Safety protection system for engineering equipment, engineering equipment and method

Abstract

The application relates to the technical field of engineering equipment, and discloses a safety protection system for engineering equipment, engineering equipment and a method. The safety protection system comprises a pressure detection module, an angle sensor and an execution module. The pressure detection module is used for detecting the load acting on a telescopic arm. The angle sensor is used for detecting the included angle between an arm support and a horizontal plane. The controller is configured to determine the platform load corresponding to the working platform of the engineering equipment according to the load and the included angle, judge whether the platform load is greater than the rated load, and send a control instruction to the execution module to make the execution module execute preset safety protection measures when the platform load is greater than the rated load. The normal load on the load transmission path is directly measured, the measurement error is reduced, and the measurement precision is effectively improved.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of engineering equipment, in particular to a safety protection system for engineering equipment, engineering equipment and a method. BACKGROUND

[0002] The aerial work platform is a product for high-altitude operation, equipment installation, maintenance and other high-mobility high-altitude operation in various industries. According to the difference of structural characteristics, the aerial work platform mainly includes arm type aerial work platform, scissor type aerial work platform, mast type aerial work platform, spider type aerial work platform and the like. Safety is one of the most important problems to be considered for the aerial work platform, and preventing overload is the most basic safety requirement. During the operation or walking of the aerial work platform, it is necessary to ensure that the working platform load does not exceed the rated load, otherwise the overturning moment will be greater than the stable moment, which will lead to overturning, or the structure will be damaged, and then the situation of personnel injury or property loss will occur.

[0003] At present, the aerial work platform is usually configured with a load sensing system, such as a weighing system, to ensure that the working platform load does not exceed the rated load. When the working platform load exceeds the rated load, the load sensing system will alarm and the system will limit the lifting, walking and other actions to avoid damage to the aerial work platform or insufficient stability. The existing load sensing system is mainly in the form of four-bar linkage structure. Since the manufacturing precision of the structure and the friction resistance of the pin shaft connection all affect the load detection precision, there are problems such as low load detection precision and insufficient stability, and the existing load sensing system can only detect the working platform load and cannot detect the external load that the boom system may bear in addition to the structure. SUMMARY

[0004] In view of the above problems in the prior art, the purpose of the embodiments of the present application is to provide a safety protection system for engineering equipment, engineering equipment and a method.

[0005] In order to achieve the above-mentioned purpose, the first aspect of the present application provides a safety protection system for engineering equipment, the engineering equipment comprising a boom and a turntable connected with the boom, the boom comprising a telescopic arm, the safety protection system comprising:

[0006] a pressure detection module for detecting the load acting on the telescopic arm;

[0007] an angle sensor for detecting the included angle between the boom and the horizontal plane;

[0008] an execution module; and

[0009] a controller configured to:

[0010] determine the platform load corresponding to the working platform of the engineering equipment according to the load and the included angle;

[0011] determining whether the platform load is greater than the rated load;

[0012] in the case that the platform load is greater than the rated load, sending a control instruction to the execution module to cause the execution module to execute a preset safety protection measure.

[0013] In the embodiment of the present application, the telescopic arm comprises a first section arm and a second section arm, the turntable, the first section arm and the second section arm are connected in sequence, and the pressure detection module comprises:

[0014] a first pressure detection device, a first side of the first pressure detection device being fixed to a bottom plate at an end of the first section arm away from the turntable, and a second side of the first pressure detection device being in contact with a bottom plate of the second section arm;

[0015] a second pressure detection device, a first side of the second pressure detection device being fixed to a top plate at an end of the second section arm close to the first section arm, and a second side of the second pressure detection device being in contact with a top plate of the first section arm.

[0016] In the embodiment of the present application, the first pressure detection device comprises:

[0017] a sliding block, a first side of the sliding block being in contact with the bottom plate of the second section arm;

[0018] a pressure sensor, a second side of the sliding block being fixed to a first side of the pressure sensor, and a second side of the pressure sensor being fixed to the bottom plate at the end of the first section arm away from the turntable.

[0019] In the embodiment of the present application, the second side of the sliding block is provided with a groove, and the first side of the pressure sensor is embedded in the groove to realize interference fit between the sliding block and the pressure sensor.

[0020] In the embodiment of the present application, the first pressure detection device further comprises:

[0021] a fixing assembly, configured to fix the second side of the pressure sensor to the bottom plate at the end of the first section arm away from the turntable.

[0022] In the embodiment of the present application, the execution module comprises:

[0023] an execution mechanism, configured to adjust opening and closing of a hydraulic control valve corresponding to a hydraulic drive system of the engineering equipment according to the received control instruction.

[0024] In the embodiment of the present application, the execution module comprises:

[0025] an alarm device, configured to output early warning information according to the received control instruction.

[0026] The second aspect of the present application provides an engineering equipment comprising the safety protection system as described above.

