Rotary operation control system, method, device, equipment, medium and operation platform

Abstract

The invention discloses a rotation operation control system, method, device and equipment, a medium and an operation platform. The speed reducer is used for driving the rotary table to rotate relative to the underframe under the driving of the rotary motor; the brake oil cylinder is arranged on the rotary table or the bottom frame, a friction brake structure is arranged at the piston rod end of the brake oil cylinder, and the friction brake structure is used for braking the rotary table through friction force under the condition that the piston rod end extends out of the brake oil cylinder; the brake oil cylinder proportional valve is used for adjusting the state that the piston rod end extends out of or retracts into the brake oil cylinder; the rotary table rotary proportional valve is used for adjusting the state that the rotary motor drives the rotary table to rotate; and the controller is used for controlling the brake oil cylinder proportional valve and the rotary table rotation proportional valve. The swing generated in the rotation operation process of the aerial work platform can be reduced, and the safety is effectively improved.

Description

Technical Field

[0001] The present application relates to the field of aerial work platforms, and in particular to a rotary work control system, method, device, equipment, medium and work platform. Background Art

[0002] Generally, aerial work platforms connect the base frame and the turntable through a slewing support. During the operation, the turntable and the base frame can slew to improve the operation range and efficiency. However, during the slewing operation, the slewing action will cause shaking between the turntable and the base frame, especially when the boom is extended, which is more obvious and can easily cause damage to the equipment. At the same time, there are great safety hazards during the work of the operators. Summary of the invention

[0003] The present application aims to propose a rotary operation control system, method, device, equipment, medium and work platform, which can reduce the shaking generated during the rotary operation of the aerial work platform and effectively improve safety.

[0004] According to the first aspect of the present application, a rotary operation control system includes:

[0005] Swing motor;

[0006] A speed reducer, used for driving the turntable to rotate relative to the base frame under the drive of the rotary motor;

[0007] A brake cylinder is arranged on the turntable or the base frame, and a friction brake structure is arranged at the piston rod end of the brake cylinder, and the friction brake structure is used to brake the turntable by friction force when the piston rod end extends out of the brake cylinder;

[0008] A brake cylinder proportional valve, used to adjust the state of the piston rod end extending out or retracting into the brake cylinder;

[0009] A turntable rotation proportional valve, used to adjust the state of the turntable driven by the rotary motor;

[0010] A controller is used to control the brake cylinder proportional valve and the turntable rotation proportional valve.

[0011] According to some embodiments of the present application, the brake oil cylinder is disposed on the turntable, and a fixing bracket is disposed on the brake oil cylinder, and one end of the fixing bracket away from the brake oil cylinder extends to below the piston rod end;

[0012] The friction brake structure comprises:

[0013] A brake pad is arranged between the turntable and the base frame;

[0014] A first friction plate, disposed at the end of the piston rod;

[0015] The second friction plate is arranged at one end of the fixed bracket away from the brake cylinder; the first friction plate and the second friction plate are used for clamping and rubbing the brake plate up and down to brake when the brake cylinder extends out of the piston rod end.

[0016] According to some embodiments of the present application, the rotary operation control system further includes:

[0017] A hydraulic lock is provided on the brake oil cylinder and is used to lock the extended position of the piston rod end of the brake oil cylinder.

[0018] According to some embodiments of the present application, the rotary operation control system further includes:

[0019] The pressure sensor is arranged in the rodless cavity of the brake oil cylinder and is used to obtain the pressure in the rodless cavity of the brake oil cylinder.

[0020] According to the second aspect of the present application, a rotary operation control method includes:

[0021] In response to the aerial work platform start rotation instruction, the turntable rotation proportional valve is adjusted to open to a preset start opening; when the turntable rotation proportional valve is at the preset start opening, after waiting for a first time, the brake cylinder proportional valve is adjusted to retract the piston rod end of the brake cylinder, so that the rotary motor drives the turntable to rotate through the reducer;

[0022] In response to the aerial work platform stop rotation instruction, the brake cylinder proportional valve is adjusted to extend the piston rod end of the brake cylinder; after waiting for a second time, the turntable rotation proportional valve is adjusted to gradually reduce the opening to a closed state to stop the rotation motor.

