Lifting tower type aerial work platform and control method thereof

Abstract

The invention discloses a lifting tower type aerial work platform and a control method thereof. The lifting tower type aerial work platform comprises a power device and a walking device. The supporting legs are rotationally connected with the walking device, and the rotated supporting legs can support the walking device away from the ground; the supporting legs do telescopic motion through the supporting leg oil cylinders; the lifting tower is arranged on the walking device and performs lifting and falling movement through a lifting tower oil cylinder; the rotary table is rotationally connected with the end part of the lifting tower through a slewing bearing; the slewing center of the slewing bearing coincides with the center of the supporting leg; the arm frame mechanism is arranged on the rotary table and ascends and descends along with the lifting tower; a vertical lifting tower structure is adopted, the rotation center can coincide with the center of a supporting leg, 360-degree arbitrary rotation is achieved under the condition that parameters such as the weight of a rotation part, the weight of a non-rotation part, the span of the supporting leg, the maximum operation amplitude and the load of a working bucket are not changed, and the tipping moment in each direction is relatively minimum; therefore, the high-altitude action platform designed by the invention can effectively improve the working stability.

Description

Technical Field

[0001] The present invention relates to the field of aerial work platforms, and in particular to a lifting tower type aerial work platform and a control method thereof. Background Art

[0002] With the development of social economy, people's requirements for aerial work such as rescue, power repair, municipal facilities maintenance, high-rise building construction, etc. are constantly increasing, and the demand for aerial work products is also increasing. Aerial work platforms have the advantages of strong off-road capabilities, small size, light weight, and the ability to meet the needs of narrow space operations. They have been widely used in operations in small areas of cities and towns, as well as in complex terrain areas such as mountains and hills.

[0003] However, the travel speed of aerial work platforms is relatively slow, and tow trucks are needed to assist in transportation during medium and long-distance transfers. Therefore, under the premise of meeting the maximum working height and maximum working range, it is of great significance to reduce its weight and storage size as much as possible for easy transportation.

[0004] Therefore, the aerial work platform must ensure its operating stability. It is required that when the working bucket carries the rated load and the whole machine is in the most unstable posture, the stabilizing torque should be greater than the tipping torque, so as to avoid tipping. The methods to improve stability are generally as follows: 1. Increase the weight of the non-rotating parts of the walking device to increase the stabilizing torque; 2. Increase the outrigger span to increase the stabilizing moment; 3. Reduce the weight of the superstructure, thereby reducing the tipping moment.

[0005] However, increasing the weight of the walking device requires the selection of a vehicle with a larger load capacity for transportation; increasing the outrigger span is not conducive to unfolding the outriggers when working in a narrow area; and reducing the weight of the upper body will affect the strength of the boom.

[0006] Therefore, there is an urgent need for a new type of aerial work platform and its control method to solve the above technical problems. Summary of the invention

[0007] In response to the above technical problems, the present invention provides a lifting tower aerial work platform and a control method thereof, which can effectively increase the maximum working height, increase the maximum working range in all directions, and reduce the storage size of the whole machine without increasing the weight of the whole machine, increasing the leg span, and reducing the arm strength.

[0008] In order to achieve the above technical objectives, the present invention adopts the following technical means: A lifting tower type aerial work platform, comprising a power device and a walking device; wherein the power device drives the walking device to walk and work; and further comprising: There are at least three outriggers arranged in an array around the central circumference of the walking device, which are rotatably connected to the walking device, and the outriggers after rotation can support the walking device off the ground; the outriggers are telescopically movable by outrigger oil cylinders; A lifting tower is arranged on the walking device and performs lifting and lowering movements through a lifting tower cylinder; A turntable is rotatably connected to the end of the lifting tower through a slewing bearing; the slewing center of the slewing bearing coincides with the center of the supporting leg; The arm mechanism is arranged on the turntable and moves up and down together with the lifting tower; The working bucket is mounted on the arm frame mechanism and is driven by the arm frame mechanism to move; The lifting tower can rotate in a vertical direction to realize the vertical movement of the working bucket.