[0027] The third aspect of the present application provides a safety protection method for engineering equipment, the engineering equipment comprising a boom and a turntable connected with the boom, the boom comprising a telescopic arm, the safety protection method comprising:

[0028] obtaining a load acting on the telescopic arm;

[0029] obtaining an included angle between the boom and a horizontal plane;

[0030] determining a platform load corresponding to a working platform of the engineering equipment according to the load and the included angle;

[0031] judging whether the platform load is greater than a rated load;

[0032] in the case that the platform load is greater than the rated load, performing a preset safety protection measure.

[0033] In the embodiment of the present application, the telescopic arm of the engineering equipment comprises a first arm section and a second arm section, the turntable of the engineering equipment, the first arm section, the second arm section and the working platform of the engineering equipment are connected in sequence, the pressure detection device is located between the first arm section and the second arm section, and the platform load corresponding to the working platform of the engineering equipment is determined according to the load and the included angle, comprising:

[0034] determining a first weight of the working platform and a second weight of the second arm section;

[0035] determining the platform load corresponding to the working platform according to the load, the included angle, the first weight and the second weight.

[0036] The fourth aspect of the present application provides a processor configured to execute the safety protection method for engineering equipment as described above.

[0037] The fifth aspect of the present application provides a machine readable storage medium, the machine readable storage medium storing instructions, the instructions causing the processor to be configured to execute the safety protection method for engineering equipment as described above when executed by the processor.

[0038] By adopting the safety protection system for engineering equipment, the load acting on the telescopic arm is detected by the pressure detection module, and the included angle between the boom and the horizontal plane is detected by the angle sensor, so as to determine the platform load corresponding to the working platform of the engineering equipment according to the load and the included angle, and judge whether the platform load is greater than the rated load. In the case that the platform load is greater than the rated load, the preset safety protection measures are executed by the execution module. By installing the pressure detection module on the telescopic arm of the boom, the pressure detection module is realized as a necessary link in the load transmission path, not only the load of the working platform is detected, but also the external load that the boom system can bear is detected, the effectiveness of pressure detection is improved, and the detection method is direct measurement of the normal load on the load transmission path, without the need of other auxiliary motion mechanisms, so that the measurement error caused by the friction resistance of the auxiliary motion mechanism is not introduced, and the measurement accuracy is effectively improved.

[0039] Other features and advantages of the present application will be described in detail in the following detailed description. BRIEF DESCRIPTION OF DRAWINGS

[0040] The accompanying drawings are included to provide a further understanding of the application, and constitute a part of the specification, and are used together with the following detailed description to explain the application, but do not constitute a limitation on the application. In the drawings:

[0041] Figure 1 is a structural schematic diagram of a safety protection system for engineering equipment according to a first embodiment of the present application;

[0042] Figure 2 is an application schematic diagram of a safety protection system according to an embodiment of the present application;

[0043] Figure 3 is a structural schematic diagram of a pressure detection module according to an embodiment of the present application;

[0044] Figure 4 is a cross-sectional structural schematic diagram of a pressure detection module according to an embodiment of the present application;

[0045] Figure 5 is a flowchart of a safety protection method for engineering equipment according to an embodiment of the present application;

[0046] Figure 6 is a force balance relationship diagram according to an embodiment of the present application.

[0047] Explanation of reference signs

[0048] 100, pressure detection module; 200, angle sensor; 300, controller; 400, execution module; 101, slider; 102, pressure sensor; 103, fixing assembly; 111, first pressure detection device; 112, second pressure detection device; 500, rotary table; 501, base plate; 600, first arm section; 601, top plate of first arm section; 602, bottom plate of first arm section; 700, second arm section; 701, top plate of second arm section; 702, bottom plate of second arm section; 800, working platform. DETAILED DESCRIPTION

[0049] The specific embodiments of the present application will be described in detail below with reference to the accompanying drawings. It should be understood that the specific embodiments described herein are merely intended to explain and illustrate the present application, and are not intended to limit the present application.

[0050] It should be noted that if the present application has directionality indication (such as up, down, left, right, front, back, etc.), the directionality indication is only used to explain the relative position relationship, movement condition, etc. between components in a certain posture (as shown in the drawings), if the certain posture changes, the directionality indication also changes accordingly.

[0051] In addition, if the present application has descriptions such as "first", "second", etc., the descriptions of "first", "second", etc. are only for description purposes, and cannot be understood as indicating or implying the relative importance of the indicated technical features or implicitly indicating the number of the indicated technical features. Therefore, the features limited by "first", "second" can explicitly or implicitly include at least one of the features. In addition, the technical solutions of each embodiment can be combined with each other, but it must be based on the realization of a person skilled in the art, when the combination of technical solutions appears contradictory or unachievable, it should be considered that the combination of technical solutions does not exist, and is not within the protection scope claimed by the present application.