[0023] According to some embodiments of the present application, the rotary operation control system further includes a hydraulic lock, which is arranged on the brake oil cylinder and is used to lock the extended position of the piston rod end of the brake oil cylinder; the rotary operation control system further includes a pressure sensor, which is arranged in the rodless cavity of the brake oil cylinder and is used to obtain the pressure in the rodless cavity of the brake oil cylinder;

[0024] After waiting for the second time, adjusting the turntable rotary proportional valve to gradually reduce the opening to a closed state so that the rotary motor stops rotating, the method further includes:

[0025] Acquiring a first pressure in the rodless chamber of the brake oil cylinder;

[0026] Under the condition that the first pressure is greater than the set pressure, the brake cylinder proportional valve is closed and the hydraulic lock is locked.

[0027] According to the third aspect of the present application, the rotary operation control device includes:

[0028] A start control module is used to respond to the aerial work platform start rotation instruction, adjust the turntable rotation proportional valve to open to a preset start opening; when the turntable rotation proportional valve is at the preset start opening, adjust the brake cylinder proportional valve after waiting for a first time to retract the piston rod end of the brake cylinder, so that the rotary motor drives the turntable to rotate through the reducer;

[0029] The stop control module is used to respond to the aerial work platform stop rotation instruction, adjust the brake cylinder proportional valve so that the piston rod end of the brake cylinder extends; after waiting for a second time, adjust the turntable rotation proportional valve to gradually reduce the opening to a closed state to stop the rotation of the rotation motor.

[0030] According to an electronic device of an embodiment of the fourth aspect of the present application, the device includes a processor and a memory, wherein the memory stores programs or instructions that can be run on the processor, and when the programs or instructions are executed by the processor, the steps of the rotary operation control method as described in any one of the embodiments of the second aspect are implemented.

[0031] The aerial work platform according to the fifth aspect embodiment of the present application includes the electronic equipment as described in the fourth aspect embodiment.

[0032] According to the computer-readable storage medium of the sixth aspect embodiment of the present application, computer executable instructions are stored, and the computer executable instructions are used to execute the rotary operation control method as described in the above-mentioned second aspect embodiment.

[0033] In the embodiment of the present application, by adding a brake cylinder device, the brake cylinder can contact and rub the base frame or turntable through the friction braking structure at the end of the piston rod, and use the friction force to brake the base frame or turntable, thereby realizing friction braking during the rotation operation of the aerial work platform, reducing the shaking between the turntable and the base frame, and reducing equipment loss caused by the shaking, while ensuring the life safety of the operators and increasing the operating comfort during the operation.

[0034] Other features and advantages of the present application will be set forth in the following description, and in part will become apparent from the description, or may be understood by practicing the present application. BRIEF DESCRIPTION OF THE DRAWINGS

[0035] The above and / or additional aspects and advantages of the present application will become apparent and easily understood from the description of the embodiments in conjunction with the following drawings, in which:

[0036] Figure 1 It is a partial mechanical structure schematic diagram of an embodiment of the rotary operation control system of the present application;

[0037] Figure 2 It is a front view of a part of the mechanical structure of an embodiment of the rotary operation control system of the present application;

[0038] Figure 3 yes Figure 2 A partial enlarged view of

[0039] Figure 4 It is a top view of a part of the mechanical structure of an embodiment of the rotary operation control system of the present application;

[0040] Figure 5 It is a partial system structure diagram of an embodiment of the rotary operation control system of the present application;

[0041] Figure 6 It is a partial system structure schematic diagram of another embodiment of the rotary operation control system of the present application;

[0042] Figure 7 It is a flow chart of an embodiment of the rotary operation control method of the present application;

[0043] Figure 8 It is a structural schematic diagram of an embodiment of the rotary operation control device of the present application;

[0044] Fig. 9 It is a schematic diagram of the hardware structure of an embodiment of the electronic device of the present application. DETAILED DESCRIPTION

[0045] The embodiments of the present application are described in detail below, and examples of the embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals throughout represent the same or similar elements or elements having the same or similar functions. The embodiments described below with reference to the accompanying drawings are exemplary and are only used to explain the present application, and cannot be understood as limiting the present application.

[0046] In the description of this application, if there is a description of first, second, etc., it is only for the purpose of distinguishing technical features, and cannot be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features or implicitly indicating the order of the indicated technical features.