[0009] The detection switch VI and the detection switch VII installed at the outrigger base are used to detect the folded state and the unfolded state of the outriggers respectively.

[0010] The detection switch IV installed between the lifting tower and the walking device is used to detect the lifting state of the lifting tower.

[0011] The arm support mechanism comprises: The first-stage arm assembly is extended and retracted by the first-stage arm cylinder, and performs lifting and lowering actions between the turntable and the first-stage arm assembly; The secondary arm assembly, whose tail is rotatably connected with the primary arm assembly through a hinge seat, is telescopically movable through the secondary arm oil cylinder, and performs lifting and lowering actions with the primary arm; wherein the secondary arm assembly includes a front telescopic arm and a rear telescopic arm; the front telescopic arm is slidably sleeved on the outside of the rear telescopic arm; The end telescopic arm and the front telescopic arm perform telescopic movement through a telescopic cylinder.

[0012] An arm fixing assembly, used to fix the arm mechanism, comprises: A primary arm bracket, arranged on the top of the walking device, for supporting and fixing the primary arm assembly; The secondary arm bracket is arranged on the top of the turntable, and is used to fix the secondary arm assembly and can rotate 360 ​​degrees with the turntable.

[0013] The arm monitoring assembly is used to monitor whether the arm mechanism is accurately positioned, and includes: A detection switch V is installed on the first-stage arm bracket to detect whether the first-stage arm assembly has fallen into place; The secondary arm bracket is equipped with detection switch I, detection switch II and detection switch III, which jointly detect the position of the secondary arm assembly.

[0014] A control method for a lifting tower aerial work platform, which is applied to any of the above-mentioned lifting tower aerial work platforms; comprising the following steps: S1: After driving the aerial work platform into the work site, rotate the outriggers to the outrigger unfolded state, and fix the outriggers in the outrigger unfolded position; S2: Detection switch VII detects that the outrigger is in the outrigger extended position, and the outrigger extension and retraction are allowed at this time; S3: Operate the outriggers to extend, and stop extending the outriggers after the vehicle body is automatically leveled; S4: The vehicle-mounting action is interlocked with the outriggers, and the lifting tower cylinder is operated to lift; S5: interlocking between the lifting tower and the boom mechanism; S6: After the lifting tower is lifted to the right position, the rotation center position of the turntable coincides with the center position of the outrigger, and the turntable can rotate arbitrarily within 360°. The weight of the rotating part outside the tipping line is relatively the shortest distance from the front, rear, left and right tipping lines, and the tipping moment in each direction is relatively the smallest; S7: The secondary arm oil cylinder lifts the secondary arm assembly, and after the angle sensor detects that the secondary arm assembly has been lifted to a certain angle, the secondary arm bracket is automatically retracted; S8: After the detection switch I detects that the secondary arm support is retracted into place, the hydraulic lock locks the action of the secondary arm support cylinder and thus locks the position of the secondary arm support; at the same time, the solenoid valve that controls the action of the secondary arm support cylinder is unloaded; S9: The operator selects the turntable rotation, first arm lifting, second arm lifting, second arm extension, work bucket lifting, and work bucket rotation to perform the operation; S10: After the operation is completed, the control unit determines whether it meets the vehicle collection control logic, and then performs the vehicle collection operation; S11: After the detection switch II detects that the secondary arm support is extended to the right position, the hydraulic lock locks the secondary arm support cylinder and then locks the position of the secondary arm support, and the solenoid valve controlling the action of the secondary arm support cylinder is unloaded; S12: After the control unit determines that the S10 vehicle retraction control logic is met, the tower is allowed to land; S13: The lifting tower is completely in place, and after the detection switch V detects that the first-stage arm assembly falls into the first-stage arm bracket, the legs are allowed to be retracted and extended; S14: The outrigger oil cylinder retracts to bring the outrigger into position, and the outrigger rotates to a folded state; S15: After the detection switch VI detects that the outriggers are in the retracted state, the walking device is allowed to travel; S16: Operate the walking device to drive the aerial work platform away from the work site.