[0052] Figure 1 The safety protection system for engineering equipment of the first embodiment of the present application is schematically shown. As shown in the figure, in an embodiment of the present application, a safety protection system for engineering equipment is provided, the engineering equipment comprises an arm support and a rotary table connected with the arm support, the arm support comprises a telescopic arm, and the safety protection system comprises: Figure 1

[0053] The pressure detection module 100 is used for detecting the load acting on the telescopic arm;

[0054] The angle sensor 200 is used for detecting the included angle between the arm support and the horizontal plane;

[0055] The execution module 400; and

[0056] The controller 300 is configured to:​

[0057] determining a platform load corresponding to the working platform of the engineering equipment according to the load and the included angle;

[0058] judging whether the platform load is greater than the rated load;

[0059] in the case that the platform load is greater than the rated load, sending a control instruction to the execution module 400,

[0060] so that the execution module 400 executes the preset safety protection measure.

[0061] In this embodiment, it should be noted that the engineering equipment includes aerial work platforms that serve various industries, such as high-altitude work, equipment installation, maintenance, and other mobile high-altitude work. In this embodiment, an arm-type aerial work platform is taken as the engineering equipment for illustration. The arm-type aerial work platform is one of the most common aerial work platforms and usually includes a chassis, a turntable, an arm support, and a working platform, etc. The arm support usually includes two or more telescopic arms. The different telescopic arms are connected through a sliding block contact to reduce the frictional resistance of the telescopic arms during the telescoping process. At the same time, the load between different telescopic arms is transmitted through the sliding block pressure. The arm support is arranged on the turntable and is extended, retracted, and amplitude- varied to lift the working platform at the end of the arm support to a target position, facilitating the high-altitude work of workers or the transportation of objects to high altitudes. During the work or walking process of the aerial work platform, it is necessary to ensure that the working platform load does not exceed the rated load, otherwise, the overturning moment will be greater than the stable moment, leading to overturning, or the structure will be damaged, and then the situation of personnel injury or property loss will occur.

[0062] In the embodiment, the safety protection system of the engineering equipment comprises a pressure detection module 100, an angle sensor 200, an execution module 400 and a controller 300. The pressure detection module 100 is installed on the telescopic arm of the boom, can measure the normal load of the load acting on the telescopic arm on the load transmission path, detect the normal load, and send the detected load to the controller 300 connected with the pressure detection module 100. The angle sensor 200 is installed on the end of the boom of the engineering equipment connected with the turntable, is used for detecting the included angle between the boom and the horizontal plane, and sending the detected included angle to the controller 300 connected with the angle sensor 200. The rated load is the load size that the working platform of the engineering equipment can bear when working normally. The controller 300 determines the platform load corresponding to the working platform of the engineering equipment according to the received load and the included angle, compares the platform load with the rated load, judges whether the platform load is greater than the rated load, if the platform load is less than or equal to the rated load, it is determined that the working platform can work normally at this time, and no overload risk is detected; if the platform load is greater than the rated load, it is determined that the working platform of the engineering equipment exists overload risk at this time, and the controller 300 sends a control instruction to the execution module 400, so that the execution module 400 executes the preset safety protection measure. The control instruction comprises a trigger signal for the execution module 400 to execute the preset safety protection measure, and the control instruction can also determine the safety protection measure to be executed at this time when there are multiple safety protection measures. The safety protection measure can include the limitation of the running and working functions of the engineering equipment and the warning prompt to the operator of the engineering equipment.

[0063] By adopting the above safety protection system for engineering equipment, the load acting on the telescopic arm is detected by the pressure detection module 100, and the included angle between the boom and the horizontal plane is detected by the angle sensor 200, so as to determine the platform load corresponding to the working platform of the engineering equipment according to the load and the included angle, and judge whether the platform load is greater than the rated load. In the case that the platform load is greater than the rated load, the preset safety protection measure is executed by the execution module 400. By installing the pressure detection module 100 on the telescopic arm of the boom, the pressure detection module 100 is realized as a necessary link in the load transmission path, not only the load of the working platform is detected, but also the external load that the boom system can bear is detected, the effectiveness of the pressure detection is improved, and the detection method is to directly measure the normal load on the load transmission path, without the assistance of other auxiliary motion mechanisms, so that the measurement error caused by the friction resistance of the auxiliary motion mechanism is not introduced, and the measurement accuracy is effectively improved.

[0064] Reference Figure 2In the embodiment of the present application, the telescopic arm comprises a first section arm 600 and a second section arm 700, the turntable 500, the first section arm 600 and the second section arm 700 are connected in sequence, and the pressure detection module 100 comprises:

[0065] The first pressure detection device 111 is fixed on the bottom plate of the end of the first section arm 600 away from the turntable 500, and the second side of the first pressure detection device 111 is in contact with the bottom plate of the second section arm 700;

[0066] The second pressure detection device 112 is fixed on the top plate of the end of the second section arm 700 close to the first section arm 600, and the second side of the second pressure detection device 112 is in contact with the top plate of the first section arm 600.

