A center of gravity self-adjusting system and adjusting method of an elevating platform

Abstract

The application provides a gravity self-adjusting system and adjusting method of a lifting platform, and belongs to the technical field of gravity adjusting of lifting platforms. The problem that the gravity of the whole machine is unstable due to the change of the gravity of the whole machine when the existing scissor-type working platform is lifted by an arm frame or the sub-platform is extended is solved. The technical scheme is as follows: a gravity self-adjusting system of a lifting platform, comprising a vehicle frame, a lifting mechanism arranged on the upper surface of the vehicle frame, a working platform arranged at the upper end of the lifting mechanism, the working platform comprising a main platform and a sub-platform, the sub-platform being arranged on one side of the main platform and used for extending the bearing area of the working platform, a detection system, a whole machine controller and an executing mechanism. The application has the beneficial effect that the collected information can be sent to the whole machine controller in real time, the whole machine controller comprehensively analyzes and calculates the position of the gravity of the whole machine, and sends the executing instruction required by the executing mechanism, so that the change and adjustment of the gravity of the whole machine can be realized.

Description

Technical Field

[0001] This invention relates to the field of center of gravity adjustment technology for lifting platforms, and in particular to a center of gravity self-adjustment system and adjustment method for lifting platforms. Background Technology

[0002] A scissor lift is a specialized piece of equipment that raises people or tools to a designated height for work. Scissor lifts come in various forms, primarily scissor lifts, folding boom lifts, and telescopic boom lifts. Currently, scissor lifts are widely used in both domestic and international markets, especially scissor lifts, which are expected to replace ladders and scaffolding as the primary tool for working at heights. Scissor lifts are characterized by their small size, light weight, and high mobility, while also offering low rental costs, wide applicability, and a large market share.

[0003] The trade-off between the overall weight and safety of scissor lift work platforms is a constant topic in their design. From a safety perspective: the heavier the machine, the higher its stability and the better its safety. Conversely, the lighter the machine, the lower its stability and the worse its safety. From a cost perspective: the heavier the machine, the higher the cost of structural components. Conversely, the lighter the machine, the lower the cost of structural components. From a user perspective: a lighter machine offers advantages such as easier transportation, easier site mobility, and less impact on the construction surface.

[0004] To meet the requirements of working in confined spaces and on-site transportation, scissor lift platforms must comply with relevant standards in terms of dimensions: for on-site use, they must meet the width and height requirements of building entrances and lift doorways; for relocation and transportation, they must meet the size requirements of flatbed trucks, containers, etc.; at the same time, to meet the safety requirements (overall machine stability), under certain product size conditions, it is necessary to increase the overall weight of the machine to achieve stability requirements. Moreover, the increase in the overall weight of the product leads to an increase in product cost and affects the transportation and use of the product. For example, the cost of product transportation increases, and higher requirements are placed on the ground bearing capacity of the operating environment and the tonnage of the construction site lift. The center of gravity of the existing scissor lift platform changes when the boom is raised or the auxiliary platform is extended—as the boom is raised, the center of gravity of the boom moves forward, and when the auxiliary platform is extended, the center of gravity of the platform also moves forward, resulting in instability of the whole machine.

[0005] Therefore, there is an urgent need for a self-adjusting system and method for the center of gravity of a lifting platform to solve the above technical problems. Summary of the Invention

[0006] The purpose of this invention is to provide a center of gravity self-adjustment system and adjustment method for a lifting platform. By adjusting the position of the counterweight relative to the whole machine, the center of gravity is changed, thereby achieving optimized matching of the center of gravity of the whole machine, realizing the stability of the whole machine, and maximizing the lightweight design of the whole machine.

[0007] To achieve the above-mentioned objectives, the present invention adopts the following technical solution: a center of gravity self-adjustment system for a lifting platform, including a frame, a lifting mechanism provided on the upper surface of the frame, a working platform provided at the upper end of the lifting mechanism, the working platform including a main platform and a secondary platform, the secondary platform being provided on one side of the main platform for extending the bearing area of ​​the working platform;

[0008] It also includes a detection system, a whole machine controller, and an actuator, wherein the output end of the detection system and the signal receiving end of the actuator are electrically connected to the control end of the whole machine controller, respectively.