[0047] In the description of the present application, it should be understood that the descriptions involving orientation, such as the orientation or positional relationship indicated as up, down, etc., are based on the orientation or positional relationship shown in the drawings, and are only for the convenience of describing the present application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be understood as a limitation on the present application.

[0048] In the description of this application, it should be noted that, unless otherwise clearly defined, terms such as setting, installing, connecting, etc. should be understood in a broad sense, and technicians in the relevant technical field can reasonably determine the specific meaning of the above terms in this application based on the specific content of the technical solution.

[0049] The technical solution of the present application will be clearly and completely described below in conjunction with the accompanying drawings. Obviously, the embodiments described below are only part of the embodiments of the present application, not all of the embodiments.

[0050] Figure 1 It is a partial mechanical structure schematic diagram of an embodiment of the rotary operation control system of the present application; Figure 2 It is a front view of a part of the mechanical structure of an embodiment of the rotary operation control system of the present application; Figure 3 yes Figure 2 A partial enlarged view of Figure 4 It is a top view of a part of the mechanical structure of an embodiment of the rotary operation control system of the present application; Figure 5 It is a partial system structure diagram of an embodiment of the rotary operation control system of the present application; Figure 6 This is a partial system structure diagram of another embodiment of the rotary operation control system of the present application; Figures 1 to 6 , the embodiments of the present application are further described.

[0051] like Figures 1 to 6 As shown, the embodiment of the present application proposes a rotary operation control system, including a rotary motor 101, a reducer 102, a brake cylinder 103, a brake cylinder proportional valve 104, a turntable rotary proportional valve 105 and a controller 106;

[0052] Rotary motor 101;

[0053] The reducer 102 is used to drive the turntable to rotate relative to the base frame under the drive of the rotary motor 101;

[0054] The brake cylinder 103 is arranged on the turntable or the base frame. The piston rod end of the brake cylinder 103 is provided with a friction brake structure. The friction brake structure is used to brake the turntable by using friction force when the piston rod end extends out of the brake cylinder 103.

[0055] The brake cylinder proportional valve 104 is used to adjust the state of the piston rod end extending or retracting into the brake cylinder 103;

[0056] The turntable rotation proportional valve 105 is used to adjust the state of the turntable driven by the rotary motor 101;

[0057] The controller 106 is used to control the brake cylinder proportional valve 104 and the turntable rotation proportional valve 105 .

[0058] In the embodiment of the present application, by adding a brake cylinder 103, the brake cylinder 103 can resist and rub the base frame or turntable through the friction braking structure at the end of the piston rod, and use the friction force to brake the base frame or turntable, thereby realizing friction braking during the rotation operation of the aerial work platform, reducing the shaking between the turntable and the base frame, reducing equipment loss caused by the shaking, and at the same time ensuring the life safety of the operators and increasing the operating comfort during the operation.

[0059] The above-mentioned rotary motor 101 can provide power for the rotation of the turntable during the rotary operation of the aerial work platform.

[0060] like Figure 1 to Figure 2 As shown, the turntable can be connected to the base frame via a slewing support 112, and the reducer 102 can be arranged on the turntable.

[0061] like Figure 5 As shown, the above-mentioned reducer 102 can match the rotational speed and transmit torque between the prime mover and the working machine or the actuator, and can reduce the rotational speed and increase the torque. Specifically, the above-mentioned reducer 102 can be driven to rotate by the rotary motor 101, and at the same time engage with the rotary support 112 to rotate the turntable.

[0062] The brake cylinder 103 can extend the piston rod end so that the friction brake structure at the piston rod end contacts and rubs against the chassis or the turntable, and the turntable is braked by the friction force. Therefore, the brake cylinder 103 can be arranged on the turntable and move with the rotation of the turntable. When the brake cylinder 103 extends the piston rod end, the friction brake structure at the piston rod end contacts and continuously rubs against the chassis, and the turntable is braked by the friction force; the brake cylinder 103 can be arranged on the chassis. When the brake cylinder 103 extends the piston rod end, the friction brake structure at the piston rod end contacts and continuously rubs against the rotating turntable, and the turntable is braked by the friction force.

