A method, system and aerial work platform for work platform linkage leveling control

Abstract

This invention discloses a working platform linkage leveling control method, system, and aerial work platform. The working platform linkage leveling control method includes the following steps: acquiring a signal of boom movement; identifying the boom movement; if the boom movement is classified as boom luffing, controlling the boom connector to level the working platform according to the horizontal tilt angle, and detecting the horizontal tilt angle of the boom connector in real time; if the horizontal tilt angle of the boom connector is greater than a first preset value, determining that the boom connector is tilted and manually restoring the boom connector to level; controlling the leveling connection mechanism to move in the opposite direction to the restoration direction of the boom connector to keep the working platform level. This invention determines the boom connector's tilt by recognizing boom movement and detecting the horizontal tilt angle of the boom connector, and during the manual restoration of the boom connector to level, controls the leveling connection mechanism to move in the opposite direction to the restoration direction of the boom connector to keep the working platform level, effectively controlling the working platform within a set safe horizontal angle range.

Description

Technical Field

[0001] This invention relates to the technical field of engineering machinery, and in particular to a working platform linkage leveling control method, system and aerial work platform. Background Technology

[0002] In recent years, with increasingly stringent requirements for construction safety and efficiency, aerial work platforms have seen wider application. For specialized large-scale construction scenarios, higher-meter aerial work platform models have also presented additional demands: in addition to the standard boom luffing and workbench leveling, a jib luffing and workbench leveling function has been added to ultimately ensure the workbench is level. This leveling function is more complex and difficult to control than a single-action leveling function. Figures 1 to 3 As shown, the aerial work platform includes a base frame assembly 100, a turntable 200, a main boom 300, a boom 400, and a work platform 500. The base frame assembly 100 has a traveling mechanism. The turntable 200 is rotatably mounted on the base frame assembly 100. The main boom 300 is hinged to the turntable 200 and has telescopic and luffing functions. The main boom 300 and the boom 400 are connected by an adjustable boom connector 600. A leveling connection mechanism 700 is provided between the boom 400 and the work platform 500. Existing luffing-leveling control methods mainly include the following two:

[0003] 1. When the main boom is luffing at 300 degrees, the angle signal collected by the working rail leveling sensor is used to level the boom connector 600 (i.e., angle β). The leveling action is performed within the set angle range (generally 5°) to ensure that the working rail angle γ is in a horizontal state (generally within 5°). If the set angle is exceeded, a working rail tilt alarm is issued and the luffing action is restricted.

[0004] 2. When the boom is luffing at 400 degrees, the angle signal collected by the work bar leveling sensor is also used to directly level the work bar at 500 degrees. The leveling action is performed within the set angle range (generally 5°) to ensure that the angle γ is in a horizontal state (generally within 5°). If the set angle is exceeded, the work bar tilt alarm will be triggered and the luffing action will be restricted.

[0005] In the first leveling process described above, the boom connector may tilt during leveling. When manually restoring the boom connector to a horizontal position, the work platform 500, affected by the structural linkage, actually moves in the opposite direction during this process, only stopping when the boom connector angle β enters the horizontal angle range. This is unsafe for the operator, especially at high altitudes, and can easily cause panic. Leveling control in the above manner also presents a conflict between the strokes of the boom connector leveling cylinder and the work platform leveling cylinder. Due to the influence of the current leveling cylinder stroke, the work platform may stop leveling due to reaching its limit, causing it to tilt. Therefore, it is crucial to always keep both the boom connector and the work platform within the permissible angle range. Summary of the Invention

[0006] This invention aims to at least solve one of the technical problems existing in the prior art. To this end, this invention proposes a workbench linkage leveling control method, which can ensure that the workbench is always within a safe angle range.

[0007] The present invention also provides a work platform linkage leveling control system and an aerial work platform.

[0008] A work platform linkage leveling control method according to a first aspect of the present invention, applied to an aerial work platform, includes the following steps:

[0009] Acquire signals of boom movements, wherein the boom movements include main boom luffing, boom luffing, and main boom extension / retraction;

[0010] The boom action is identified. When the type of boom action is boom luffing, the boom connector is controlled to level the workbench according to the horizontal tilt angle of the workbench, and the horizontal tilt angle of the boom connector is detected in real time.