[0009] The detection system includes: an angle sensor, a horizontal tilt sensor, a load cell, a first position sensor, and a second position sensor. The output end of the angle sensor is sequentially connected to the control input end of the whole machine controller, and the control output end of the whole machine controller is sequentially connected to the electric control drive end of the actuator, forming a control circuit for detecting the lifting angle of the boom of the lifting mechanism.

[0010] The output end of the horizontal tilt sensor is sequentially connected to the control input end of the whole machine controller, and the control output end of the whole machine controller is sequentially connected to the electric control drive end of the actuator, forming a signal output circuit for detecting the tilt angle of the whole machine;

[0011] The output end of the weighing sensor is sequentially connected to the control input end of the whole machine controller, and the control output end of the whole machine controller is sequentially connected to the electric control drive end of the actuator to realize the signal inspection control circuit for detecting the load of the working platform.

[0012] The output terminal of the first position sensor is sequentially connected to the control input terminal of the whole machine controller and the control output terminal of the whole machine controller is sequentially connected to the electric control drive terminal of the actuator, which is used to detect the position information transmission circuit of the sub-platform relative to the main platform;

[0013] The output end of the second position sensor is sequentially connected to the control input end of the whole machine controller and the control output end of the whole machine controller is sequentially connected to the electric control drive end of the actuator, forming a signal transmission path for detecting the movement distance of the linear actuator;

[0014] The overall controller is used to receive detection information from the detection system, comprehensively analyze and calculate the position of the overall center of gravity, make a judgment, and issue instruction information to the actuator;

[0015] The actuator includes a linear actuator and a counterweight. The actuator is used to receive execution command information from the whole machine controller and drive the counterweight to change the center of gravity of the whole machine.

[0016] Furthermore, the lifting mechanism is a scissor lift mechanism, and the angle sensor is located at the hinge between the lifting mechanism boom and the vehicle frame. This arrangement facilitates the detection of the boom lifting height.

[0017] Furthermore, the horizontal tilt sensor is mounted on the upper plane of the vehicle frame to facilitate the detection of the overall tilt angle.

[0018] Furthermore, the weighing sensor is installed at the hinge joint between the boom and the working platform of the lifting mechanism to facilitate the detection of platform load.

[0019] Furthermore, the sub-platform and the main platform are connected by a slide rail, and the sub-platform and the main platform are slidably arranged relative to each other. The first position sensor is arranged on the side of the slide rail between the main platform and the sub-platform. This arrangement facilitates the detection of the position of the sub-platform relative to the main platform.

[0020] Furthermore, the second position sensor is located on the lower side of the linear actuator, which facilitates the movement distance of the linear actuator and makes it easier for the whole machine controller to calculate the rotation angle of the rotating counterweight.

[0021] Furthermore, the lower end of the counterweight is rotatably connected to the side wall of the frame via a pin, and the counterweight and the sub-platform are located on opposite sides of the frame.

[0022] Furthermore, one end of the linear actuator is rotatably connected to the frame via a pin, and the other end is rotatably connected to the counterweight sidewall via a pin. The linear actuator can be a hydraulic cylinder, a pneumatic cylinder, an electric push cylinder, or a linear motor, etc., for performing telescopic actions.

[0023] The present invention also provides a method for self-adjusting the center of gravity of a lifting platform, comprising the following steps:

[0024] Step 1: The weighing sensor, angle sensor, position sensor, horizontal tilt sensor and position sensor in the detection system detect and collect relevant information and transmit the information to the corresponding calculation module inside the whole machine controller;

[0025] Step 2: The platform load calculation module, boom center of gravity calculation module, platform center of gravity calculation module, overall tilt angle calculation module, and counterweight tilt angle calculation module in the whole machine controller calculate the center of gravity position of each part of the whole machine in real time, thereby calculating the overall center of gravity position of the whole machine, making real-time judgment on the working condition of the whole machine, and selecting whether to issue instructions to the actuators.

[0026] Step 3: The actuator receives the instruction from the machine controller and adjusts the position of the counterweight through the linear actuator to adjust the center of gravity of the machine.