[0063] The above-mentioned brake cylinder 103 can be set at the edge of the turntable or the chassis. Since the linear speed at the edge is greater and the friction resistance is also greater during the rotation of the turntable, the brake cylinder 103 can be set at the edge of the turntable or the chassis to achieve a better friction braking effect. In addition, the brake cylinder 103 set at the edge of the turntable or the chassis is also relatively easier to install or disassemble in case of failure.

[0064] like Figure 5 As shown, the brake cylinder proportional valve 104 can adjust the state of the control piston rod end extending or retracting into the brake cylinder 103, and further can flexibly control the state of the friction brake structure at the piston rod end contacting and rubbing against the chassis or turntable, thereby achieving a better friction braking effect.

[0065] like Figure 5As shown, the above-mentioned turntable rotation proportional valve 105 can adjust the working state of the control rotary motor 101, and further adjust the state of the control rotary motor 101 driving the turntable to rotate.

[0066] like Figure 5 As shown, the controller 106 can control the brake cylinder proportional valve 104 and the turntable rotation proportional valve 105, and can coordinately adjust the brake cylinder proportional valve 104 and the turntable rotation proportional valve 105 to achieve smooth starting and stopping during the rotation operation of the aerial working platform.

[0067] The controller 106 can be automatically controlled according to a set program. The controller 106 can control the state of the piston rod end extending or retracting the brake cylinder 103 and the working state of the rotary motor 101 by controlling the brake cylinder proportional valve 104 and the turntable rotation proportional valve 105.

[0068] In this embodiment, the piston rod end of the brake cylinder 103 is provided with a friction brake device, and the brake cylinder 103 can extend the piston rod end to make the friction brake structure contact and rub the chassis or turntable, and use the friction force to brake the chassis or turntable; the brake cylinder proportional valve 104 can adjust the state of the piston rod end extending or retracting the brake cylinder 103, thereby controlling the contact and friction state of the friction brake structure; the turntable rotation proportional valve 105 can adjust the state of the turntable driven by the rotary motor 101 to rotate; the controller 106 can control the working state of the brake cylinder proportional valve 104 and the turntable rotation proportional valve 105. The rotary operation control system of the embodiment of the present application can realize friction braking during the rotary operation of the aerial work platform through the friction brake device provided at the brake cylinder 103 and its piston rod end, reduce the shaking between the turntable and the chassis, reduce the equipment loss caused by the shaking, and at the same time ensure the life safety of the operators and increase the operating comfort during the operation.

[0069] like Figure 6 As shown, in some embodiments, the controller 106 can also be controlled by the turntable rotation handle 113. The controller 106 can control the state of the piston rod end extending or retracting the brake cylinder 103 and the working state of the rotation motor 101 by controlling the brake cylinder proportional valve 104 and the turntable rotation proportional valve 105.

[0070] In some embodiments, the friction brake structure includes a first friction plate 108;

[0071] The first friction plate 108 is disposed at the end of the piston rod end, and is used for contacting the friction base frame or the turntable to brake when the piston rod end extends out of the brake cylinder 103 .

[0072] In this embodiment, the friction braking structure is a first friction plate 108 arranged at the end of the piston rod. The first friction plate 108 can achieve a better friction effect. When the piston rod end extends out of the brake cylinder 103, it can resist the friction base frame or turntable to better achieve braking.

[0073] The first friction plate 108 may be a friction plate made of a wear-resistant material.

[0074] The wear-resistant material may be a wear-resistant material made of ceramic and alloy powder.

[0075] The first friction plate 108 can be used to abut against the friction chassis. At this time, the brake cylinder 103 is arranged on the turntable, and the chassis below the turntable serves as the brake plate 107. The brake cylinder 103 moves with the rotation of the turntable. When the brake cylinder 103 extends out of the piston rod end, the first friction plate 108 at the end of the piston rod end abuts against and continuously rubs the chassis, and the turntable is braked by friction.

[0076] The first friction plate 108 can be used to resist the friction turntable. At this time, the brake cylinder 103 is arranged on the chassis, and the turntable above the chassis serves as the brake plate 107. When the brake cylinder 103 extends out of the piston rod end, the first friction plate 108 at the end of the piston rod end resists and continuously rubs the rotating turntable, and the friction force is used to brake the turntable.