[0067] In the embodiment, it should be noted that as a high-altitude operation platform, the telescopic arm of the engineering equipment is usually a telescopic arm, and the structure of the telescopic arm is usually that the first section is a fixed body, and the rest are moving bodies, all the moving bodies are installed in the fixed body, if the telescopic arm comprises a plurality of section arms, the connection principle is that one section is connected to the second section, and the second section is connected to the third section in sequence. The section arm comprises a top plate, a bottom plate and two side plates, wherein the top plate and the bottom plate are spaced apart and arranged opposite to each other; the two side plates are spaced apart and arranged opposite to each other; when the telescopic arm comprises two or more section arms, the top plate or the bottom plate between each section arm is arranged on the same side.

[0068] In this embodiment, the telescopic arm includes two sections of the first section arm 600 and the second section arm 700, the rotary table 500 is installed on the chassis 501, the rotary table 500, the first section arm 600, the second section arm 700 and the working platform 800 are connected in sequence, the pressure detection module 100 includes the first pressure detection device 111 and the second pressure detection device 112, the first side of the first pressure detection device 111 is fixed on the first section arm bottom plate 602 at the end of the first section arm 600 away from the rotary table 500, and the second side of the first pressure detection device 111 is in contact with the second section arm bottom plate 702 of the second section arm 700; the first side of the second pressure detection device 112 is fixed on the second section arm top plate 701 at the end of the second section arm 700 close to the first section arm 600, and the second side of the second pressure detection device 112 is in contact with the first section arm top plate 601 of the first section arm 600. When the working equipment works, the load is transmitted from the working platform 800 to the second section arm 700, the second section arm 700 transmits the load to the first section arm 600 through the first pressure detection device 111 and the second pressure detection device 112, the load is transmitted in series, and the pressure detection module 100 is a necessary link in the load transmission path, so that the load detected by the pressure detection module 100 can effectively measure the load acting on the telescopic arm and be sent to the controller 300 in real time. And the pressure detection module 100 directly measures the normal load on the load transmission path, without the assistance of other auxiliary motion mechanisms, avoiding the measurement error caused by the friction resistance of the auxiliary motion mechanism, and improving the measurement accuracy.

[0069] It can be understood that in another embodiment, a plurality of pressure detection devices can be arranged between the first section arm 600 and the second section arm 700, for example, a plurality of pressure detection devices can be arranged, the first side of the pressure detection device is fixed on the bottom plate at the end of the first section arm 600 away from the rotary table 500, and the second side is in contact with the bottom plate of the second section arm 700; a plurality of pressure detection devices can be arranged, the first side of the pressure detection device is fixed on the top plate at the end of the second section arm 700 close to the first section arm 600, and the second side is in contact with the top plate of the first section arm 600. The telescopic arm can further include more sections of arms, and the pressure detection module 100 can be arranged at different section arm connecting positions according to actual pressure measurement requirements.

[0070] Reference Figure 3 and Figure 4 In the embodiment of the application, the first pressure detection device includes:

[0071] The slider 101, the first side of the slider 101 is in contact with the bottom plate of the second section arm 700;

[0072] The pressure sensor 102, the second side of the slider 101 is fixed on the first side of the pressure sensor 102, and the second side of the pressure sensor 102 is fixed on the bottom plate at the end of the first section arm 600 away from the rotary table 500.

[0073] The different sections of the conventional engineering equipment telescopic boom are usually connected by slider contact to reduce the friction resistance of the telescopic boom during the telescoping process, and the load between the different sections can be transmitted in the form of slider pressure. In the embodiment, it should be noted that the different sections of the engineering equipment telescopic boom are connected by pressure detection devices, wherein the pressure detection device comprises a slider 101 and a pressure sensor 102. The slider 101 has the characteristics of small friction coefficient and wear resistance, such as a high polymer lubrication-free slider 101, which can reduce the relative friction between the telescopic booms during the telescoping process of the boom. The pressure sensor 102 can be a spoke pressure sensor. The middle protruding part of the pressure sensor 102 deforms relatively under the pressure of the slider 101, and the load value is measured by detecting the relative deformation. It can be understood that the pressure sensor 102 includes but is not limited to a spoke pressure sensor.

