A method for controlling the working range of a straight-arm aerial work platform

Abstract

This invention relates to a method for controlling the working range of a telescopic boom aerial work platform. The telescopic boom aerial work platform of this invention includes an undulating cylinder, a leveling cylinder, a column pivot, a bucket column, a bucket swing bracket, a working bucket, a swing arm, a lifting rope hook, a boom, a boom pivot, a platform, a telescopic boom, a main boom, a main boom pivot, a turntable, a controller, and a frame. The turntable is mounted on the frame. The main boom is mounted on the turntable via a main boom pivot. The telescopic boom is mounted on the main boom. The bucket column is mounted on the telescopic boom via a column pivot. The swing arm and the platform are rotatably mounted on the bucket column. The bucket swing bracket is rotatably mounted on the swing arm. The working bucket is mounted on the bucket swing bracket. The boom is mounted on the platform via a boom pivot. The lifting rope hook is mounted on the boom. The cylinder of the undulating cylinder is hinged to the turntable. The piston rod of the undulating cylinder is hinged to the main boom. The cylinder of the leveling cylinder is hinged to the telescopic boom. The piston rod of the leveling cylinder is hinged to the bucket column.

Description

Technical Field

[0001] This invention relates to a method for controlling the working range of a telescopic boom aerial work platform, belonging to the field of aerial work platforms. Background Technology

[0002] With the rapid development of the market economy, telescopic boom aerial work platforms have been widely used in many fields. To increase the operational flexibility of aerial work platforms, some have added boom swing mechanisms, bucket swing mechanisms, and lifting mechanisms to the bucket. These devices can lead to large variations in bucket load and bucket load position. When controlling the working range of aerial work platforms, if we use boom length and boom angle detection to limit the position of the telescopic boom head according to the maximum bucket load and the most unfavorable load position, we will sacrifice a significant amount of effective working space. While adding bucket load detection, lifting load detection, and load position detection to this solution could theoretically improve working range control, the implementation is too complex and could affect the reliability of the entire vehicle system.

[0003] Another approach, which uses hydraulic cylinder force detection but doesn't consider the specific operating state of the bucket and controls the operating range based on the measured hydraulic cylinder torque, also suffers from significant variations in the telescopic boom head's amplitude and position due to changes in the bucket's load magnitude and position. Adding detection for the bucket's swing position, boom's swing position, and load position, and restricting the mechanism's movement in dangerous directions, would not only increase the complexity of the implementation plan but also directly impact the flexibility of actual operation.

[0004] In view of this, patent document CN201320176782.5 discloses a control device for the working range of an aerial work platform. The aforementioned prior art involves installing a main controller, an angle sensor, a length sensor, and a bucket load sensor. The main controller is mounted on a turntable, the angle and length sensors are mounted on the main boom, and the bucket load sensor is mounted on the bucket. Based on the actual load detected by the load sensor, the controller dynamically calculates the working range control curve for the current load condition and controls actions exceeding the working range control curve. Therefore, the control method disclosed in this application differs from that of the aforementioned prior art. Summary of the Invention

[0005] The purpose of this invention is to overcome the above-mentioned shortcomings in the prior art and provide a method for controlling the working range of a straight boom aerial work platform with a reasonable structural design that can effectively utilize the working space. The method can limit the amplitude of the telescopic boom head according to the bucket load, but the change of the bucket load position will not affect the amplitude limit of the telescopic boom head. In other words, the telescopic boom head can still perform operations such as swinging the working bucket and swinging the boom to change the load position at any position (including the extreme position).

[0006] The technical solution adopted by this invention to solve the above problems is: a method for controlling the working range of a telescopic boom aerial work platform, wherein the telescopic boom aerial work platform includes a column pivot, a bucket column, a bucket swing bracket, a working bucket, a swing arm, a lifting rope hook, a boom, a boom pivot, a platform, a telescopic boom, a main boom, a main boom pivot, a turntable, a controller, and a frame. The turntable is mounted on the frame, the main boom is mounted on the turntable via the main boom pivot, the telescopic boom is mounted on the main boom, the bucket column is mounted on the telescopic boom via the column pivot, the swing arm and the platform are both rotatably mounted on the bucket column, the bucket swing bracket is rotatably mounted on the swing arm, the working bucket is mounted on the bucket swing bracket, the boom is mounted on the platform via the boom pivot, and the lifting rope hook is mounted on the boom.