[0011] When the horizontal tilt angle of the boom connector is greater than the first preset value, the boom connector is determined to be tilted and the boom connector is manually restored to horizontal.

[0012] During the manual restoration of the boom connector to a horizontal position, the leveling connection mechanism is controlled to move in the opposite direction to the restoration direction of the boom connector to keep the work rail in a horizontal state.

[0013] The workbench linkage leveling control method according to embodiments of the present invention has at least the following beneficial effects:

[0014] Based on existing technology, this invention determines the tilt of the boom connector by recognizing boom movements and detecting the horizontal tilt angle of the boom connector. During the manual restoration of the boom connector to a horizontal position, the leveling mechanism is controlled to move in the opposite direction to the restoration direction of the boom connector to keep the work platform level. This effectively keeps the work platform within a set safe horizontal angle range, while also ensuring that there is no conflict between the strokes of the boom connector leveling cylinder and the work platform leveling cylinder. This improves the operational reliability and comfort of the work platform leveling operation on rice processing machines, facilitating the promotion and application of the product.

[0015] According to some embodiments of the present invention, when the type of boom movement is boom luffing, the leveling connection mechanism is controlled to directly level the workbench based on the horizontal tilt angle of the workbench.

[0016] According to some embodiments of the present invention, when the type of boom movement is boom extension and retraction, the workbench linkage leveling control method further includes the following steps:

[0017] Obtain the length of the main arm;

[0018] When the length of the main arm is greater than the second preset value, the horizontal tilt angle of the work column is detected in real time.

[0019] When the horizontal tilt angle of the workbench is greater than a third preset value, the leveling connection mechanism is controlled to level the workbench.

[0020] According to some embodiments of the present invention, the workbench linkage leveling control method further includes a leveling angle redundancy design, which includes the following steps:

[0021] When the first angle sensor that collects the horizontal tilt angle of the work platform malfunctions, a backup angle is selected to replace the horizontal tilt angle of the work platform according to the type of boom movement.

[0022] When the type of boom movement is boom luffing, the spare angle is the horizontal tilt angle of the boom connector.

[0023] When the type of boom movement is boom luffing, the spare angle is the tilt angle of the work platform relative to the boom.

[0024] According to some embodiments of the present invention, the workbench linkage leveling control method further includes the following steps:

[0025] When the horizontal tilt angle of the work rail is controlled to adjust the boom connector for leveling, if the horizontal tilt angle of the work rail is greater than a third preset value, a work rail tilt alarm signal is output and the main boom luffing action is restricted.

[0026] When the leveling connection mechanism is directly used to adjust the work bar according to the horizontal tilt angle of the work bar, if the horizontal tilt angle of the work bar is greater than a third preset value, a work bar tilt alarm signal is output and the boom amplitude change action is restricted.

[0027] According to a second aspect of the present invention, a workbench linkage leveling control system includes:

[0028] A boom motion acquisition module is used to acquire signals of boom motion, wherein the boom motion includes main boom luffing, boom luffing, and main boom extension / retraction.

[0029] The first angle sensor is used to detect the horizontal tilt angle of the workbench in real time.

[0030] The processor is connected to the boom motion acquisition module and the first angle sensor respectively. It is used to identify the type of boom and, when the type of boom motion is identified as main boom luffing, to control the boom connector to level the workbench according to the horizontal tilt angle of the workbench.

[0031] The second angle sensor is used to detect the horizontal tilt angle of the flying arm connector in real time and feed it back to the processor.

[0032] A leveling operation switch is used to drive the flying arm connector to return to a horizontal state when the horizontal tilt angle of the flying arm connector is greater than a first preset value; during the process of the leveling operation switch driving the flying arm connector to return to a horizontal state, the processor controls the leveling connection mechanism to move in the opposite direction to the return direction of the flying arm connector so that the work rail remains in a horizontal state.