[0074] In the embodiment, as shown in the cross section of the pressure detection device shown in A-A and B-B, Figure 4 In the embodiment, as shown in the cross section of the pressure detection device shown in A-A and B-B,

[0075] Specifically, the first side of the slider 101 corresponding to the first pressure detection device is in contact with the bottom plate of the second section arm 700; the second side of the slider 101 is fixed to the first side of the pressure sensor 102 corresponding to the first pressure detection device, and the second side of the pressure sensor 102 is fixed to the bottom plate of the end of the first section arm 600 away from the turntable 500. The first side of the slider 101 corresponding to the second pressure detection device is in contact with the top plate of the first section arm 600; the second side of the slider 101 is fixed to the first side of the pressure sensor 102 corresponding to the second pressure detection device, and the second side of the pressure sensor 102 is fixed to the top plate of the end of the second section arm 700 close to the first section arm 600.

[0076] In the embodiment of the present application, the second side of the sliding block 101 is provided with a groove, and the first side of the pressure sensor 102 is embedded in the groove to realize the interference fit between the sliding block 101 and the pressure sensor 102.

[0077] In the embodiment, it should be noted that the fixed connection mode between the sliding block 101 and the pressure sensor 102 can be that the second side of the sliding block 101 is provided with a groove, and the first side of the pressure sensor 102 is embedded in the groove to realize the interference fit between the sliding block 101 and the pressure sensor 102. In another embodiment, the connection mode between the sliding block 101 and the pressure sensor 102 can also be that the sliding block 101 is connected to the pressure sensor 102 in the form of a bolt or a clamping groove.

[0078] In the embodiment of the present application, the first pressure detection device further comprises:

[0079] The fixed assembly 103 is used to fix the second side of the pressure sensor 102 to the bottom plate at the end of the first joint arm 600 away from the turntable 500.

[0080] In the embodiment, it should be noted that the pressure detection device further comprises a fixed assembly 103, which can fix the pressure detection device to the joint arm plate, including fixing the pressure sensor 102 in the pressure detection device to the joint arm plate, for example, a bolt. In an embodiment, the pressure sensor 102 can also be connected to the joint arm plate in the form of a clamping groove.

[0081] Specifically, the fixed assembly 103 corresponding to the first pressure detection device fixes the second side of the pressure sensor 102 corresponding to the first pressure detection device to the bottom plate at the end of the first joint arm 600 away from the turntable 500; the fixed assembly 103 corresponding to the second pressure detection device fixes the second side of the pressure sensor 102 corresponding to the second pressure detection device to the top plate at the end of the second joint arm 700 close to the first joint arm 600.

[0082] In the embodiment of the present application, the execution module 400 comprises:

[0083] The execution mechanism is used to adjust the opening and closing of the hydraulic control valve corresponding to the hydraulic drive system of the engineering equipment according to the received control instruction.

[0084] In the embodiment, it is to be noted that the hydraulic drive system of the engineering equipment can control the stretching and retracting, amplitude changing, walking of the engineering equipment, and the opening and closing of the hydraulic control valve in the hydraulic drive system can be adjusted to achieve the control. When the controller 300 sends the control instruction to the execution module 400 in the case that the platform load is greater than the rated load, the execution mechanism of the execution module 400 will adjust the opening and closing of the corresponding hydraulic control valve of the hydraulic drive system of the engineering equipment according to the received control instruction, so as to limit the functions such as stretching and retracting, amplitude changing, and walking of the engineering equipment.

[0085] In the embodiment of the application, the execution module 400 comprises:

[0086] The alarm device is configured to output early warning information according to the received control instruction.

[0087] In the embodiment, it is to be noted that the alarm device comprises a voice alarm device, a display alarm device, and other devices for outputting prompt information to the operator of the engineering equipment. When the controller 300 sends the control instruction to the execution module 400 in the case that the platform load is greater than the rated load, the alarm device of the execution module 400 will output early warning information according to the received control instruction, for example, when the overload occurs, the voice alarm device outputs an alarm to prompt the user of the risk, and / or the display panel directly displays the calculation load result of the controller 300 and outputs the overload fault code.

[0088] In the existing technology, the load sensing system using a four-bar linkage structure is used to detect the load on the work platform. However, this method suffers from problems such as low load detection accuracy and insufficient stability. Furthermore, the existing load sensing system is located at the far end of the boom system (away from the hinge point connecting the boom system and the turntable), which increases the bending moment borne by the boom system and the overturning moment of the entire machine, thus increasing the overall weight of the vehicle. To overcome the increased stress caused by this bending moment, the structural capacity of the boom system needs to be improved, which in turn increases the weight of the boom system. Moreover, to overcome this overturning moment, weight needs to be added to the turntable counterweight to maintain sufficient stability of the entire vehicle. In this embodiment, the safety protection system for engineering equipment described above utilizes a pressure detection module 100 installed on the telescopic boom to detect the load acting on the telescopic boom, and an angle sensor 200 to detect the angle between the boom and the horizontal plane. Based on the load and angle, the platform load corresponding to the working platform 800 of the engineering equipment is determined, and it is judged whether the platform load exceeds the rated load. If the platform load exceeds the rated load, the execution module 400 executes preset safety protection measures. This is achieved by installing the pressure detection module 100 in the middle of the telescopic boom segment to detect the load... The load is transferred from one boom plate to the slider 101, from the slider 101 to the pressure sensor 102, and then from the pressure sensor 102 to another boom plate. The transfer method is in series, and the pressure sensor 102 is an essential link in the load transfer path. It can detect not only the load on the working platform 800, but also the external load that the boom system may bear, thus improving the effectiveness of pressure detection. Moreover, this detection method directly measures the normal load on the load transfer path without the assistance of other auxiliary motion mechanisms. Therefore, it does not introduce measurement errors caused by the frictional resistance of auxiliary motion mechanisms, thus effectively improving the measurement accuracy.