[0007] Its structural features are as follows: the straight boom aerial work platform also includes an undulating cylinder and a leveling cylinder. The cylinder barrel of the undulating cylinder is hinged to the turntable, and the piston rod of the undulating cylinder is hinged to the main boom. A large-cavity pressure sensor of the undulating cylinder is installed in the rodless chamber of the undulating cylinder, and a small-cavity pressure sensor of the undulating cylinder is installed in the rod chamber of the undulating cylinder. The cylinder barrel of the leveling cylinder is hinged to the telescopic boom, and the piston rod of the leveling cylinder is hinged to the bucket column. A large-cavity pressure sensor of the leveling cylinder is installed in the rodless chamber of the leveling cylinder, and a small-cavity pressure sensor of the leveling cylinder is installed in the rod chamber of the leveling cylinder. A main boom angle sensor is installed on the main boom. The main boom angle sensor, the large-cavity pressure sensor of the undulating cylinder, the small-cavity pressure sensor of the undulating cylinder, the large-cavity pressure sensor of the leveling cylinder, and the small-cavity pressure sensor of the leveling cylinder are all connected to the controller.

[0008] The method for controlling the working range of the telescopic boom aerial work platform is as follows:

[0009] The rodless chamber pressure p of the undulating hydraulic cylinder is calculated by the controller. ea ;

[0010] The rod chamber pressure p of the undulating hydraulic cylinder is calculated by the controller. eb ;

[0011] The rodless chamber pressure p of the leveling cylinder is calculated by the controller. la ;

[0012] The rod chamber pressure p of the leveling cylinder is calculated by the controller. lb ;

[0013] The controller calculates the force on the undulating hydraulic cylinder: f e = p ea ×S ea -p eb ×S eb ;

[0014] The force on the leveling cylinder is calculated by the controller: f l = p la ×S la -p lb ×S lb ;

[0015] Calculate the lever arm l of the undulation cylinder under the current undulation angle θ of the main boom. e and the lever arm l of the leveling cylinder l The stress arm curve is plotted, and the fluctuation angle θ-l corresponding to the parameter point is first stored in the controller. Then, based on the current fluctuation angle θ of the main boom, the lever arm l of the fluctuating cylinder is calculated using linear interpolation in the corresponding straight line segment. e and the lever arm l of the leveling cylinder l ;

[0016] The lever arm l of the fluctuating hydraulic cylinder is calculated using linear interpolation. e =fune(θ);

[0017] The lever arm l of the leveling cylinder was calculated using linear interpolation. l =funl(θ);

[0018] The controller calculates the total torque borne by the undulating hydraulic cylinder: m e =f e ×l e ;

[0019] The total torque borne by the leveling cylinder is calculated by the controller: m l =f l ×l l ;

[0020] The overall control torque is calculated by the controller: m c =m e -m l ;

[0021] Determine the maximum amplitude that the column shaft can reach when the bucket load is 0 kg. When the bucket load is 0 kg, the boom's undulation angle is θ. At this point, gradually extend the telescopic boom. When the column shaft reaches the amplitude curve, the comprehensive control torque m is measured by the controller. cThis value is the safe torque limit m. s ;

[0022] Alternatively, the safe torque limit m can be obtained through calculation. s Assuming the bucket load is 0 kg, the telescopic boom extends to the amplitude curve, and the self-weight of all buckets is positioned at the center of the column shaft, calculate the total torque borne by the undulating cylinder. This value is the safe torque limit m. s ;

[0023] Based on the safety torque limit m corresponding to different undulating arm angles θ s Draw the safety torque curve;

[0024] The controller first stores the undulation angle θ-torque m corresponding to the parameter point, and then calculates the safety torque limit m in the corresponding straight segment using linear interpolation based on the current undulation angle θ of the main boom. s Safety torque limit m s =funm(θ;

[0025] The controller calculates the safety torque limit m based on the current boom undulation angle θ. s and comprehensive control torque m c When the comprehensive control torque m c >Safety torque limit m s At the same time, it restricts the lowering motion of the main boom, the extension motion of the telescopic boom, and the raising motion of the hoisting rope and hook;

[0026] When the undulation angle θ of the main boom is greater than the maximum allowable lifting angle θ of the main boom max At that time, the lifting motion of the main boom is restricted.

[0027] When the boom undulation angle θ ≤ the minimum allowable descent angle θ of the boom min At that time, the lowering motion of the main arm is restricted.

[0028] Furthermore, the swing arm is mounted on the bucket column via the OA shaft, the bucket swing bracket is mounted on the swing arm via the OB shaft, and the lifting platform is mounted on the bucket column via the OC shaft.

[0029] Furthermore, the pressure sensor of the large chamber of the undulating cylinder and the pressure sensor of the small chamber of the undulating cylinder are arranged between the undulating cylinder and the undulating cylinder balance valve, and the pressure sensor of the large chamber of the leveling cylinder and the pressure sensor of the small chamber of the leveling cylinder are arranged between the leveling cylinder and the leveling cylinder balance valve.

