An electrical control system for a self-propelled scissor-type mobile lifting platform

Abstract

The present invention discloses an electrical control system for a self-propelled scissor-type mobile lifting platform, comprising a vehicle controller, a motor controller, and a three-phase AC permanent magnet synchronous motor, wherein the vehicle controller is used to issue an enable control signal; the motor controller is connected to the vehicle controller and is used to output a switch signal according to the enable control signal issued by the vehicle controller; the three-phase AC permanent magnet synchronous motor is respectively connected to the motor controller and a gear pump on the self-propelled scissor-type mobile lifting platform and is used to start or stop the gear pump according to the switch signal output by the motor controller, thereby driving or stopping the output of power to the hydraulic system. The electrical control system for the self-propelled scissor-type mobile lifting platform disclosed by the present invention has stable torque and good speed regulation performance; high efficiency and low heat generation; high efficiency and energy saving, greatly improving the overall endurance; high protection level and small size, which bring greater freedom and room for development in design layout.

Description

Technical Field

[0001] The invention relates to the technical field of lifting platforms, and in particular discloses an electrical control system for a self-propelled scissor-type mobile lifting platform. Background Art

[0002] Self-propelled scissor-type mobile lift platforms can be used for aerial work in various industries. Their self-propelled nature saves significant time and manpower. The industry has long relied on simple and economical DC series motors as a power source. While these motors offer high starting torque and strong overload capacity, they also suffer from unstable torque, poor speed regulation, low efficiency, high heat generation, and limited protection capabilities.

[0003] Therefore, the existing self-propelled scissor-type mobile lifting platform uses a DC series motor as a power source, which has unstable torque, poor speed regulation performance, low efficiency, high heat generation and low protection capability, which is a technical problem that needs to be solved urgently. Summary of the Invention

[0004] The present invention provides an electrical control system for a self-propelled scissor-type mobile lifting platform, which aims to solve the technical problems of unstable torque, poor speed regulation performance, low efficiency, high heat generation and low protection capability in existing self-propelled scissor-type mobile lifting platforms using a DC series motor as a power source.

[0005] The present invention discloses an electrical control system for a self-propelled scissor-type mobile lifting platform, comprising a vehicle controller, a motor controller, and a three-phase AC permanent magnet synchronous motor, wherein:

[0006] Vehicle controller, used to send out enabling control signals;

[0007] The motor controller is connected to the vehicle controller and is used to output a switch signal according to the enable control signal sent by the vehicle controller;

[0008] The three-phase AC permanent magnet synchronous motor is respectively connected to the motor controller and the gear pump on the self-propelled scissor-type mobile lifting platform. It is used to control the action of the gear pump according to the switching signal output by the motor controller to drive or stop the gear pump to output power to the hydraulic system.

[0009] Furthermore, the motor controller includes a comparison module and a control module.

[0010] A comparison module, configured to compare the voltage in the enable control signal sent by the vehicle controller with a preset threshold voltage;

[0011] The control module is connected to the comparison module and is used to output a switch signal according to the comparison result of the comparison module.

[0012] Furthermore, the switch signal includes a start signal and a stop signal, and the control module includes a first control unit and a second control unit.

[0013] The first control unit is connected to the comparison module and is used to output a start signal to activate the motor controller if the voltage in the enable control signal is greater than or equal to the threshold voltage;

[0014] The second control unit is connected to the comparison module and is configured to output a stop signal if the voltage in the enable control signal is less than the threshold voltage.

[0015] Furthermore, the first control unit also includes a speed regulation subunit,

[0016] The vehicle controller is also used to send a speed control signal after activating the motor controller;

[0017] The speed regulation subunit is connected to the vehicle controller and is used to output a waveform of corresponding frequency to the three-phase AC permanent magnet synchronous motor according to the voltage of the speed control signal sent by the vehicle controller, thereby adjusting the speed of the three-phase AC permanent magnet synchronous motor.

[0018] Furthermore, a position sensor is provided at the rotor shaft end of the three-phase AC permanent magnet synchronous motor, and the motor controller further includes a voltage output module and a monitoring module.