[0033] The workbench linkage leveling control system according to an embodiment of the present invention has at least the following beneficial effects:

[0034] Based on existing technology, this invention determines the tilt of the boom connector by recognizing boom movements and detecting the horizontal tilt angle of the boom connector. During the manual restoration of the boom connector to a horizontal position, the leveling mechanism is controlled to move in the opposite direction to the restoration direction of the boom connector to keep the work platform level. This effectively keeps the work platform within a set safe horizontal angle range, while also ensuring that there is no conflict between the strokes of the boom connector leveling cylinder and the work platform leveling cylinder. This improves the operational reliability and comfort of the work platform leveling operation on rice processing machines, facilitating the promotion and application of the product.

[0035] According to some embodiments of the present invention, the workbench linkage leveling control system further includes a third angle sensor connected to the processor, the third angle sensor being used to detect the tilt angle of the workbench relative to the flying arm.

[0036] According to some embodiments of the present invention, the workbench linkage leveling control system further includes a fourth angle sensor connected to the processor, the fourth angle sensor being used to detect the horizontal tilt angle of the main arm.

[0037] According to some embodiments of the present invention, the workbench linkage leveling control system further includes an alarm module connected to the processor, the alarm module being used to output a workbench tilt alarm signal.

[0038] A high-altitude work platform according to a third aspect embodiment of the present invention includes:

[0039] The underframe assembly includes a traveling mechanism;

[0040] A turntable, which is rotatably mounted on the base frame assembly;

[0041] The main boom is hinged to the turntable and has telescopic and luffing functions;

[0042] The flying arm is connected to the main arm via an adjustable flying arm connector.

[0043] The work rail is provided with a leveling connection mechanism between the work rail and the flying arm;

[0044] The workbench linkage leveling control system as described in the above embodiment.

[0045] The aerial work platform according to embodiments of the present invention has at least the following beneficial effects:

[0046] Based on existing technology, this invention determines the tilt of the boom connector by recognizing boom movements and detecting the horizontal tilt angle of the boom connector. During the manual restoration of the boom connector to a horizontal position, the leveling mechanism is controlled to move in the opposite direction to the restoration direction of the boom connector to keep the work platform level. This effectively keeps the work platform within a set safe horizontal angle range, while also ensuring that there is no conflict between the strokes of the boom connector leveling cylinder and the work platform leveling cylinder. This improves the operational reliability and comfort of the work platform leveling operation on rice processing machines, facilitating the promotion and application of the product.

[0047] Other features and advantages of the invention will be set forth in the description which follows, and will be apparent in part from the description, or may be learned by practicing the invention. Attached Figure Description

[0048] The above and / or additional aspects and advantages of the present invention will become apparent and readily understood from the description of the embodiments taken in conjunction with the following drawings, in which:

[0049] Figure 1 This is a schematic diagram of the structure of an aerial work platform according to an embodiment of the present invention;

[0050] Figure 2 This is a partial schematic diagram A of an aerial work platform according to an embodiment of the present invention;

[0051] Figure 3 This is a partial schematic diagram B of an embodiment of an aerial work platform of the present invention;

[0052] Figure 4a This is a schematic diagram of the workbench linkage leveling in the existing solution;

[0053] Figure 4b This is a schematic diagram of the workbench linkage leveling according to an embodiment of the present invention;

[0054] Figure 5 This is a flowchart of a workbench linkage leveling control method according to an embodiment of the present invention;

[0055] Figure 6 This is a framework diagram of a workbench linkage leveling control system according to an embodiment of the present invention.

[0056] Figure label:

[0057] The components include: base frame assembly 100, turntable 200, main boom 300, boom 400, work platform 500, boom connector 600, leveling connection mechanism 700, and work platform leveling cylinder 710. Detailed Implementation

[0058] Embodiments of the present invention are described in detail below. Examples of these embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals denote the same or similar elements or elements having the same or similar functions throughout. The embodiments described below with reference to the accompanying drawings are exemplary and are only used to explain the present invention, and should not be construed as limiting the present invention.