[0030] Furthermore, when plotting the lever arm curve, to simplify the controller calculation, each lever arm curve is fitted with a broken line segment of 12 parameter points. To ensure the fitting degree of the lever arm curve, adjacent points are guaranteed to be monotonically increasing or monotonically decreasing within the curve segment. When arranging the parameter points, they can be denser in areas with poor linearity and sparser in areas with good linearity.

[0031] Furthermore, the comprehensive control torque m c The results are related to the undulation angle θ of the main boom, the length of the telescopic boom, the self-weight of the boom and bucket, and the magnitude of the load on the bucket, but are not related to the specific position of the load on the bucket. That is, they are not related to the swing angle of the boom, the swing angle of the bucket swing bracket, the position of the load in the working bucket, nor to the lifting position determined by the boom pitch angle and the boom slewing angle.

[0032] Furthermore, when plotting the safety torque curve, to simplify the controller calculation, a line segment with 12 parameter points is used to fit the safety torque curve.

[0033] Furthermore, the boom consists of a telescopic boom, a main boom, and a leveling cylinder; the bucket consists of a column shaft, a bucket column, a bucket swing bracket, a working bucket, a swing arm, a lifting rope and hook, a boom, a boom shaft, and a lifting platform; and the bucket load consists of the load inside the working bucket and the lifting load of the lifting rope and hook.

[0034] Compared with existing technologies, this invention has the following advantages: The telescopic boom aerial work platform utilizes automatic bucket leveling technology, ensuring the bucket remains level based on leveling cylinders installed on the bucket's uprights; pressure sensors in the large and small chambers of the boom's undulation cylinders are installed to detect force on the cylinders; pressure sensors in the large and small chambers of the leveling cylinders at the head of the telescopic boom are also installed to detect force on the cylinders; a boom angle sensor is installed on the boom to detect the boom's undulation angle; and the lever arm and adjustment arm of the undulation cylinders are calculated based on the boom's undulation angle. The lever arm of the leveling cylinder is calculated; the total tilting moment formed by the boom and bucket mechanisms is calculated based on the force and lever arm value of the undulating cylinder; the bucket load moment caused by load position changes is calculated based on the force and lever arm value of the leveling cylinder; the comprehensive moment value under the current boom angle is obtained by the difference between the total tilting moment and the bucket load moment; after concentrating the force of all bucket mechanisms at the center of the bucket column, the safe moment limit value under different boom angles is calculated by combining factors such as vehicle stability and mechanism strength; when the comprehensive moment value exceeds the safe moment limit value, the control system restricts actions that may cause safety hazards, such as boom extension, boom descent, and lifting.

[0035] By adopting this working range control method, the amplitude of the telescopic boom head can be limited according to the bucket load. However, changes in the bucket load position will not affect the amplitude limit of the telescopic boom head. In other words, the telescopic boom head can still perform operations such as swinging the working bucket and swinging the boom to change the load position at any position (including the extreme position), making bucket operation more flexible and convenient.

[0036] Using this control method, the maximum deviation of amplitude control is within ±250mm, which meets the requirements for use of aerial work platforms. Attached Figure Description

[0037] Figure 1 This is a front view structural schematic diagram of a straight boom aerial work vehicle according to an embodiment of the present invention.

[0038] Figure 2 This is a top view structural schematic diagram of the straight boom aerial work vehicle according to an embodiment of the present invention.

[0039] Figure 3 This is a schematic diagram of pressure detection according to an embodiment of the present invention.

[0040] Figure 4 This is a schematic diagram of the lever arm curve according to an embodiment of the present invention.

[0041] Figure 5 This is a schematic diagram of the amplitude control curve according to an embodiment of the present invention.

[0042] Figure 6 This is a schematic diagram of the safety torque curve according to an embodiment of the present invention.

[0043] Figure 7 This is a schematic diagram of the operation range control according to an embodiment of the present invention.

[0044] Figure 8 This is a schematic diagram of the control flow according to an embodiment of the present invention.

[0045] In the diagram: 1. Pressure sensor for the large chamber of the undulating cylinder; 2. Pressure sensor for the small chamber of the undulating cylinder; 3. Pressure sensor for the large chamber of the leveling cylinder; 4. Pressure sensor for the small chamber of the leveling cylinder; 5. Leveling cylinder; 6. Column shaft; 7. Bucket column; 8. Bucket swing bracket; 9. Working bucket; 10. Swing arm; 11. Lifting rope and hook; 12. Boom; 13. Boom shaft; 14. Lifting platform; 15. Telescopic boom; 16. Main boom; 17. Main boom angle sensor; 18. Main boom shaft; 19. Turntable; 20. Controller; 21. Frame; 22. Balance valve for the undulating cylinder; 23. Balance valve for the leveling cylinder. Detailed Implementation

[0046] The present invention will be further described in detail below with reference to the accompanying drawings and embodiments. The following embodiments are explanations of the present invention, but the present invention is not limited to the following embodiments.