[0015] The vehicle collection operation needs to follow the following vehicle collection control logic: a. The rotary encoder at the slewing bearing detects that the turntable has returned to the center position; b. The angle sensor at the primary arm assembly detects that the primary arm assembly falls to a horizontal state; c. The secondary arm assembly falls. After the angle sensor at the secondary arm assembly detects that the secondary arm assembly has fallen to the set angle, the secondary arm bracket automatically extends and the secondary arm assembly continues to fall. The detection switch III detects that the secondary arm assembly has fallen into place.

[0016] Beneficial effects: First, the present application adopts the structure of a vertical lifting tower to coincide the rotation center of the boom mechanism with the center of the leg; further, when parameters such as the weight of the rotating part, the weight of the non-rotating part, the leg span, the maximum operating range, and the working bucket load remain unchanged, the boom mechanism can achieve an arbitrary rotation of 360°, and the tipping moment in all directions is relatively minimal; thereby, the high-altitude working platform designed in the present application can effectively improve the stability of the work.

[0017] Second, the present application adopts a structural design of vertical lifting of a lifting tower. Compared with the traditional folding arm structure, the present invention can reach a 90° angle that the traditional arm mechanism cannot reach, thereby effectively improving the working height; at the same time, by adopting the structure of a lifting tower, it can also effectively avoid protrusions such as the power unit and the first-stage arm bracket, and prevent the turntable from colliding with them during a 360° rotation, thereby improving operational convenience and safety.

[0018] Third, the outriggers provided in the present application can be interlocked with the upper vehicle, and the lifting tower and the boom, ensuring that in the operating state, the rotation center always coincides with the center of the outriggers, ensuring the stability of the operation and thus ensuring the safety of the operation.

[0019] Fourth, the present application sets up a hydraulic leveling system and a parallelogram mechanical structure leveling system composed of a primary arm, a pull rod, a hinge seat and a turntable, thereby ensuring that the working bucket is always level with the ground under the joint action of the leveling system; thereby, it plays a role in improving the operating stability of the aerial work platform. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] Figure 1 It is a front view of the aerial work platform of the present invention; Figure 2 It is a three-dimensional view of the aerial work platform of the present invention; Figure 3 is a top view of the aerial work platform of the present invention; Figure 4 yes Figure 2 I enlarged view in; Figure 5 yes Figure 1 Ⅱ enlarged view in .

[0021] In the figure: 1. power unit; 2. primary arm assembly; 3. turntable; 4. secondary arm assembly; 5. lifting tower; 6. detection switch VII; 7. detection switch VI; 8. walking device; 9. outrigger; 10. pin shaft; 11. primary arm bracket; 12. detection switch V; 13. secondary arm bracket; 14. slewing bearing; 15. working bucket; 16. detection switch IV; 17. detection switch I; 18. detection switch III; 19. detection switch II; 20. forward tilting line; 21. backward tilting line; 22. left tilting line; 23. right tilting line. DETAILED DESCRIPTION

[0022] In order to enable those skilled in the art to better understand the technical solution of the present invention, the present invention will be further described in detail below with reference to the accompanying drawings.

[0023] like Figures 1 to 3 As shown, a lifting tower type aerial work platform includes a power device and a walking device; wherein the power device drives the walking device to walk and work; and also includes: at least three legs are arranged in an array around the central circumference of the walking device, and are rotatably connected to the walking device, and the legs after rotation can support the walking device off the ground; the legs are telescopically moved by the leg cylinders; a lifting tower is arranged on the walking device and is lifted and lowered by the lifting tower cylinders; a turntable is rotatably connected to the end of the lifting tower through a slewing bearing; the slewing center of the slewing bearing coincides with the center of the legs; a boom mechanism is arranged on the turntable and is lifted and lowered together with the lifting tower; a working bucket is installed on the boom mechanism and is driven by the boom mechanism to move; the lifting tower can rotate in the vertical direction to realize the vertical movement of the working bucket.