[0059] In the description of this invention, the use of terms such as "first," "second," etc., is for the purpose of distinguishing technical features only and should not be construed as indicating or implying relative importance, or implicitly indicating the number of technical features indicated, or implicitly indicating the order of the technical features indicated.

[0060] In the description of this invention, it should be understood that the orientation descriptions, such as up, down, etc., are based on the orientation or positional relationship shown in the drawings and are only for the convenience of describing this invention and simplifying the description, and are not intended to indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of this invention.

[0061] In the description of this invention, it should be noted that, unless otherwise explicitly defined, terms such as "setting," "installation," and "connection" should be interpreted broadly, and those skilled in the art can reasonably determine the specific meaning of the above terms in this invention in conjunction with the specific content of the technical solution.

[0062] During the leveling process of the working platform's 500mm work platform, the main reasons for the tilting of the boom connector 600mm leveling section are as follows: 1. During the boom luffing process, the leveling speed of the boom connector 600mm cannot keep up, resulting in this tilt; 2. Incorrect angle calibration or the overhang effect after the boom has extended significantly can also lead to deviations in the detection angle. If the boom connector leveling section tilts (e.g.) Figure 4a (Left side) Then, it is necessary to manually use the leveling switch to restore the boom connector 600 to a horizontal position. During this process, the work platform 500 is affected by the structural linkage and actually moves in the opposite direction (e.g., Figure 4a (Right side) The boom continues until the angle β of the boom connector enters the horizontal angle range, which is unsafe for the operator, especially at high altitudes, and can easily cause panic.

[0063] The following will combine Figures 1 to 5 The working column linkage leveling control method of the first aspect embodiment of the present invention will be clearly and completely described. Obviously, the embodiments described below are some embodiments of the present invention, not all embodiments.

[0064] According to a first aspect embodiment of the present invention, a work platform linkage leveling control method is applied to an aerial work platform, comprising the following steps:

[0065] The system acquires signals of boom movements, which include boom luffing, boom boom luffing, and boom telescopic movement. It is understood that in some embodiments, boom movements may also include boom telescopic movement, and the choice of whether to set boom telescopic movement depends on the type of aerial work platform.

[0066] The system identifies boom movements. When the boom movement is classified as boom luffing, the system controls the boom connector 600 to level the work platform 500 based on the horizontal tilt angle γ of the work platform, and detects the horizontal tilt angle β of the boom connector 600 in real time. It should be noted that the horizontal tilt angle between the work platform 500 and the boom connector 600 can be obtained by different angle sensors. The boom connector cylinder built into the main boom drives the boom connector 600 to rotate relative to the top of the main boom 300, thereby driving the boom 400, the leveling connection mechanism 700 and the work platform 500 to be leveled as a whole.

[0067] When the horizontal tilt angle of the boom connector 600 is greater than the first preset value (e.g., greater than 10°), it is determined that the boom connector 600 is tilted and the boom connector 600 is manually restored to horizontal (generally 5° above or below the horizontal line).

[0068] During the manual leveling process of the boom connector 600, the leveling connection mechanism 700 is controlled to move in the opposite direction to the leveling direction of the boom connector 600 to keep the work platform 500 in a horizontal state (generally 5° above or below the horizontal line). Figure 4b As shown.

[0069] According to the work rail leveling control method of the present invention, based on the existing leveling scheme, the tilt of the boom connector 600 is determined by boom motion recognition and horizontal tilt angle detection. During the manual restoration of the boom connector 600 to a horizontal position, the leveling connection mechanism 700 is controlled to move in the opposite direction to the restoration direction of the boom connector 600 to keep the work rail 500 in a horizontal state. This effectively controls the work rail 500 within the set safe horizontal angle range, while also ensuring that there is no conflict between the stroke of the boom connector leveling cylinder and the work rail leveling cylinder. This improves the operational reliability and comfort of leveling the work rail 500 on rice processing machines, facilitating the promotion and application of the product.