[0047] Example

[0048] See Figures 1 to 8 As shown in the accompanying drawings, the structures, proportions, sizes, etc., depicted are merely for illustrative purposes to aid those skilled in the art and to facilitate understanding. They are not intended to limit the scope of the invention and therefore have no substantial technical significance. Any modifications to the structure, changes in proportions, or adjustments to size, without affecting the effectiveness or purpose of the invention, should still fall within the scope of the disclosed technical content. Furthermore, the use of terms such as "upper," "lower," "left," "right," "middle," and "one" in this specification is merely for clarity and not intended to limit the scope of the invention. Changes or adjustments to their relative relationships, without substantially altering the technical content, should also be considered within the scope of the invention.

[0049] The telescopic boom aerial work platform in this embodiment includes an undulating cylinder 2, a leveling cylinder 6, a column pivot 7, a bucket column 8, a bucket swing bracket 9, a working bucket 10, a swing arm 11, a lifting rope and hook 12, a boom 13, a boom pivot 14, a lifting platform 15, a telescopic boom 16, a main boom 17, a main boom pivot 19, a turntable 20, a controller 21, and a frame 22.

[0050] In this embodiment, the turntable 20 is mounted on the frame 22, and the main boom 17 is mounted on the turntable 20 via the main boom pivot 19. The cylinder of the undulating cylinder 2 is hinged to the turntable 20, and the piston rod of the undulating cylinder 2 is hinged to the main boom 17. When the undulating cylinder 2 is extended or retracted, the pitching motion of the main boom 17 can be changed. This embodiment does not limit the number and method of the cylinders supporting the main boom 17. This embodiment is described based on only one cylinder.

[0051] In this embodiment, the telescopic boom 16 is mounted on the main boom 17, and the bucket column 8 is mounted on the telescopic boom 16 via the column pivot 7. The cylinder of the leveling cylinder 6 is hinged to the telescopic boom 16, and the piston rod of the leveling cylinder 6 is hinged to the bucket column 8. By controlling the extension and retraction of the leveling cylinder 6, the swing arm 11, the bucket swing bracket 9, and the working bucket 10 mounted on the bucket column 8 are kept horizontal. The horizontal angle of the bucket column 8 can be detected by the controller 21, and then the extension and retraction of the leveling cylinder 6 can be controlled to achieve the leveling of the mechanism. Alternatively, the leveling of the mechanism can be achieved through other mechanical or hydraulic solutions.

[0052] In this embodiment, the swing arm 11 and the platform 15 are rotatably mounted on the bucket column 8 via the OA axis and OC axis, respectively. The controller 21 can control the swing arm 11 to rotate horizontally around the OA axis and the platform 15 to rotate horizontally around the OC axis. The bucket swing bracket 9 is rotatably mounted on the swing arm 11 via the OB axis. The controller 21 can control the bucket swing bracket 9 to rotate horizontally around the OB axis. The working bucket 10 is mounted on the bucket swing bracket 9. The boom 13 is mounted on the platform 15 via the boom pivot 14. The controller 21 can control the pitching motion of the boom 13. The lifting rope hook 12 is mounted on the boom 13 and can be used for lifting heavy objects. The controller 21 can control the raising and lowering of the lifting rope hook 12.

[0053] In this embodiment, a main boom angle sensor 18 is installed on the main boom 17. The main boom angle sensor 18 is electrically connected to the controller 21, and the controller 21 can calculate the undulation angle θ of the main boom 17.

[0054] In this embodiment, a large-cavity pressure sensor 1 is installed on the rodless cavity of the undulating cylinder 2, and a small-cavity pressure sensor 3 is installed on the rod cavity of the undulating cylinder 2. The large-cavity pressure sensor 1 and the small-cavity pressure sensor 3 are electrically connected to the controller 21. The controller 21 can calculate the pressure p in the rodless cavity of the undulating cylinder 2. ea The rod chamber pressure p of the undulating hydraulic cylinder 2 eb To ensure the validity of the measurement, the pressure sensor 1 in the large chamber of the undulating cylinder and the pressure sensor 3 in the small chamber of the undulating cylinder must be installed between the balance valve 23 and the undulating cylinder 2. See [link / details]. Figure 3 Schematic diagram of pressure detection.