[0024] Among them, the aerial work platform designed in the present invention adopts a vertical lifting tower structure between the boom mechanism and the walking device, which can make the rotation center of the boom mechanism coincide with the center of the leg. When the parameters such as the weight of the rotating part, the weight of the non-rotating part, the span of the leg, the maximum operating range, and the working bucket load remain unchanged, the boom mechanism can achieve an arbitrary rotation of 360°, and the tipping moment in all directions is relatively minimal; thereby, the aerial work platform designed in the present application can effectively improve the stability of the work.

[0025] At the same time, due to the vertical lifting structural design of the lifting tower, compared with the traditional folding arm structure, the present invention can reach a 90° angle that the traditional arm mechanism cannot reach, thereby effectively improving the working height; at the same time, by adopting the structure of the lifting tower, it can also effectively avoid protrusions such as the power unit and the first-stage arm bracket, and prevent the turntable from colliding with them during 360° rotation, thereby improving operational convenience and safety.

[0026] like Figure 2 and 3As shown, the arm mechanism includes a primary arm assembly, which performs telescopic movement through the primary arm cylinder and performs lifting and lowering movements with the turntable; a secondary arm assembly, the tail of which is rotatably connected to the primary arm assembly through a hinge seat, and performs telescopic movement through the secondary arm cylinder and performs lifting and lowering movements with the primary arm; wherein the secondary arm assembly includes a front telescopic arm and a terminal telescopic arm; the front telescopic arm is slidably sleeved on the outside of the terminal telescopic arm; the terminal telescopic arm and the front telescopic arm perform telescopic movement through the telescopic cylinder.

[0027] like Figure 3 As shown, the arm fixing assembly is used to fix the arm mechanism, including a primary arm bracket, which is arranged on the top of the walking device and is used to support and fix the primary arm assembly; a secondary arm bracket is arranged on the top of the turntable and is used to fix the secondary arm assembly and rotate 360° with the turntable.

[0028] like Figure 3 and 4 As shown, the arm monitoring component is used to monitor whether the arm mechanism is accurately positioned, including a detection switch V installed on the primary arm bracket, which is used to detect whether the primary arm assembly is in place, wherein the detection switch V is a proximity switch, which can detect when the primary arm assembly is a certain distance away from the detection switch V; the detection switch I, detection switch II, and detection switch III installed on the secondary arm bracket jointly detect the position of the secondary arm assembly; wherein the detection switches I, II, and III are proximity switches, which can detect when the secondary arm bracket is a certain distance away from the detection switches I, II, and III.

[0029] like Figure 3 and 5 As shown, the detection switch VI and the detection switch VII installed at the outrigger seat are used to detect the folded state and the unfolded state of the outriggers, respectively; the detection switch IV installed between the lifting tower and the walking device is used to detect the lifting state of the lifting tower.