[0089] This invention provides an engineering device including the safety protection system described in the above embodiments.

[0090] Figure 5 This is a schematic flowchart of a safety protection method for engineering equipment according to an embodiment of the present invention. Figure 5 As shown, this embodiment of the invention provides a safety protection method for engineering equipment. The engineering equipment includes a boom and a turntable connected to the boom. The boom includes a telescopic arm. Taking the application of this method to a processor as an example, the safety protection method includes:

[0091] Step S100: Obtain the load acting on the telescopic boom;

[0092] Step S200: Obtain the angle between the boom and the horizontal plane;

[0093] In the embodiment, it should be noted that the engineering equipment includes a chassis, a rotary table, an arm support, a working platform, and a safety protection system for the engineering equipment as described in the above embodiment. The load acting on the telescopic arm of the engineering equipment includes the normal load acting on the telescopic arm through the load transmission path of the pressure detection module. The angle sensor of the engineering equipment is arranged at one end of the arm support connected with the rotary table, and can be used to measure the included angle between the arm support and the horizontal plane.

[0094] In step S300, the platform load corresponding to the working platform of the engineering equipment is determined according to the load and the included angle.

[0095] Specifically, the telescopic arm of the engineering equipment includes a first arm section and a second arm section. The rotary table, the first arm section, the second arm section, and the working platform of the engineering equipment are sequentially connected. The pressure detection device is located between the first arm section and the second arm section. The platform load corresponding to the working platform of the engineering equipment is determined according to the load and the included angle, and includes the following steps.

[0096] In step a, the first weight of the working platform and the second weight of the second arm section are determined.

[0097] In step b, the platform load corresponding to the working platform is determined according to the load, the included angle, the first weight, and the second weight.

[0098] In the embodiment, it should be noted that the telescopic arm includes the first arm section and the second arm section connected in series. The first arm section is connected with the rotary table, and the second arm section is connected with the working platform. The pressure detection module is installed between the first arm section and the second arm section. The first weight refers to the self weight of the working platform, and the second weight refers to the self weight of the second arm section. The first weight of the working platform and the second weight of the second arm section are different according to different engineering equipment. Therefore, when calculating the platform load, the first weight of the working platform and the second weight of the second arm section need to be determined first. Then, the load acting on the telescopic arm of the engineering equipment and the included angle between the arm support of the engineering equipment and the horizontal plane detected by the angle sensor are combined. The angle sensor is installed at one end of the first arm section connected with the rotary table. Therefore, the included angle is the included angle between the first arm section and the horizontal plane. The platform load of the working platform is calculated according to the force balance relationship.

[0099] Reference Figure 6 A coordinate system o-xy is established on the amplitude plane of the arm support, in which the x-axis is along the first arm section axis direction, and the y-axis is perpendicular to the first arm section axis.

[0100] The working platform load F, the first weight G1 of the working platform, and the second weight G2 of the second arm section are decomposed along the y-axis to obtain Fy, G1y, and G2y.

[0101] The force balance relationship equation in the y-axis direction is Fr1-Fr2-G1y-G2y-Fy=0(1).

[0102] Substitute Fy=Fcosθ, G1y=G1cosθ, G2y=G2cosθ into formula (1), the working platform load F is obtained: F=(Fr1-Fr2-G1cosθ-G2cosθ) / cosθ.

[0103] Wherein, F represents the platform load; G1 represents the first weight of the working platform; G2 represents the second weight of the second arm section; θ represents the included angle between the first arm section and the horizontal plane; Fy represents the component of the platform load in the y direction, Fy=Fcosθ; Fr1 represents the load detected by the first pressure detection device; Fr2 represents the load detected by the second pressure detection device; G1y represents the component of the first weight of the working platform in the y direction, G1y=G1cosθ; G2y represents the component of the second weight of the second arm section in the y direction, G2y=G2cosθ.