[0055] In this embodiment, a large-cavity pressure sensor 4 is installed on the rodless cavity of the leveling cylinder 6, and a small-cavity pressure sensor 5 is installed on the rod cavity of the leveling cylinder 6. The large-cavity pressure sensor 4 and the small-cavity pressure sensor 5 are electrically connected to the controller 21. The controller 21 can calculate the pressure p in the rodless cavity of the leveling cylinder 6. la Adjusting the rod chamber pressure p of the leveling cylinder 6 lb To ensure the validity of the measurement, the pressure sensor 4 in the large chamber of the leveling cylinder and the pressure sensor 5 in the small chamber of the leveling cylinder must be installed between the balance valve 24 and the leveling cylinder 6. (See [link to relevant documentation]). Figure 3 Schematic diagram of pressure detection.

[0056] The method for controlling the working range of the telescopic boom aerial work platform in this embodiment is as follows:

[0057] The rodless chamber pressure p of the undulating cylinder 2 is calculated by the controller 21. ea ;

[0058] The rod chamber pressure p of the undulating cylinder 2 is calculated by the controller 21. eb ;

[0059] The pressure p in the rodless chamber of the leveling cylinder 6 is calculated by the controller 21. la ;

[0060] The rod chamber pressure p of the leveling cylinder 6 is calculated by the controller 21. lb ;

[0061] The force on the undulating hydraulic cylinder 2 is calculated by the controller 21: f e = p ea ×S ea -p eb ×S eb ;

[0062] The force on the leveling cylinder 6 is calculated by the controller 21: f l = p la ×S la -p lb ×S lb ;

[0063] By using the relevant structural data of the aerial work platform, the lever arm l of the undulation cylinder 2 under the current undulation angle θ of the main boom 17 can be accurately calculated. e and the lever arm l of the leveling cylinder 6 l And plot the stress arm curve, such as Figure 4 To simplify the calculations of controller 21, each lever arm curve is fitted using a polyline segment with 12 parameter points. To ensure the fitting degree of the curves, adjacent points are guaranteed to increase or decrease monotonically within the curve segment. When arranging the parameter points, they can be denser in areas with poor linearity and sparser in areas with good linearity. Controller 21 first stores the fluctuation angle θ-l corresponding to the parameter points, and then calculates the lever arm l of the fluctuating cylinder 2 using linear interpolation in the corresponding straight line segment based on the fluctuation angle θ of the current main arm 17. e and the lever arm l of the leveling cylinder 6 l .

[0064] The lever arm l of the undulating hydraulic cylinder 2 was calculated using linear interpolation. e =fune(θ);

[0065] The lever arm l of the leveling cylinder 6 was calculated using linear interpolation. l =funl(θ);

[0066] The total torque borne by the undulating hydraulic cylinder 2 is calculated by the controller 21: m e =f e ×l e ;

[0067] The total torque borne by the leveling cylinder 6 is calculated by the controller 21: m l =f l ×l l ;

[0068] The comprehensive control torque is calculated by controller 21: m c =m e -m l ;

[0069] Comprehensive control torque m c The result is related to the undulation angle θ of the main boom 17, the length of the telescopic boom 16, the weight of the boom (composed of the telescopic boom 16, the main boom 17 and the leveling cylinder 6) and the bucket (composed of the column shaft 7, the bucket column 8, the bucket swing bracket 9, the working bucket 10, the swing arm 11, the hoisting rope hook 12, the boom 13, the boom shaft 14 and the platform 15), and the bucket load (composed of the load inside the working bucket 10 and the lifting load of the hoisting rope hook 12), but it is not related to the specific position of the bucket load, that is, it is not related to the swing angle of the swing arm 11, the swing angle of the bucket swing bracket 9, the position of the load inside the working bucket 10, and the lifting position determined by the pitch angle and the rotation angle of the boom 13.

[0070] Based on relevant structural data of the aerial work platform vehicle, as well as comprehensive calculations considering vehicle stability, structural strength, and safety factors, the maximum radius of motion that the column shaft 7 can reach when the bucket load is 0 kg is determined. (See attached data.) Figure 5 Amplitude control curve.

[0071] When the bucket load is 0 kg, the undulation angle of the main boom 17 is θ. At this time, the telescopic boom 16 is gradually extended. When the column pivot 7 reaches the amplitude curve, the comprehensive control torque m is measured by the controller 21. c This value is the safe torque limit m. s Or the safety torque limit m s Alternatively, it can be obtained through theoretical calculations. Using the relevant structural data of the aerial work platform, with the bucket load at 0 kg, the telescopic boom 16 extended to the amplitude curve, and the self-weight of all buckets arranged at the center of the column pivot 7, the total torque borne by the undulating cylinder 2 can be calculated. This value is the safe torque limit m. s ;

[0072] Based on the safety torque limit m corresponding to different undulating arm angles θ s Plot the safety torque curve; see Figure 6 Safety torque curve.