[0027] Compared with the prior art, the beneficial effects of the present invention are as follows: by setting up a weighing sensor, an angle sensor, a first position sensor, a horizontal tilt sensor, and a second position sensor, the collected information can be sent to the whole machine controller in real time. The whole machine controller comprehensively analyzes and calculates the platform load, platform center of gravity, boom center of gravity, whole machine tilt angle, and counterweight tilt angle to obtain the position of the whole machine center of gravity. By querying the database of the correspondence between the whole machine stability and the center of gravity position, the execution command required by the actuator can be obtained. The linear actuator extends or retracts to drive the counterweight hinged to the rear of the frame to rotate backward or retract, thereby realizing the change and adjustment of the whole machine center of gravity, thereby achieving the stability of the whole machine. Attached Figure Description

[0028] The accompanying drawings are provided to further illustrate the invention and form part of the specification. They are used together with the embodiments of the invention to explain the invention and do not constitute a limitation thereof.

[0029] Figure 1 This is a schematic diagram of the overall structure of the present invention.

[0030] Figure 2 This is a structural diagram of the actuator of the present invention during its operation.

[0031] Figure 3 This is a flowchart of the self-adjusting control process for the center of gravity of the entire machine according to the present invention.

[0032] The attached figures are labeled as follows: 1. Angle sensor; 2. Tilt sensor; 3. Weighing sensor; 4. First position sensor; 5. Lifting mechanism; 6. Main platform; 7. Sub-platform; 8. Second position sensor; 9. Pin 1; 10. Frame; 11. Pin 2; 12. Pin 3; 13. Counterweight; 14. Linear actuator. Detailed Implementation

[0033] To make the objectives, technical solutions, and advantages of this invention clearer, the invention will be further described in detail below with reference to the accompanying drawings and embodiments. Of course, the specific embodiments described herein are merely illustrative and not intended to limit the invention.

[0034] like Figure 1-3This invention provides a self-adjusting center of gravity system for a lifting platform, including a frame 10. A lifting mechanism 5 is provided on the upper surface of the frame 10. The lifting mechanism 5 is a scissor lift lifting mechanism for a scissor lift work platform. A work platform is provided at the upper end of the lifting mechanism 5. The work platform includes a main platform 6 and a secondary platform 7. The secondary platform 7 is located on one side of the main platform 6 and is used to extend the load-bearing area of ​​the work platform. The main platform 6 is located above the boom of the lifting mechanism 5 and is the main load-bearing component of the scissor lift work platform. The secondary platform 7 and the main platform 6 are collectively referred to as the work platform. The secondary platform 7 is connected to the main platform 6 by a slide rail. The secondary platform 7 can slide relative to the main platform 6 to achieve extension and retraction. Its main function is to extend the work platform, which can increase the work platform area and expand the working range.

[0035] The center of gravity self-adjustment system also includes a detection system, a whole-machine controller, and an actuator; among which,

[0036] The detection system includes:

[0037] Angle sensor 1, located at the hinge between the boom and the frame of the lifting mechanism 5, is used to detect the boom lifting angle;

[0038] The horizontal tilt sensor 2 is located on the upper plane of the frame 10 and is used to detect the tilt angle of the entire machine;

[0039] The load cell 3 is located at the hinge between the boom and the work platform of the lifting mechanism 5 and is used to detect the load on the work platform.

[0040] The first position sensor 4 is located on the side of the slide rails of the main and auxiliary platforms and is used to detect the position of the auxiliary platform 7 relative to the main platform 6.

[0041] The second position sensor 8 is located on the lower side wall of the linear actuator 14 and is used to detect the movement distance of the linear actuator 14.

[0042] The whole machine controller includes: platform load calculation module, boom center of gravity calculation module, platform center of gravity calculation module, whole machine tilt angle calculation module and counterweight tilt angle calculation module. Its main function is to calculate the center of gravity position of each part of the whole machine in real time through each module, thereby calculating the center of gravity position of the whole machine, making real-time judgment on the working condition of the whole machine, and obtaining the execution instructions required by the actuator by querying the database of the correspondence between the stability of the whole machine and the center of gravity position.

[0043] The actuator mainly includes a linear actuator 14 and a counterweight 13. Its function is to control the movement of the linear actuator 14 according to the instructions issued by the whole machine controller, and to reasonably adjust the position of the rotary counterweight 13 in order to adjust the center of gravity of the whole machine and thus achieve the stability of the whole machine.

[0044] The implementing agencies also include:

[0045] Pin 1: Used to hinge the linear actuator 14 to the frame 10;

[0046] Pin 2: Used to hinge counterweight 13 to frame 10;

[0047] Pin 3: Used to hinge the linear actuator 14 and the counterweight 13.