[0019] Voltage output module, used to supply power to the monitoring module;

[0020] The position sensor is connected to the monitoring module and is used to detect the rotor operation information of the three-phase AC permanent magnet synchronous motor and transmit the rotor operation information back to the monitoring module;

[0021] The monitoring module is connected to the position sensor and is used to monitor the rotor speed and rotor position of the three-phase AC permanent magnet synchronous motor based on the rotor operation information sent back by the position sensor.

[0022] Furthermore, the electrical control system of the self-propelled scissor-type mobile lifting platform also includes a charger and a rechargeable battery.

[0023] The charger includes a detection module, a charging controller, a charging lock cable and a conversion module, and the rechargeable battery includes a battery control system.

[0024] A detection module, used to detect whether the charger is connected to the power supply voltage;

[0025] The charging controller is connected to the detection module, the charging lock cable and the conversion module respectively. It is used to disconnect the charging lock cable when the detection module detects that the charger is connected to the power supply voltage; and control the conversion module to convert the connected power supply voltage into an activation voltage and output it to the battery control system;

[0026] The battery control system is connected to the conversion module and is used to activate the rechargeable battery according to the activation voltage output by the conversion module, allowing the charger to establish communication with the rechargeable battery and apply for appropriate voltage and current from the charger according to its own conditions.

[0027] Furthermore, the electrical control system of the self-propelled scissor-type mobile lifting platform also includes a main power switch and a fuse.

[0028] The main power switch is installed on the negative connection line between the rechargeable battery and the motor controller, and the fuse is installed on the positive connection line between the rechargeable battery and the motor controller.

[0029] Furthermore, the rechargeable battery also includes a relay connected to the motor controller,

[0030] The battery control system is connected to the relay and is used to supply a voltage signal to the key output terminal on the charger when the main power switch is turned on, control the relay to close, and provide energy to the motor controller.

[0031] Furthermore, the charger and the rechargeable battery are connected via a CAN bus communication.

[0032] Furthermore, the rechargeable battery is connected to the vehicle controller via a CAN bus communication.

[0033] The electrical control system of the self-propelled scissor-type mobile lifting platform provided by the present invention has the following beneficial effects:

[0034] The electrical control system of the self-propelled scissor-type mobile lifting platform disclosed in the present invention adopts a vehicle controller, a motor controller and a three-phase AC permanent magnet synchronous motor. Since the self-propelled scissor-type mobile lifting platform generally realizes movement by providing pressure to the hydraulic system through a motor-driven gear pump, and the permanent magnet synchronous motor has stable torque and good speed regulation performance, the movement will be smoother, more fluid and more stable compared to previous power systems. At the same time, compared to traditional power systems, the permanent magnet synchronous motor has high efficiency and low heat generation. When paired with high-efficiency and energy-saving lithium batteries, the overall endurance will be greatly improved. In addition, the permanent magnet synchronous motor has a higher IP protection level and a smaller size, which brings greater freedom and room for development in design layout. The electrical control system of the self-propelled scissor-type mobile lifting platform disclosed in the present invention has stable torque and good speed regulation performance; high efficiency and low heat generation; high efficiency and energy saving, which greatly improves the overall endurance; high protection level and small size, which brings greater freedom and room for development in design layout. BRIEF DESCRIPTION OF THE DRAWINGS

[0035] Figure 1 This is a functional module block diagram of the first embodiment of the electrical control system for the self-propelled scissor-type mobile lifting platform provided by the present invention;

[0036] Figure 2 for Figure 1 A schematic diagram of the functional modules of an embodiment of a motor controller;

[0037] Figure 3 for Figure 2 A schematic diagram of the functional modules of an embodiment of a motor control module;

[0038] Figure 4 for Figure 1 Schematic diagram of the control module when the motor controller interacts with the three-phase AC permanent magnet synchronous motor;

[0039] Figure 5 This is a functional module block diagram of the second embodiment of the electrical control system for the self-propelled scissor-type mobile lifting platform provided by the present invention;

[0040] Figure 6 for Figure 5 Schematic diagram of the control module when the charger interacts with the rechargeable battery.