[0073] To simplify the calculations of controller 21, a safety torque curve is fitted using a polyline segment with 12 parameter points. Controller 21 first stores the fluctuation angle θ-torque m corresponding to the parameter points, and then calculates the safety torque limit m using linear interpolation in the corresponding straight line segment based on the current fluctuation angle θ of the main boom 17. s Safety torque limit m s =funm(θ;

[0074] The controller 21 calculates the safety torque limit m based on the current undulation angle θ of the main boom 17. s and comprehensive control torque m c When the comprehensive control torque m c >Safety torque limit m s At the same time, it restricts the lowering action of the main boom 17, the extension action of the telescopic boom 16, and the raising action of the hoisting rope hook 12; thereby preventing the aerial work vehicle from overturning or the mechanism from being damaged.

[0075] To prevent the undulating cylinder 2 and the leveling cylinder 6 from being in their fully extended and fully retracted states, and to prevent the measurement results from the large cavity pressure sensor 1, the small cavity pressure sensor 3, the large cavity pressure sensor 4, and the small cavity pressure sensor 5 of the leveling cylinder from being inaccurate in calculating the force on the cylinder, the controller 21 needs to limit the undulation angle θ of the main boom 17.

[0076] When the undulation angle θ of the main boom 17 is greater than the maximum allowable lifting angle θ of the main boom 17 max When the lifting motion of the main boom 17 is restricted, the lifting motion of the main boom 17 is limited to the minimum allowable lowering angle θ of the main boom 17. min At the same time, the lowering action of the main boom 17 is restricted; thereby preventing the undulating cylinder 2 from entering the fully extended and fully retracted state. While the undulating cylinder 2 cannot be fully extended and fully retracted, the leveling cylinder 6 can also be restricted from entering the fully extended and fully retracted state.

[0077] See the diagram for the work scope control. Figure 7 See the control flow diagram. Figure 8 .

[0078] Figure 8 In the diagram: Main boom lift limit = 0 indicates that the main boom 17 can be lifted without limit; Main boom lower limit = 0 indicates that the main boom 17 can be lowered without limit; Telescopic boom extension limit = 0 indicates that the telescopic boom 16 can be extended without limit; Lifting lift limit = 0 indicates that the boom 13 and the hoisting rope hook 12 can be lifted without limit; Main boom lower limit = 1 indicates that the main boom 17 can be lowered with limit; Telescopic boom extension limit = 1 indicates that the telescopic boom 16 can be extended with limit; Lifting lift limit = 1 indicates that the boom 13 and the hoisting rope hook 12 can be lifted with limit; Main boom lift limit = 1 indicates that the main boom 17 can be lifted with limit.

[0079] For ease of description, the following names are defined:

[0080] Among them, amplitude: the horizontal distance between the center of the column pivot 7 and the rotation center of the turntable 20;

[0081] Where θ: the undulation angle of the main arm 17;

[0082] Where, θ max The maximum allowable lifting angle for the main boom 17;

[0083] Where, θ min The minimum allowable lowering angle for the main boom (17mm).

[0084] Where, p ea : The pressure in the rodless chamber of the undulating hydraulic cylinder 2;

[0085] Where, p eb : The rod chamber pressure of the undulating hydraulic cylinder 2;

[0086] Where, p la Adjust the pressure in the rodless chamber of cylinder 6;

[0087] Where, p lb Adjust the rod chamber pressure of hydraulic cylinder 6;

[0088] Among them, S ea : Effective area of ​​the rodless chamber of the undulating hydraulic cylinder 2;

[0089] Among them, S eb : Effective area of ​​the rod chamber of the undulating hydraulic cylinder 2;

[0090] Among them, S la Adjust the effective area of ​​the rodless chamber of hydraulic cylinder 6;

[0091] Among them, S lb Adjust the effective area of ​​the rod chamber of hydraulic cylinder 6;

[0092] Among them, f e The force on the undulating hydraulic cylinder 2;

[0093] Among them, l e : The lever arm of the undulating hydraulic cylinder 2;

[0094] Among them, f l Adjust the force on hydraulic cylinder 6;

[0095] Among them, l l Adjust the lever arm of hydraulic cylinder 6;

[0096] Where, m e The total torque borne by the undulation cylinder 2 under the condition that the undulation angle of the main boom 17 is θ;

[0097] Where, m lThe total torque borne by the leveling cylinder 6 under the condition that the undulation angle of the main boom 17 is θ;

[0098] Where, m c The overall control torque detected under the condition that the undulation angle of the main boom 17 is θ;

[0099] Where, m s The permissible safe torque limit under the condition that the undulation angle of the main boom 17 is θ;

[0100] Among them, the large cavity pressure sensor 1 of the undulating cylinder, the small cavity pressure sensor 3 of the undulating cylinder, the large cavity pressure sensor 4 of the leveling cylinder, the small cavity pressure sensor 5 of the leveling cylinder, the main boom angle sensor 18, and the controller 21 are all existing general technologies.