[0030] Working principle: S1: After driving the aerial work platform into the work site, rotate the pins at the outriggers to rotate the outriggers to the outrigger unfolded state, and fix the outriggers in the outrigger unfolded position; S2: After the detection switch Ⅶ detects that the outrigger is in the outrigger extended position, the outrigger oil cylinder is allowed to control the outrigger to extend and retract; S3: Operate the outrigger oil cylinder at the outrigger to extend, drive the outrigger to extend, and stop extending the outrigger after the vehicle body is automatically leveled; S4: The vehicle-mounting action is interlocked with the outriggers to operate the lifting tower cylinder to lift; when the detection switch V detects that the primary arm leaves the primary arm bracket, the outriggers can no longer move, completing the interlocking to ensure the stability of the working platform and thus the safety of the operation; S5: The lifting tower and the boom mechanism are interlocked; when the detection switch IV does not detect that the lifting tower is lifted to the right position, the boom cannot move. After the detection switch IV detects that the lifting tower is lifted to the right position, the boom can move; S6: After the lifting tower is lifted to the right position, the rotation center position of the turntable coincides with the center position of the outrigger, and the turntable can rotate arbitrarily within 360°. The weight of the rotating part outside the tipping line is relatively the shortest distance from the front, rear, left and right tipping lines, and the tipping moment in each direction is relatively the smallest; S7: The secondary arm oil cylinder lifts the secondary arm assembly, and after the angle sensor detects that the secondary arm assembly is lifted to a certain angle, the secondary arm bracket is automatically retracted; wherein, the angle sensor is arranged on the side of the front end telescopic arm in the second-section arm assembly; S8: After the detection switch I detects that the secondary arm bracket is retracted into place, the hydraulic lock locks the action of the secondary arm bracket cylinder and then locks the position of the secondary arm bracket; at the same time, the solenoid valve that controls the action of the secondary arm bracket cylinder is unloaded to prevent the hydraulic system from being damaged due to long-term pressure holding; S9: The operator selects the turntable rotation, first arm lifting, second arm lifting, second arm extension, work bucket lifting, and work bucket rotation to perform the operation; S10: After the operation is completed, the control unit determines whether it meets the vehicle collection control logic, and then performs the vehicle collection operation; S11: After the detection switch II detects that the secondary arm bracket is extended to the right position, the hydraulic lock locks the secondary arm bracket cylinder and then locks the position of the secondary arm bracket, and the solenoid valve controlling the action of the secondary arm bracket cylinder is unloaded; S12: After the control unit determines that the S10 vehicle retraction control logic is met, the tower is allowed to land; S13: The lifting tower is completely in place, and after the detection switch V detects that the first-stage arm assembly falls into the first-stage arm bracket, the legs are allowed to be retracted and extended; S14: operate the outrigger oil cylinder to retract the outriggers into position and rotate the outriggers to a retracted state; S15: After the detection switch VI detects that the outriggers are in the retracted state, the walking device is allowed to travel; S16: The walking device drives the aerial work platform away from the work site.

[0031] Among them, the vehicle collection operation needs to follow the following control logic: a. The rotary encoder at the slewing bearing detects that the turntable has returned to the center position; b. The angle sensor at the primary arm assembly detects that the primary arm assembly falls to a horizontal state; c. The secondary arm assembly falls. After the angle sensor at the secondary arm assembly detects that the secondary arm assembly has fallen to the set angle, the secondary arm bracket automatically extends and the secondary arm assembly continues to fall. The detection switch III detects that the secondary arm assembly has fallen into place.

Claims

1. A lifting tower aerial work platform, comprising a power device and a walking device; wherein: The power device drives the walking device to perform walking and loading operations; it is characterized by further comprising: There are at least three outriggers arranged in an array around the central circumference of the walking device, which are rotatably connected to the walking device, and the outriggers after rotation can support the walking device off the ground; the outriggers are telescopically movable by outrigger oil cylinders; A lifting tower is arranged on the walking device and performs lifting and lowering movements through a lifting tower cylinder; A turntable is rotatably connected to the end of the lifting tower through a slewing bearing; the slewing center of the slewing bearing coincides with the center of the supporting leg; The arm mechanism is arranged on the turntable and moves up and down together with the lifting tower; The working bucket is mounted on the arm frame mechanism and is driven by the arm frame mechanism to move; The lifting tower can rotate in a vertical direction to realize the vertical movement of the working bucket.

2. The lifting tower aerial work platform according to claim 1, characterized in that: Also includes: The detection switch VI and the detection switch VII installed at the outrigger base are used to detect the folded state and the unfolded state of the outriggers respectively.

3. The lifting tower aerial work platform according to claim 1, characterized in that: Also includes: The detection switch IV installed between the lifting tower and the walking device is used to detect the lifting state of the lifting tower.

4. The lifting tower aerial work platform according to claim 1, characterized in that: The arm support mechanism comprises: The first-stage arm assembly is extended and retracted by the first-stage arm cylinder, and performs lifting and lowering actions between the turntable and the first-stage arm assembly; The secondary arm assembly, whose tail is rotatably connected with the primary arm assembly through a hinge seat, is telescopically movable through the secondary arm oil cylinder, and performs lifting and lowering actions with the primary arm; wherein the secondary arm assembly includes a front telescopic arm and a rear telescopic arm; the front telescopic arm is slidably sleeved on the outside of the rear telescopic arm; The end telescopic arm and the front telescopic arm perform telescopic movement through a telescopic cylinder.