[0070] In some embodiments of the present invention, when the boom action is a boom luffing motion, the leveling connection mechanism 700 is directly leveled according to the horizontal tilt angle γ of the work rail 500. The leveling connection mechanism 700 has a work rail leveling cylinder 710 that pushes the work rail 500 to rotate relative to the front end of the boom 400, so that the work rail 500 is always effectively controlled within the set safe horizontal angle range (generally 5° above or below the horizontal line).

[0071] When the boom is extended or retracted, due to the boom's overhang effect, the work rail 500 at the tail end of the boom may tilt after the boom has reached a certain length. Therefore, in some embodiments of the present invention, when the boom movement is a boom extension or retraction, the work rail leveling control method further includes the following steps:

[0072] Obtain the length of the main arm 300, which is obtained by adding the extension length to the initial length of the main arm;

[0073] When the length of the main boom 300 is greater than the second preset value, the horizontal tilt angle of the work platform 500 is detected in real time. It should be noted that the second preset value is the length that will produce a hanging effect as found in practice. Different types of aerial work platforms will have different second preset values ​​due to different main boom extension lengths and rated loads. Therefore, it is not a unique limitation here.

[0074] When the horizontal tilt angle γ of the work platform 500 is greater than the third preset value, the leveling connection mechanism 700 is controlled to level the work platform 500. It should be noted that, in order to consider the lead time of the adjustment action and avoid frequent adjustments, the third preset value is generally set to about 3° (not necessarily the horizontal tilt alarm value of 5°) before the leveling action of the work platform 500 is performed (considering the complexity of the adjustment after the flying arm connector 600 tilts, the flying arm connector 600 is not used for adjustment at this time). When it is detected that γ has returned to within the set angle, the leveling action stops.

[0075] Furthermore, to ensure the reliability of the leveling action, in some embodiments of the present invention, the workbench leveling control method further includes a leveling angle redundancy design, which includes the following steps:

[0076] When the first angle sensor for acquiring the horizontal tilt angle of the work platform 500 malfunctions, the system will receive a fault alarm signal and select a backup angle γ to replace the horizontal tilt angle γ of the work platform 500 based on the type of boom movement; the backup angle γ is as follows:

[0077] When the type of boom movement is boom amplitude, the spare angle is the horizontal tilt angle β of 600 degrees of the boom connector.

[0078] When the boom action type is boom luffing, the spare angle is the tilt angle of the working frame 500 relative to the boom.

[0079] In some embodiments of the present invention, the workbench leveling control method further includes the following steps:

[0080] The boom connector 600 is controlled to level the work bar 500 according to the horizontal tilt angle γ of the work bar 500. When the horizontal tilt angle of the work bar 500 is greater than the third preset value, the work bar 500 tilt alarm signal is output and the main boom luffing action is restricted.

[0081] The leveling connection mechanism directly adjusts the work bar 500 according to the horizontal tilt angle γ of the work bar 500. When the horizontal tilt angle of the work bar 500 is greater than the third preset value, the work bar 500 tilt alarm signal is output and the boom luffing action is restricted.

[0082] like Figure 6 As shown, the workbench leveling control system according to a second aspect embodiment of the present invention includes:

[0083] The boom motion acquisition module is used to acquire boom motion signals, wherein the boom motion includes main boom luffing, boom luffing, and main boom extension; it is understood that in some embodiments, the boom motion may also include boom extension, and whether to set boom extension motion needs to be selected according to different aerial work platform types.

[0084] The first angle sensor is used to detect the horizontal tilt angle γ of the workbench 500 in real time.

[0085] The processor is connected to the boom motion acquisition module and the first angle sensor, respectively. It is used to identify the type of boom and, when the type of boom motion is identified as boom luffing, to control the boom connector 600 to level the work platform 500 according to the horizontal tilt angle of the work platform 500. It can be understood that the hydraulic cylinder of the boom connector 600 built into the main boom drives the boom connector 600 to rotate relative to the top of the main boom, thereby driving the boom, the leveling connection mechanism and the work platform 500 to be leveled as a whole.

[0086] The second angle sensor is used to detect the horizontal tilt angle of the boom connector 600 in real time and feed it back to the processor.