[0041] Description of Figure Numbers:

[0042] 10. Vehicle controller; 20. Motor controller; 30. Three-phase AC permanent magnet synchronous motor; 21. Comparison module; 22. Control module; 221. First control unit; 222. Second control unit; 2211. Speed ​​regulation subunit; 31. Position sensor; 23. Monitoring module; 40. Charger; 50. Rechargeable battery; 41. Detection module; 42. Charging controller; 43. Charging lock cable; 44. Conversion module; 51. Battery control system; 60. Main power switch; 70. Fuse; 52. Relay. Specific implementation plan

[0043] In order to better understand the above technical solution, the above technical solution will be described in detail below with reference to the accompanying drawings and specific implementation methods.

[0044] like Figure 1 As shown, Figure 1This is a functional module block diagram of the first embodiment of the electrical control system of the self-propelled scissor-type mobile lifting platform provided by the present invention. In the first embodiment, the electrical control system of the self-propelled scissor-type mobile lifting platform includes a vehicle controller 10, a motor controller 20, and a three-phase AC permanent magnet synchronous motor 30, wherein the vehicle controller 10 is used to send an enable control signal; the motor controller 20 is connected to the vehicle controller 10, and is used to output a switch signal according to the enable control signal sent by the vehicle controller 10; the three-phase AC permanent magnet synchronous motor 30 is respectively connected to the motor controller 20 and the gear pump on the self-propelled scissor-type mobile lifting platform, and is used to control the action of the gear pump according to the switch signal output by the motor controller 20, so as to drive or stop the gear pump from outputting power to the hydraulic system. In this embodiment, the switching signal includes an on signal and an off signal. The motor controller 20 outputs an on signal or an off signal according to the voltage in the enable control signal issued by the vehicle controller 10; the three-phase AC permanent magnet synchronous motor 30 controls the start-up action of the gear pump according to the on signal output by the motor controller 20, so as to drive the gear pump to output power to the hydraulic system; or the three-phase AC permanent magnet synchronous motor 30 controls the stop action of the gear pump according to the off signal output by the motor controller 20, so as to stop the gear pump from outputting power to the hydraulic system.

[0045] In the above structure, see Figure 2 and Figure 3The motor controller 20 includes a comparison module 21 and a control module 22. The comparison module 21 is configured to compare the voltage in the enable control signal sent by the vehicle controller 10 with a preset threshold voltage. The control module 22 is connected to the comparison module 21 and configured to output a switch signal based on the comparison result of the comparison module 21. In this embodiment, the switch signal includes a start signal and a stop signal. The control module 22 includes a first control unit 221 and a second control unit 222. The first control unit 221 is connected to the comparison module 21 and configured to output a start signal to activate the motor controller 20 if the voltage in the enable control signal is greater than or equal to the threshold voltage. The second control unit 222 is connected to the comparison module 21 and configured to output a stop signal if the voltage in the enable control signal is less than the threshold voltage. Preferably, the first control unit 221 further includes a speed regulation subunit 2211. The vehicle controller 10 is further configured to issue a speed control signal after activating the motor controller 20. The speed regulation subunit 2211 is connected to the vehicle controller 10 and configured to output a waveform of a corresponding frequency to the three-phase AC permanent magnet synchronous motor 30 based on the voltage of the speed control signal issued by the vehicle controller 10, thereby regulating the speed of the three-phase AC permanent magnet synchronous motor 30. In this embodiment, the vehicle controller 10 outputs a switching signal to the motor controller 20, activating the motor controller 20. The vehicle controller 10 outputs a speed control signal. The motor controller 20 outputs a waveform of a corresponding frequency from the three phases U, V, and W to the three-phase AC permanent magnet synchronous motor 30 based on the voltage in the speed control signal. The three-phase AC permanent magnet synchronous motor 30 then begins to operate and drives the gear pump to smoothly output power to the hydraulic system.

[0046] Preferably, see Figure 4 In the electrical control system of the self-propelled scissor-type mobile lifting platform provided in this embodiment, a position sensor 31 is provided at the rotor shaft end of the three-phase AC permanent magnet synchronous motor 30, and the motor controller 20 further includes a voltage output module 24 and a monitoring module 23. The voltage output module 24 is used to supply power to the monitoring module 23; the position sensor 31 is connected to the monitoring module 23 and is used to detect the rotor operation information of the three-phase AC permanent magnet synchronous motor 30 and transmit the rotor operation information back to the monitoring module 23; the monitoring module 23 is connected to the position sensor 31 and is used to monitor the rotor speed and rotor position of the three-phase AC permanent magnet synchronous motor 30 based on the rotor operation information transmitted back by the position sensor 31. In this embodiment, the position sensor 31 adopts a Hall sensor, but it can also be other sensors, such as photoelectric crankshaft and camshaft position sensors, all of which are within the scope of protection of this patent.