5. The lifting tower aerial work platform according to claim 1, characterized in that: Also includes: An arm fixing assembly, used to fix the arm mechanism, comprises: A primary arm bracket, arranged on the top of the walking device, for supporting and fixing the primary arm assembly; The secondary arm bracket is arranged on the top of the turntable, and is used to fix the secondary arm assembly and can rotate 360 ​​degrees with the turntable.

6. The lifting tower aerial work platform according to claim 1, characterized in that: Also includes: The arm monitoring assembly is used to monitor whether the arm mechanism is accurately positioned, and includes: A detection switch V is installed on the first-stage arm bracket to detect whether the first-stage arm assembly has fallen into place; The secondary arm bracket is equipped with detection switch I, detection switch II and detection switch III, which jointly detect the position of the secondary arm assembly.

7. A control method for a lifting tower aerial work platform, which is applied to the lifting tower aerial work platform described in any one of claims 1 to 5; characterized in that: The following steps are involved: S1: After driving the aerial work platform into the work site, rotate the outriggers to the outrigger unfolded state, and fix the outriggers in the outrigger unfolded position; S2: Detection switch VII detects that the outrigger is in the outrigger extended position, and the outrigger extension and retraction are allowed at this time; S3: Operate the outriggers to extend, and stop extending the outriggers after the vehicle body is automatically leveled; S4: The vehicle-mounting action is interlocked with the outriggers, and the lifting tower cylinder is operated to lift; S5: interlocking between the lifting tower and the boom mechanism; S6: After the lifting tower is lifted to the right position, the rotation center position of the turntable coincides with the center position of the outrigger, and the turntable can rotate arbitrarily within 360°. The weight of the rotating part outside the tipping line is relatively the shortest distance from the front, rear, left and right tipping lines, and the tipping moment in each direction is relatively the smallest; S7: The secondary arm oil cylinder lifts the secondary arm assembly, and after the angle sensor detects that the secondary arm assembly has been lifted to a certain angle, the secondary arm bracket is automatically retracted; S8: After the detection switch I detects that the secondary arm support is retracted into place, the hydraulic lock locks the action of the secondary arm support cylinder and thus locks the position of the secondary arm support; at the same time, the solenoid valve that controls the action of the secondary arm support cylinder is unloaded; S9: The operator selects the turntable rotation, first arm lifting, second arm lifting, second arm extension, work bucket lifting, work bucket rotation to perform the operation; S10: After the operation is completed, the control unit determines whether it meets the vehicle collection control logic, and then performs the vehicle collection operation; S11: After the detection switch II detects that the secondary arm support is extended to the right position, the hydraulic lock locks the secondary arm support cylinder and then locks the position of the secondary arm support, and the solenoid valve controlling the action of the secondary arm support cylinder is unloaded; S12: After the control unit determines that the S10 vehicle retraction control logic is met, the tower is allowed to land; S13: The lifting tower is completely in place, and after the detection switch V detects that the first-stage arm assembly falls into the first-stage arm bracket, the legs are allowed to be retracted and extended; S14: The outrigger oil cylinder retracts to bring the outrigger into position, and the outrigger rotates to a folded state; S15: After the detection switch VI detects that the outriggers are in the retracted state, the walking device is allowed to travel; S16: Operate the walking device to drive the aerial work platform away from the work site.

8. The control method of the lifting tower aerial work platform according to claim 7, characterized in that: The vehicle collection operation needs to follow the following vehicle collection control logic: a. The rotary encoder at the slewing bearing detects that the turntable has returned to the center position; b. The angle sensor at the primary arm assembly detects that the primary arm assembly falls to a horizontal state; c. The secondary arm assembly falls. After the angle sensor at the secondary arm assembly detects that the secondary arm assembly has fallen to the set angle, the secondary arm bracket automatically extends and the secondary arm assembly continues to fall. The detection switch III detects that the secondary arm assembly has fallen into place.

Images