[0101] Furthermore, it should be noted that the specific embodiments described in this specification may differ in the shape and name of their components, etc. The above description is merely illustrative of the structure of the present invention. All equivalent or simple variations made based on the structure, features, and principles described in this patent concept are included within the protection scope of this patent. Those skilled in the art can make various modifications or additions to the described specific embodiments or use similar methods to substitute them, as long as they do not deviate from the structure of the present invention or exceed the scope defined by the claims, all of which should fall within the protection scope of this invention.

Claims

1. A method for controlling the working range of a telescopic boom aerial work platform, the telescopic boom aerial work platform comprising a column pivot (7), a bucket column (8), a bucket swing bracket (9), a working bucket (10), a swing arm (11), a lifting rope hook (12), a boom (13), a boom pivot (14), a lifting platform (15), a telescopic boom (16), a main boom (17), a main boom pivot (19), a turntable (20), a controller (21), and a frame (22), wherein the turntable (20) is mounted on the frame (22), and the main boom (17) is connected to the main boom pivot (7) via the main boom pivot (8). 19) The telescopic boom (16) is mounted on the main boom (17), the bucket column (8) is mounted on the telescopic boom (16) via the column pivot (7), the swing arm (11) and the platform (15) are both rotatably mounted on the bucket column (8), the bucket swing bracket (9) is rotatably mounted on the swing arm (11), the working bucket (10) is mounted on the bucket swing bracket (9), the boom (13) is mounted on the platform (15) via the boom pivot (14), and the lifting rope hook (12) is mounted on the boom (13). Its features are: The telescopic boom aerial work platform also includes an undulating cylinder (2) and a leveling cylinder (6). The cylinder barrel of the undulating cylinder (2) is hinged to the turntable (20), and the piston rod of the undulating cylinder (2) is hinged to the main boom (17). A large-cavity pressure sensor (1) is installed on the rodless chamber of the undulating cylinder (2), and a small-cavity pressure sensor (3) is installed on the rod chamber of the undulating cylinder (2). The cylinder barrel of the leveling cylinder (6) is hinged to the telescopic boom (16), and the piston rod of the leveling cylinder (6) is hinged to the bucket column. (8) Hinged, a leveling cylinder large chamber pressure sensor (4) is installed on the rodless chamber of the leveling cylinder (6), a leveling cylinder small chamber pressure sensor (5) is installed on the rod chamber of the leveling cylinder (6), a main arm angle sensor (18) is installed on the main arm (17), and the main arm angle sensor (18), the undulating cylinder large chamber pressure sensor (1), the undulating cylinder small chamber pressure sensor (3), the leveling cylinder large chamber pressure sensor (4) and the leveling cylinder small chamber pressure sensor (5) are all connected to the controller (21); The method for controlling the working range of the telescopic boom aerial work platform is as follows: The rodless chamber pressure p of the undulating cylinder (2) is calculated by the controller (21). ea ; The rod chamber pressure p of the undulating cylinder (2) is calculated by the controller (21). eb ; The rodless chamber pressure p of the leveling cylinder (6) is calculated by the controller (21). la ; The rod chamber pressure p of the leveling cylinder (6) is calculated by the controller (21). lb ; The force on the undulating cylinder (2) is calculated by the controller (21): f e = p ea ×S ea -p eb ×S eb ; The force on the leveling cylinder (6) is calculated by the controller (21): f l = p la ×S la -p lb ×S lb ; Calculate the lever arm l of the undulation cylinder (2) under the undulation angle θ of the current main boom (17). e The lever arm l of the leveling cylinder (6) l And draw the stress arm curve. First, store the fluctuation angle θ-l corresponding to the parameter point in the controller (21). Then, according to the fluctuation angle θ of the current main arm (17), calculate the lever arm l of the fluctuation cylinder (2) in the corresponding straight line segment using linear interpolation. e The lever arm l of the leveling cylinder (6) l ; The lever arm l of the undulating cylinder (2) was calculated using linear interpolation. e =fune(θ); The lever arm l of the leveling cylinder (6) was calculated using linear interpolation. l =funl(θ); The total torque borne by the undulating cylinder (2) is calculated by the controller (21): m e =f e ×l e ; The total torque borne by the leveling cylinder (6) is calculated by the controller (21): m l =f l ×l l ; The comprehensive control torque is calculated by the controller (21): m c =m e -m l ; When the bucket load is 0 kg, the maximum amplitude that the column shaft (7) can reach is determined. When the bucket load is 0 kg, the undulation angle of the main boom (17) is θ. At this time, the telescopic boom (16) is gradually extended. When the column shaft (7) reaches the amplitude curve, the comprehensive control torque m is obtained by measuring through the controller (21). c This value is the safe torque limit m. s ; Alternatively, the safe torque limit m can be obtained through calculation. s Assuming the bucket load is 0 kg, the telescopic boom (16) extends to the amplitude curve, and the self-weight of all buckets is arranged at the center of the column pivot (7), the total torque borne by the undulating cylinder (2) is calculated. This value is the safety torque limit m. s ; Based on the safety torque limit m corresponding to different undulating arm angles θ s Draw the safety torque curve; The controller (21) first stores the undulation angle θ-torque m corresponding to the parameter point, and then calculates the safety torque limit m in the corresponding straight segment using linear interpolation based on the undulation angle θ of the current main boom (17). s Safety torque limit m s =funm(θ; The controller (21) calculates the safety torque limit m based on the current undulation angle θ of the main boom (17). s and comprehensive control torque m c When the comprehensive control torque m c >Safety torque limit m s At the same time, the lowering action of the main boom (17), the extension action of the telescopic boom (16), and the raising action of the hoisting rope hook (12) are restricted; When the undulation angle θ of the main arm (17) is greater than the maximum allowable lifting angle θ of the main arm (17) max At that time, the lifting motion of the main boom (17) is restricted. When the undulation angle θ of the main arm (17) is less than or equal to the minimum allowable descent angle θ of the main arm (17) min At that time, the descent motion of the main arm (17) is restricted.