[0104] In the above algorithm formula for calculating the platform load of the working platform, it is known that the main factor affecting the calculation accuracy of the platform load is the difference in the size of the included angle fed back by the angle sensor and the included angle value of the pressure detection module with the horizontal plane. In the embodiment, the pressure detection module and the angle sensor are both installed in the first arm section close to the rotary table, which is in a length range where the deformation of the arm support system is relatively small. Therefore, the platform load measurement error caused by the above difference in the size of the angle value is very small and can be ignored, effectively improving the measurement accuracy.

[0105] In an embodiment, the telescopic arm can further include more sections, such as three sections, four sections, five sections, etc. According to the formula for calculating the platform load of the working platform, the main factor affecting the calculation accuracy of the working platform load is the difference between the arm frame angle value fed back by the angle sensor and the size of the angle value between the pressure detection module and the horizontal plane. In order to reduce the measurement error of the working platform load caused by the difference between the above angle values, the pressure detection module and the angle sensor can be preferably installed in the length range of the section of the telescopic arm close to the turntable where the arm frame system deforms relatively small, for example, the first section connected with the turntable. Taking a three-section arm as an example, the telescopic arm includes a first section, a second section and a third section connected in sequence, wherein the first section is connected with the turntable, and the third section is connected with the working platform. At this time, if the pressure detection module and the angle sensor are installed at the first section connected with the turntable, the pressure detection module can detect the load borne by the working platform and the second section and the third section. Not only can the overload of the working platform be detected, but also the abnormal working condition load borne by the arm frame system (including the second section and the third section) can be detected. At this time, if the pressure detection module is installed at the second section, the pressure detection module can detect the load borne by the working platform and the third section, thereby realizing the detection of the overload of the working platform and the detection of the abnormal working condition load borne by the arm frame system (the third section). According to the installation position of the pressure detection module, the detection range of the abnormal working condition of the arm frame system can be determined, which specifically includes the section of the arm frame system away from the turntable direction and connected with the section where the pressure detection module is located.

[0106] Step S400, determining whether the platform load is greater than the rated load.

[0107] Step S500, in the case that the platform load is greater than the rated load, executing the preset safety protection measures.

[0108] In the embodiment, it should be noted that the rated load is the load that the working platform of the engineering equipment can bear when working normally. The processor determines the platform load corresponding to the working platform of the engineering equipment according to the received load and the included angle, and compares the platform load with the rated load to determine whether the platform load is greater than the rated load. If the platform load is less than or equal to the rated load, it is determined that the working platform can work normally at this time, and no overload risk is detected. If the platform load is greater than the rated load, it is determined that the working platform of the engineering equipment has an overload risk at this time, and the controller sends a control instruction to the execution module to make the execution module execute the preset safety protection measures. The control instruction includes a trigger signal for the execution module to execute the preset safety protection measures. When there are multiple safety protection measures, the control instruction can determine the safety protection measure to be executed at this time. The safety protection measures can include the limitation of the running and working functions of the engineering equipment and the warning prompt to the operator of the engineering equipment.

[0109] Under certain abnormal working conditions, the boom system of the aerial work platform can bear external loads other than the structure, such as collision, impact, high-altitude falling objects, etc. These external loads will cause the pressure of the boom slider to change sharply, which can be detected by the pressure detection module and fed back to the processor. Therefore, compared with the traditional aerial work platform load sensing system, the platform load detection range in this embodiment is wider, not only can detect the platform load of the working platform, but also can detect the abnormal working condition load borne by the boom system. That is, in actual application, the platform load exceeding the rated load can include but is not limited to the platform load of the working platform exceeding the rated load or the boom system (all boom arms except the fixed body arm, jib, etc.) being subjected to collision, impact, and platform touching the ground, etc.

[0110] In this embodiment, the load acting on the telescopic arm of the engineering equipment detected by the pressure detection device is obtained, and the angle between the boom of the engineering equipment and the horizontal plane detected by the angle sensor is obtained, so as to determine the platform load corresponding to the working platform of the engineering equipment according to the load and the angle. In the case that the platform load is greater than the rated load, a control instruction is sent to the execution module to make the execution module execute the preset safety protection measure, effectively preventing and terminating the ongoing abnormal operation causing the boom system load to fluctuate sharply, thus avoiding equipment damage or further damage.

[0111] The embodiment of the present application provides a processor configured to execute the safety protection method for engineering equipment as described in the above embodiment.

[0112] The embodiment of the present application provides a machine readable storage medium, which stores instructions, and the instructions make the processor configured to execute the safety protection method for engineering equipment as described in the above embodiment when executed by the processor.