[0048] in:

[0049] The basic working principle of the platform load calculation module is as follows: after the whole machine controller collects the information of the weighing sensor 3, it compares it with the system calibration value to obtain the load of the whole machine. The weighing sensor 3 can be measured by direct measurement methods such as strain gauges or indirect measurement methods such as hydraulic pressure.

[0050] The basic working principle of the boom center of gravity calculation module is as follows: the whole machine controller collects information from the angle sensor 1 connected to the boom, obtains the real-time lifting angle of the boom, calculates the lifting height of the boom, and obtains the real-time center of gravity position of the boom from the boom height and center of gravity position database in the system.

[0051] The basic working principle of the platform center of gravity calculation module is as follows: The whole machine controller collects information from the first position sensor 4 located on the sides of the main platform 7 and the auxiliary platform 6 to determine whether the auxiliary platform 7 has extended and its extension position, and obtains the real-time center of gravity position of the working platform from the boom height and center of gravity position database in the system; the first position sensor 4 and the second position sensor 8 can be laser displacement sensors, limit switches, photoelectric switches or Hall switches, etc.

[0052] The basic working principle of the counterweight tilt angle calculation module is as follows: the whole machine controller collects the information of the second position sensor 8, obtains the movement distance of the linear actuator 14, and then calculates the rotation angle of the rotating counterweight 13, and then calculates the real-time center of gravity of the counterweight 13; in addition, an angle sensor can be used to replace the second position sensor 8 here.

[0053] The basic working principle of the whole machine tilt angle calculation module is as follows: the whole machine controller collects information from the horizontal tilt angle sensor 2 located on the plane of the frame 10, and obtains the tilt angle between the whole machine and the horizontal ground;

[0054] The overall controller comprehensively analyzes and calculates the platform load, platform center of gravity, boom center of gravity, overall tilt angle, and counterweight tilt angle to determine the position of the overall center of gravity. By querying the database corresponding to the overall stability and center of gravity position, the execution instructions required by the center of gravity self-adjustment system can be obtained.

[0055] When the actuator receives a position adjustment signal, the linear actuator 14 extends or retracts to drive the counterweight hinged to the rear of the frame 10 to rotate backward or retract, thereby achieving self-adjustment of the machine's center of gravity.

[0056] The above self-adjustment of the center of gravity is performed in real time to meet the actual operational requirements of the operator.

[0057] This invention also provides a method for self-adjusting the center of gravity of a lifting platform:

[0058] Step 1: The load cell, angle sensor, position sensor, horizontal tilt sensor, and position sensor detect and collect relevant information and transmit the information to the corresponding calculation module inside the whole machine controller;

[0059] Step 2: The platform load calculation module, boom center of gravity calculation module, platform center of gravity calculation module, overall tilt angle calculation module, and counterweight tilt angle calculation module in the whole machine controller calculate the center of gravity position of each part of the whole machine in real time, thereby calculating the overall center of gravity position of the whole machine, making real-time judgment on the working condition of the whole machine, and selecting whether to issue instructions to the actuators.

[0060] Step 3: The actuator receives the instruction from the machine controller and adjusts the position of the counterweight through the linear actuator to adjust the center of gravity of the machine.

[0061] The above are merely preferred embodiments of the present invention and are not intended to limit the present invention. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention should be included within the protection scope of the present invention.