2. The method for controlling the working range of a telescopic boom aerial work platform according to claim 1, characterized in that: The swing arm (11) is mounted on the bucket column (8) via the OA axis, the bucket swing bracket (9) is mounted on the swing arm (11) via the OB axis, and the lifting platform (15) is mounted on the bucket column (8) via the OC axis.

3. The method for controlling the working range of a telescopic boom aerial work platform according to claim 1, characterized in that: The large chamber pressure sensor (1) and small chamber pressure sensor (3) of the undulating cylinder are located between the undulating cylinder (2) and the undulating cylinder balance valve (23), and the large chamber pressure sensor (4) and small chamber pressure sensor (5) of the leveling cylinder are located between the leveling cylinder (6) and the leveling cylinder balance valve (24).

4. The method for controlling the working range of a telescopic boom aerial work platform according to claim 1, characterized in that: When drawing the lever arm curve, in order to simplify the calculation of the controller (21), the broken line segment of 12 parameter points is used to fit each lever arm curve. In order to ensure the fitting degree of the lever arm curve, the adjacent two points are guaranteed to be monotonically increasing or monotonically decreasing within the curve segment. When arranging the parameter points, they can be denser in areas with poor linearity and sparser in areas with good linearity.

5. The method for controlling the working range of a telescopic boom aerial work platform according to claim 1, characterized in that: Comprehensive control torque m c The results are related to the undulation angle θ of the main boom (17), the length of the telescopic boom (16), the self-weight of the boom and bucket, and the magnitude of the load on the bucket, but are not related to the specific position of the load on the bucket. That is, they are not related to the swing angle of the swing arm (11), the swing angle of the bucket swing bracket (9), the position of the load in the working bucket (10), and are also not related to the lifting position determined by the pitch angle of the boom (13) and the rotation angle of the boom (13).

6. The method for controlling the working range of a telescopic boom aerial work platform according to claim 1, characterized in that: In order to simplify the calculation of the controller (21), the safety torque curve is fitted with a line segment of 12 parameter points when plotting the safety torque curve.

7. The method for controlling the working range of a telescopic boom aerial work platform according to claim 5, characterized in that: Among them the arm It consists of a telescopic boom (16), a main boom (17) and a leveling cylinder (6). The bucket consists of a column shaft (7), a bucket column (8), a bucket swing bracket (9), a working bucket (10), a swing arm (11), a lifting rope hook (12), a boom (13), a boom shaft (14) and a lifting platform (15). The load of the bucket consists of the load inside the working bucket (10) and the lifting load of the lifting rope hook (12).

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