[0047] Furthermore, if Figure 5 and Figure 6As shown, the electrical control system of the self-propelled scissor-type mobile lifting platform provided in this embodiment also includes a charger 40 and a rechargeable battery 50. The charger 40 includes a detection module 41, a charging controller 42, a charging lock line 43, and a conversion module 44. The rechargeable battery 50 includes a battery control system 51. The detection module 41 is used to detect whether the charger 40 is connected to the supply voltage. The charging controller 42 is respectively connected to the detection module 41, the charging lock line 43, and the conversion module 44. When the detection module 41 detects that the charger 40 is connected to the supply voltage, it disconnects the charging lock line 43 and controls the conversion module 44 to convert the connected supply voltage into an activation voltage and output it to 51. The battery control system 51 is connected to the conversion module 44 and is used to activate the rechargeable battery 50 according to the activation voltage output by the conversion module 44, allowing the charger 40 to establish communication with the rechargeable battery 50 and requesting appropriate voltage and current from the charger 40 according to its own conditions. The rechargeable battery 50 can be a lithium battery or other batteries, such as nickel-metal hydride batteries, all of which are within the scope of protection of this patent. In this embodiment, after several different charging stages, the rechargeable battery 50 can be charged to an appropriate capacity, fully utilizing the battery power and ensuring a long battery life.

[0048] In addition, the electrical control system of the self-propelled scissor-type mobile lifting platform provided in this embodiment also includes a main power switch 60 and a fuse 70, wherein the main power switch 60 is installed on the negative connection line between the rechargeable battery 50 and the motor controller 20, and the fuse 70 is installed on the positive connection line between the rechargeable battery 50 and the motor controller 20. The charger 40 and the rechargeable battery 50 are connected via a CAN bus communication. The rechargeable battery 50 and the vehicle controller 10 are connected via a CAN bus communication. The rechargeable battery 50 also includes a relay 52 connected to the motor controller 20, and the battery control system 51 is connected to the relay 52, which is used to supply a voltage signal to the key output terminal on the charger 40 when the main power switch 60 is turned on, control the relay 52 to attract, and provide energy to the motor controller 20 to ensure the safety of the circuit and the self-propelled scissor-type mobile lifting platform.

[0049] like Figures 1 to 6 As shown, the electrical control system of the self-propelled scissor-type mobile lifting platform provided in this embodiment has the following principles:

[0050] In this embodiment, the charger 40 includes a lock cable with pins 4P and 5P. The charger 40, coupled with CAN communication, and the rechargeable battery 50 provide clean and efficient energy for the entire system. The rechargeable battery 50 can communicate with the vehicle controller 10 via pins 1B and 1C. The rechargeable battery 50 can be externally activated via pin 3P. A fuse 70 is installed on the positive connection between the rechargeable battery 50 and the motor controller 20. The main power switch 60 is installed on the negative connection between the rechargeable battery 50 and the motor controller 20. The motor controller 20 detects the speed and rotor position of the three-phase AC permanent magnet synchronous motor 30 via a position sensor 31 (a 5-wire Hall effect sensor). The vehicle controller 10 transmits a 24V enable control signal to the motor controller 20. The vehicle controller 10 controls the speed of the three-phase AC permanent magnet synchronous motor 30 by providing a 0-5V speed control signal to the motor controller 20.

[0051] During charging, charger 40 is connected to 220V AC power, and charging lock lines 4P and 5P are disconnected to prevent the self-propelled scissor lift from starting during charging. A 12V power supply is generated internally by charger 40 and supplied to the battery control system in rechargeable battery 50 via pins 3D and 4D. Once the battery control system is activated, charger 40 and rechargeable battery 50 begin communicating, allowing the rechargeable battery 50 to request the appropriate voltage and current based on its specific conditions. After several different charging stages, the rechargeable battery 50 is charged to the appropriate capacity, fully utilizing the battery's power and ensuring a long battery life.