Claims

1. A center-of-gravity self-adjusting system for a lifting platform, comprising a frame (10), wherein a lifting mechanism (5) is provided on the upper surface of the frame (10), and a working platform is provided at the upper end of the lifting mechanism (5), wherein the working platform comprises a main platform (6) and a secondary platform (7), characterized in that, The secondary platform (7) is located on one side of the main platform (6) and is used to extend the bearing area of ​​the working platform; The sub-platform (7) is connected to the main platform (6) by a slide rail, and the sub-platform (7) and the main platform (6) are slidably arranged relative to each other; It also includes a detection system, a whole machine controller, and an actuator, wherein the output end of the detection system and the signal receiving end of the actuator are electrically connected to the control end of the whole machine controller, respectively. The detection system includes: an angle sensor (1), a horizontal tilt sensor (2), a load cell (3), a first position sensor (4), and a second position sensor (8). The output end of the angle sensor (1), the control end of the whole machine controller, and the electric control drive end of the actuator are connected in sequence to form a control circuit for detecting the lifting angle of the boom of the lifting mechanism. The output end of the horizontal tilt sensor (2), the control end of the whole machine controller, and the electric control drive end of the actuator are connected in sequence to form a signal output circuit for detecting the tilt angle of the whole machine; The output end of the weighing sensor (3), the control end of the whole machine controller, and the electric control drive end of the actuator are connected in sequence to realize the signal inspection and control circuit for detecting the load of the working platform; The output end of the first position sensor (4), the control end of the whole machine controller, and the electric control drive end of the actuator are connected in sequence to form a transmission circuit for detecting the position information of the sub-platform (7) relative to the main platform (6); The output end of the second position sensor (8), the control end of the whole machine controller, and the electric control drive end of the actuator are connected in sequence to form a signal transmission path for detecting the movement distance of the linear actuator (14); The whole machine controller includes: a platform load calculation module, a boom center of gravity calculation module, a platform center of gravity calculation module, a whole machine tilt angle calculation module, and a counterweight tilt angle calculation module; The overall controller calculates the center of gravity position of each part of the machine in real time through various modules, thereby calculating the center of gravity position of the whole machine. By querying the correspondence between the stability of the whole machine and the center of gravity position, it obtains the execution instructions required by the center of gravity self-adjustment system. The actuator includes a linear actuator (14) and a counterweight (13). The actuator is used to receive execution command information from the whole machine controller and drive the counterweight (13) to change the position of the whole machine's center of gravity. The lower end of the counterweight (13) is rotatably connected to the side wall of the frame (10) via a second pin (11), and the counterweight (13) and the sub-platform (7) are located on opposite sides of the frame (10).

2. The self-adjusting center of gravity system for a lifting platform according to claim 1, characterized in that, The lifting mechanism (5) is a scissor lift mechanism, and the angle sensor (1) is located at the hinge of the lifting mechanism (5) boom and the vehicle frame (10).

3. The self-adjusting center of gravity system for a lifting platform according to claim 1, characterized in that, The horizontal tilt sensor (2) is mounted on the upper plane of the frame (10).

4. The center-of-gravity self-adjusting system of a lifting platform according to claim 1, characterized in that, The weighing sensor (3) is located at the hinge between the boom and the working platform of the lifting mechanism (5).

5. The self-adjusting center of gravity system for a lifting platform according to claim 1, characterized in that, The first position sensor (4) is located on the side of the slide between the main platform (6) and the sub-platform (7).

6. The self-adjusting center of gravity system for a lifting platform according to claim 1, characterized in that, The second position sensor (8) is located on the underside of the linear actuator (14).

7. The self-adjusting center of gravity system for a lifting platform according to claim 1, characterized in that, One end of the linear actuator (14) is rotatably connected to the frame (10) via pin 1 (9), and the other end is rotatably connected to the side wall of the counterweight (13) via pin 3 (12).

8. The center-of-gravity self-adjusting system of a lifting platform according to claim 1, characterized in that, The linear actuator (14) is a hydraulic cylinder, pneumatic cylinder, electric push cylinder or linear motor.

9. The self-adjusting center of gravity system for a lifting platform according to claim 1, characterized in that, The first position sensor (4) and the second position sensor (8) are laser displacement sensors, limit switches, photoelectric switches or Hall switches.

10. A method for self-adjusting the center of gravity of a lifting platform, said method being based on the self-adjusting system for the center of gravity of the lifting platform according to any one of claims 1 to 9, characterized in that, Includes the following steps: Step 1: The weighing sensor (3), angle sensor (1), first position sensor (4), horizontal tilt sensor (2), and second position sensor (8) in the detection system detect and collect relevant information and transmit the information to the corresponding calculation module inside the whole machine controller; Step 2: The platform load calculation module, boom center of gravity calculation module, platform center of gravity calculation module, overall tilt angle calculation module, and counterweight tilt angle calculation module in the whole machine controller calculate the center of gravity position of each part of the whole machine in real time, thereby calculating the overall center of gravity position of the whole machine. By querying the database of the correspondence between the overall machine stability and the center of gravity position, the execution instructions required by the center of gravity self-adjustment system are obtained, the overall machine working condition is judged in real time, and it is selected whether to issue instructions to the actuators. Step 3: The actuator receives the instruction from the whole machine controller and adjusts the position of the counterweight (13) through the linear actuator (14) to adjust the position of the whole machine's center of gravity.

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