[0113] In the description of the application, it should be noted that the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer" and the like indicate the orientation or positional relationship shown in the drawings based on the orientation or positional relationship shown in the drawings, and are only for the purpose of facilitating the description of the application and simplifying the description, and do not indicate or imply that the device or element referred to must have a particular orientation, be constructed and operated in a particular orientation, and therefore cannot be understood as a limitation on the application. In addition, the terms "first", "second", are only for the purpose of description, and cannot be understood as indicating or implying relative importance. Among them, the terms "first position" and "second position" are two different positions, and moreover, the "above", "above" and "above" of the first feature on the second feature include the first feature above and obliquely above the second feature, or only indicate that the first feature is higher than the second feature in horizontal height. The "below", "below" and "below" of the first feature on the second feature include the first feature below and obliquely below the second feature, or only indicate that the first feature is less than the second feature in horizontal height.

[0114] In the description of the application, it should be noted that unless otherwise explicitly specified and limited, the terms "mounting", "connection", "connection" should be understood broadly, for example, it can be fixedly connected, or it can be detachably connected, or integrally connected; it can be mechanically connected, or it can be electrically connected; it can be directly connected, or it can be indirectly connected through an intermediate medium; it can be the communication inside two elements. For those skilled in the art, the specific meaning of the above terms in the application can be understood according to the specific circumstances.

[0115] It should also be noted that the terms "include", "contain" or any other variants thereof are intended to cover non-exclusive inclusion, so that the process, method, product or equipment including a series of elements not only includes those elements, but also includes other elements not explicitly listed, or includes elements inherent to such process, method, product or equipment. Without more limitations, the element defined by the statement "including a" does not exclude the presence of another identical element in the process, method, product or equipment including the element.

[0116] The above is only an embodiment of the present application and is not intended to limit the present application. For those skilled in the art, the present application can have various modifications and changes. Any modification, equivalent replacement, improvement, etc. within the spirit and principles of the present application shall be included in the scope of claims of the present application.

Claims

1. A safety protection system for engineering equipment, characterized in that, The engineering equipment includes a boom and a turntable connected to the boom, the boom including a telescopic boom, and the safety protection system including: A pressure detection module is used to detect the load acting on the telescopic arm; An angle sensor is used to detect the angle between the boom and the horizontal plane; Execution module; and The controller is configured as follows: The platform load corresponding to the working platform of the engineering equipment is determined based on the load and the included angle. Determine whether the platform load is greater than the rated load; When the platform load exceeds the rated load, a control command is sent to the execution module to cause the execution module to perform preset safety protection measures. The telescopic arm includes a first arm section and a second arm section, and the turntable, the first arm section and the second arm section are connected in sequence. The pressure detection module includes: A first pressure detection device, wherein a first side of the first pressure detection device is fixed to the base plate at the end of the first arm away from the turntable, and a second side of the first pressure detection device is in contact with the base plate of the second arm; The second pressure detection device has a first side fixed to the top plate of the second arm near the end of the first arm, and a second side in contact with the top plate of the first arm.

2. The security protection system according to claim 1, characterized in that, The first pressure detection device includes: The slider has a first side that contacts the base plate of the second arm. A pressure sensor is provided, with the second side of the slider fixed to the first side of the pressure sensor, and the second side of the pressure sensor fixed to the base plate at the end of the first arm away from the turntable.

3. The security protection system according to claim 2, characterized in that, A groove is provided on the second side of the slider, and the first side of the pressure sensor is embedded in the groove to achieve an interference fit between the slider and the pressure sensor.

4. The security protection system according to claim 2, characterized in that, The first pressure detection device further includes: A fixing assembly is used to fix the second side of the pressure sensor to the base plate at the end of the first arm away from the turntable.

5. The security protection system according to claim 1, characterized in that, The execution module includes: An actuator is used to adjust the opening and closing of the hydraulic control valve corresponding to the hydraulic drive system of the engineering equipment according to the received control commands.

6. The security protection system according to claim 1, characterized in that, The execution module includes: An alarm device is used to output early warning information based on received control commands.

7. An engineering device, characterized in that, Includes the security protection system according to any one of claims 1 to 6.

8. A safety protection method for engineering equipment, characterized in that, The safety protection method, applied to the safety protection system for engineering equipment according to claim 1, comprises: Obtain the load acting on the telescopic arm; Obtain the angle between the boom and the horizontal plane; The platform load corresponding to the working platform of the engineering equipment is determined based on the load and the included angle. Determine whether the platform load is greater than the rated load; If the platform load exceeds the rated load, preset safety protection measures will be implemented.

9. The security protection method according to claim 8, characterized in that, The step of determining the platform load corresponding to the working platform of the engineering equipment based on the load and the included angle includes: Determine the first weight of the work platform and the second weight of the second arm section; The platform load corresponding to the working platform is determined based on the load, the included angle, the first weight, and the second weight.

10. A processor, characterized in that, It is configured to perform the safety protection method for engineering equipment according to any one of claims 8 to 9.

11. A machine-readable storage medium storing instructions thereon, characterized in that, When executed by a processor, this instruction causes the processor to be configured to perform the security protection method for engineering equipment as described in claim 8 or 9.

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