altitude operation vehicles with high operating height and reliable safety performance. However, the technical level of aerial work machinery in my country is low, and the leveling technology of aerial work needs to be improved urgently. [0003] According to the different principles used in the leveling system of its leveling structure, aerial work platforms are divided into: self-weight leveling, parallel four-ba...

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Problems solved by technology

However, the parallel four-bar linkage mechanism is mainly used for folding arm aerial work vehicles. Due to its uncompact structure, the boom amplitude is limited, and the amplitude angle is less than 180°

(3) The hydrostatic leveling mechanism mainly uses two hydraulic cylinders with the same size to maintain the level of the workbench. It has a simple structure, low cost, and high precision, but there is oil leakage, which affects the system pressure, and an oil replenishment device needs to be installed , and this mechanism is suitable for telescopic boom aerial work vehicles. As the operating height increases, the hysteresis phenomenon becomes more obvious, which affects the performance of the leveling system

[0004] Most of the existing leveling schemes are suitable for low-altitude operations, and the working space is limited. With the increase of the working height, the anti-interference ability of the leveling system is low, and the stability, speed and accuracy of the leveling system cannot meet the work requirements.

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