[0087] The leveling operation switch is used to drive the flying arm connector 600 to return to a horizontal state when the horizontal tilt angle of the flying arm connector 600 is greater than a first preset value; during the process of the leveling operation switch driving the flying arm connector 600 to return to a horizontal state, the processor controls the leveling connection mechanism to move in the opposite direction to the return direction of the flying arm connector 600 so that the work rail 500 remains in a horizontal state.

[0088] According to the present invention, the work rail leveling control system, based on the existing leveling scheme, determines the tilt of the boom connector 600 by recognizing boom movement and detecting the horizontal tilt angle of the boom connector 600. During the manual restoration of the boom connector 600 to a horizontal position, the leveling connection mechanism 700 is controlled to move in the opposite direction to the restoration direction of the boom connector 600 to keep the work rail 500 in a horizontal state. This effectively controls the work rail 500 within the set safe horizontal angle range, while also ensuring that there is no conflict between the stroke of the boom connector 600 leveling cylinder and the work rail 500 leveling cylinder. This improves the operational reliability and comfort of the work rail 500 leveling in rice processing machines, facilitating the promotion and application of the product.

[0089] In some embodiments of the present invention, the work bar leveling control system further includes a third angle sensor connected to the processor. The third angle sensor is used to detect the tilt angle of the work bar 500 relative to the boom. When the first angle sensor that collects the horizontal tilt angle of the work bar 500 fails, the third angle sensor can be used to replace the horizontal tilt angle of the work bar 500 when the boom is luffing, thus realizing angle redundancy design.

[0090] Furthermore, in some embodiments of the present invention, the workbench leveling control system further includes a fourth angle sensor connected to the processor. The fourth angle sensor is used to detect the horizontal tilt angle of the main boom. By detecting the horizontal tilt angle of the main boom, it can be used to identify the current overhang effect of the main boom and control the amplitude of the main boom.

[0091] In some embodiments of the present invention, the workbench leveling control system further includes an alarm module connected to the processor. The alarm module is used to output a 500° tilt alarm signal for the workbench, so as to promptly alert the operator and prevent accidents.

[0092] like Figure 1 The aerial work platform shown is an embodiment of the third aspect of the present invention, comprising: a base frame assembly 100 having a traveling mechanism; a turntable 200 rotatably mounted on the base frame assembly 100; a main boom 300 hinged to the turntable 200 and having telescopic and luffing functions; a boom 400 connected to the main boom 300 via an adjustable boom connector 600, the boom also having telescopic function in addition to luffing function; a work platform 500, with a leveling connection mechanism 700 provided between the work platform 500 and the boom 400; and a work platform leveling control system as described in the second embodiment above.

[0093] According to the aerial work platform of the present invention, based on the existing leveling scheme, the present invention determines the tilt of the boom connector by recognizing the boom movement and detecting the horizontal tilt angle of the boom connector. During the manual restoration of the boom connector to level, the leveling connection mechanism is controlled to move in the opposite direction to the restoration direction of the boom connector to keep the work platform in a horizontal state. The work platform is always effectively controlled within the set safe horizontal angle range. At the same time, it also ensures that there is no conflict between the stroke of the boom connector leveling cylinder and the stroke of the work platform leveling cylinder. This improves the operational reliability and comfort of the work platform leveling operation for rice processing machines, and facilitates the promotion and application of the product.

[0094] The embodiments of the present invention have been described in detail above with reference to the accompanying drawings. However, the present invention is not limited to the above embodiments. Within the scope of knowledge possessed by those skilled in the art, various changes can be made without departing from the spirit of the present invention.

Claims

1. A working platform linkage leveling control method, applied to aerial work platforms, characterized in that, Includes the following steps: Acquire signals of boom movements, wherein the boom movements include main boom luffing, boom luffing, and main boom extension / retraction; The boom action is identified. When the type of boom action is boom luffing, the boom connector is controlled to level the workbench according to the horizontal tilt angle of the workbench, and the horizontal tilt angle of the boom connector is detected in real time. When the horizontal tilt angle of the boom connector is greater than the first preset value, the boom connector is determined to be tilted and the boom connector is manually restored to horizontal. During the manual restoration of the boom connector to a horizontal position, the leveling connection mechanism is controlled to move in the opposite direction to the restoration direction of the boom connector to keep the work rail in a horizontal state.