[0052] Before the vehicle begins operation, the main power switch 60 is turned on, applying a 15-30V voltage signal to pin 3P. This energizes the internal relay 52 of the rechargeable battery 50, supplying energy to the motor controller 20 via a wire with a fuse 70, ensuring the safety of the circuit and the self-propelled scissor-type mobile lift platform. The motor controller 20 supplies power to the position sensor 31 in the three-phase AC permanent magnet synchronous motor 30 and receives feedback signals to monitor the motor's speed and rotor position. To initiate operation, the vehicle controller 10 outputs a 24V DC enable control signal to the motor controller 20 via pin 8A, activating the motor controller 20. The vehicle controller 10 then outputs a 0-5V DC signal to the motor controller 20 via pin 9A. Based on the voltage level, the motor controller 20 outputs a waveform of the corresponding frequency from the three phases U, V, and W to the three-phase AC permanent magnet synchronous motor 30. The three-phase AC permanent magnet synchronous motor 30 begins operation, driving the gear pump to smoothly deliver power to the hydraulic system. When the voltage signal output by the vehicle controller 10 to the motor controller 20 via pin 9A changes, the speed of the three-phase AC permanent magnet synchronous motor 30 also changes, thereby achieving speed regulation. When the 24V DC signal output by the vehicle controller 10 to the motor controller 20 via pin 8A disappears or falls below a preset threshold voltage, the motor controller 20 immediately stops outputting power to the three-phase AC permanent magnet synchronous motor 30, causing the motor 30 to quickly stop.

[0053] Compared to existing technologies, the electrical control system for the self-propelled scissor-type mobile lift platform disclosed in this embodiment utilizes a vehicle controller, a motor controller, and a three-phase AC permanent magnet synchronous motor. Since self-propelled scissor-type mobile lift platforms typically operate by using a motor-driven gear pump to provide pressure to the hydraulic system, and permanent magnet synchronous motors offer stable torque and excellent speed regulation, the operation is smoother, more fluid, and more stable than previous power systems. Furthermore, compared to traditional power systems, permanent magnet synchronous motors offer high efficiency and low heat generation. When paired with energy-efficient lithium batteries, the overall battery life is significantly improved. Furthermore, permanent magnet synchronous motors have a higher IP protection rating and are smaller in size, providing greater freedom and flexibility in design layout. The electrical control system for the self-propelled scissor-type mobile lift platform disclosed in this embodiment features stable torque and excellent speed regulation; high efficiency and low heat generation; high energy efficiency, significantly improving overall battery life; and a high IP protection rating and compact size, providing greater freedom and flexibility in design layout.

[0054] Although preferred embodiments of the present invention have been described, those skilled in the art may make additional changes and modifications to these embodiments once they are aware of the basic inventive concepts. Therefore, the appended claims are intended to be interpreted as including the preferred embodiments and all changes and modifications that fall within the scope of the invention. Obviously, those skilled in the art may make various changes and modifications to the present invention without departing from the spirit and scope of the invention. Thus, the present invention is intended to include such changes and modifications as fall within the scope of the claims and their equivalents.