2. The work column linkage leveling control method according to claim 1, characterized in that, When the boom action is a boom luffing motion, the leveling connection mechanism is controlled to directly level the workbench based on the horizontal tilt angle of the workbench.

3. The workbench linkage leveling control method according to claim 1 or 2, characterized in that, When the type of boom movement is boom extension or retraction, the workbench linkage leveling control method further includes the following steps: Obtain the length of the main arm; When the length of the main arm is greater than the second preset value, the horizontal tilt angle of the work column is detected in real time. When the horizontal tilt angle of the workbench is greater than a third preset value, the leveling connection mechanism is controlled to level the workbench.

4. The workbench linkage leveling control method according to claim 2, characterized in that, The workbench linkage leveling control method also includes a leveling angle redundancy design, which includes the following steps: When the first angle sensor that collects the horizontal tilt angle of the work platform malfunctions, a backup angle is selected to replace the horizontal tilt angle of the work platform according to the type of boom movement. When the type of boom movement is boom luffing, the spare angle is the horizontal tilt angle of the boom connector. When the type of boom movement is boom luffing, the spare angle is the tilt angle of the work platform relative to the boom.

5. The work column linkage leveling control method according to claim 2, characterized in that, The workbench linkage leveling control method also includes the following steps: When the horizontal tilt angle of the work rail is controlled to adjust the boom connector for leveling, if the horizontal tilt angle of the work rail is greater than a third preset value, a work rail tilt alarm signal is output and the main boom luffing action is restricted. When the leveling connection mechanism is directly used to level the workbench based on the horizontal tilt angle of the workbench, if the horizontal tilt angle of the workbench is greater than a third preset value, a workbench tilt alarm signal is output and the boom amplitude change action is restricted.

6. A workbench linkage leveling control system, characterized in that, include: A boom motion acquisition module is used to acquire signals of boom motion, wherein the boom motion includes main boom luffing, boom luffing, and main boom extension / retraction. The first angle sensor is used to detect the horizontal tilt angle of the workbench in real time. The processor is connected to the boom motion acquisition module and the first angle sensor respectively. It is used to identify the type of boom and, when the type of boom motion is identified as main boom luffing, to control the boom connector to level the workbench according to the horizontal tilt angle of the workbench. The second angle sensor is used to detect the horizontal tilt angle of the flying arm connector in real time and feed it back to the processor. A leveling operation switch is used to drive the flying arm connector to return to a horizontal state when the horizontal tilt angle of the flying arm connector is greater than a first preset value; during the process of the leveling operation switch driving the flying arm connector to return to a horizontal state, the processor controls the leveling connection mechanism to move in the opposite direction to the return direction of the flying arm connector so that the work rail remains in a horizontal state.

7. The workbench linkage leveling control system according to claim 6, characterized in that, It also includes a third angle sensor connected to the processor, the third angle sensor being used to detect the tilt angle of the work bar relative to the flying arm.

8. The workbench linkage leveling control system according to claim 6, characterized in that, It also includes a fourth angle sensor connected to the processor, the fourth angle sensor being used to detect the horizontal tilt angle of the main arm.

9. The workbench linkage leveling control system according to claim 6, characterized in that, It also includes an alarm module connected to the processor, the alarm module being used to output a workbench tilt alarm signal.

10. An aerial work platform, characterized in that, include: The chassis assembly includes a traveling mechanism; A turntable, which is rotatably mounted on the base frame assembly; The main boom is hinged to the turntable and has telescopic and luffing functions; The flying arm is connected to the main arm via an adjustable flying arm connector. The work rail is provided with a leveling connection mechanism between the work rail and the flying arm; The workbench linkage leveling control system as described in any one of claims 6 to 9.

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