Claims

1. An electrical control system for a self-propelled scissor-type mobile lifting platform, which is applied to a self-propelled scissor-type mobile lifting platform. The self-propelled scissor-type mobile lifting platform includes a hydraulic system, and the hydraulic system is provided with a gear pump, characterized in that: The electrical control system of the self-propelled scissor-type mobile lifting platform comprises a vehicle controller (10), a motor controller (20), and a three-phase AC permanent magnet synchronous motor (30), wherein: The vehicle controller (10) is used to send an enabling control signal; The motor controller (20) is connected to the vehicle controller (10) and is used to output a switch signal according to the enable control signal sent by the vehicle controller (10); The three-phase AC permanent magnet synchronous motor (30) is respectively connected to the motor controller (20) and the gear pump on the self-propelled scissor-type mobile lifting platform, and is used to control the action of the gear pump according to the switching signal output by the motor controller (20) to drive or stop the gear pump from outputting power to the hydraulic system; The motor controller (20) includes a comparison module (21) and a control module (22), The comparison module (21) is used to compare the voltage in the enable control signal sent by the vehicle controller (10) with a preset threshold voltage; The control module (22) is connected to the comparison module (21) and is used to output a switch signal according to the comparison result of the comparison module (21); The switch signal includes a start signal and a stop signal, and the control module (22) includes a first control unit (221) and a second control unit (222). The first control unit (221) is connected to the comparison module (21) and is configured to output a start signal to activate the motor controller (20) if the voltage in the enable control signal is greater than or equal to the threshold voltage; The second control unit (222) is connected to the comparison module (21) and is configured to output a stop signal if the voltage in the enable control signal is less than the threshold voltage; The first control unit (221) further includes a speed regulating subunit (2211), The vehicle controller (10) is further configured to send a speed control signal after activating the motor controller (20); The speed regulating subunit (2211) is connected to the vehicle controller (10) and is used to output a waveform of a corresponding frequency to the three-phase AC permanent magnet synchronous motor (30) according to the voltage of the speed control signal sent by the vehicle controller (10), thereby regulating the rotation speed of the three-phase AC permanent magnet synchronous motor (30); A position sensor (31) is provided at the rotor shaft end of the three-phase AC permanent magnet synchronous motor (30), and the motor controller (20) further includes a voltage output module (24) and a monitoring module (23). The voltage output module (24) is used to supply power to the monitoring module (23); The position sensor (31) is connected to the monitoring module (23) and is used to detect rotor operation information of the three-phase AC permanent magnet synchronous motor (30) and transmit the rotor operation information back to the monitoring module (23); The monitoring module (23) is connected to the position sensor (31) and is used to monitor the rotor speed and rotor position of the three-phase AC permanent magnet synchronous motor (30) based on the rotor operation information transmitted back by the position sensor (31); The electrical control system of the self-propelled scissor-type mobile lifting platform further includes a charger (40) and a rechargeable battery (50). The charger (40) includes a detection module (41), a charging controller (42), a charging lock line (43) and a conversion module (44); the rechargeable battery (50) includes a battery control system (51). The detection module (41) is used to detect whether the charger (40) is connected to the power supply voltage; The charging controller (42) is connected to the detection module (41), the charging lock line (43) and the conversion module (44) respectively, and is used to disconnect the charging lock line (43) when the detection module (41) detects that the charger (40) is connected to the power supply voltage; and control the conversion module (44) to convert the connected power supply voltage into an activation voltage and output it to the battery control system (51); The battery control system (51) is connected to the conversion module (44) and is used to activate the rechargeable battery (50) according to the activation voltage output by the conversion module (44), allowing the charger (40) to establish communication with the rechargeable battery (50), and applying for appropriate voltage and current from the charger (40) according to its own conditions; The rechargeable battery (50) communicates with the vehicle controller (10) via pins 1B and 1C. When charging, the charger (40) supplies power to the battery control system in the rechargeable battery (50) via pins 3D and 4D. After the battery control system is activated, the charger (40) begins to establish communication with the rechargeable battery (50).

2. The electrical control system of the self-propelled scissor-type mobile lifting platform according to claim 1, characterized in that: The electrical control system of the self-propelled scissor-type mobile lifting platform further includes a main power switch (60) and a fuse (70). The main power switch (60) is installed on the negative connection line between the rechargeable battery (50) and the motor controller (20), and the fuse (70) is installed on the positive connection line between the rechargeable battery (50) and the motor controller (20).

3. The electrical control system of the self-propelled scissor-type mobile lifting platform according to claim 2, characterized in that: The rechargeable battery (50) further includes a relay (52) connected to the motor controller (20), The battery control system (51) is connected to the relay (52) and is used to supply a voltage signal to the key output terminal on the charger (40) when the main power switch (60) is turned on, thereby controlling the relay (52) to be attracted and providing energy to the motor controller (20).

4. The electrical control system of the self-propelled scissor-type mobile lifting platform according to claim 3, characterized in that: The charger (40) and the rechargeable battery (50) are connected via a CAN bus communication.

5. The electrical control system of the self-propelled scissor-type mobile lifting platform according to claim 4, characterized in that: The rechargeable battery (50) and the vehicle controller (10) are connected via a CAN bus communication.

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