[0077] like Figures 1 to 3 As shown, in some embodiments, the brake cylinder 103 is disposed on a turntable, and a fixing bracket is disposed on the brake cylinder 103, and one end of the fixing bracket away from the brake cylinder 103 extends to below the piston rod end;

[0078] The friction brake structure includes a brake pad 107, a first friction pad 108 and a second friction pad 109;

[0079] A brake pad 107 is provided between the turntable and the base frame;

[0080] A first friction plate 108 is provided at the end of the piston rod;

[0081] The second friction plate 109 is arranged at one end of the fixed bracket away from the brake cylinder 103; the first friction plate 108 and the second friction plate 109 are used to clamp the friction brake plate 107 up and down for braking when the brake cylinder 103 extends out of the piston rod end.

[0082] In this embodiment, the friction braking structure includes a first friction plate 108, a second friction plate 109 and a brake plate 107. When the piston rod end of the brake cylinder 103 located on the turntable is extended, the first friction plate 108 and the second friction plate 109 can clamp the friction brake plate 107 up and down to achieve braking of the turntable. Adding the brake plate 107 can achieve a better friction braking effect.

[0083] like Figure 3 As shown, the above-mentioned fixed bracket can be "L"-shaped, one end of the fixed bracket is connected and fixed to the brake cylinder 103, and the other end of the fixed bracket, that is, the end away from the brake cylinder 103, extends to below the piston rod end of the brake cylinder 103.

[0084] like Figure 3 As shown, a first friction plate 108 is provided at the end of the piston rod end, and a second friction plate 109 is provided at the other end of the fixed bracket. The first friction plate 108 and the second friction plate 109 are provided correspondingly up and down.

[0085] like Figures 1 to 3 As shown, the brake pad 107 can be arranged between the turntable and the base frame. When the turntable rotates, braking can be achieved through the friction of the brake pad 107.

[0086] like Figure 3 As shown, the first friction plate 108 and the second friction plate 109 can be used to clamp the friction brake plate 107 up and down. At this time, the brake cylinder 103 is set on the turntable, and the brake cylinder 103 moves with the rotation of the turntable. The brake plate 107 is set between the turntable and the chassis. When the brake cylinder 103 extends out of the piston rod end, the first friction plate 108 at the end of the piston rod end and the second friction plate 109 at one end of the fixed bracket clamp and rub the brake plate 107 up and down, and brake the turntable by friction.

[0087] The first friction plate 108 and the second friction plate 109 may be friction plates made of wear-resistant materials.

[0088] The wear-resistant material may be a wear-resistant material made of ceramic and alloy powder.

[0089] like Figures 1 to 4 As shown, in some embodiments, the rotary operation control system further includes a hydraulic lock 110;

[0090] The hydraulic lock 110 is disposed on the brake cylinder 103 and is used to lock the extended position of the piston rod end of the brake cylinder 103 .

[0091] In this embodiment, the hydraulic lock 110 can lock the extended position of the piston rod end of the brake cylinder 103, thereby fixing the position of the turntable to prevent the turntable from shaking or rotating, realizing the parking brake of the aerial work platform, and reducing the shaking between the turntable and the chassis caused by the external environment or external forces in the parking state, such as the shaking generated during the transportation of aerial work platform equipment by ship, thereby reducing the equipment loss caused by the shaking.

[0092] The above-mentioned hydraulic lock 110 can be used in conjunction with the brake cylinder 103. When the piston rod end of the brake cylinder 103 clamps the brake pad 107 or contacts the turntable or the frame to fix the turntable, the extended position of the piston rod end of the brake cylinder 103 can be fixed by locking the hydraulic lock 110 to further stabilize the turntable.

[0093] In some embodiments, the rotary operation control system further includes a pressure sensor 111;

[0094] The pressure sensor 111 is disposed in the rodless cavity of the brake cylinder 103 and is used to obtain the pressure in the rodless cavity of the brake cylinder 103 .

[0095] In this embodiment, the pressure sensor 111 can measure the pressure in the rodless chamber of the brake cylinder 103. The pressure in the rodless chamber of the brake cylinder 103 can reflect the state of the piston rod end of the brake cylinder 103 clamping the brake pad 107 or contacting the turntable or the frame. The pressure value measured by the pressure sensor 111 can be fed back to the controller 106, and the controller 106 can better adjust and control the brake cylinder proportional valve 104 and the turntable rotation proportional valve 105 according to the fed-back pressure value.

[0096] like Figure 7 As shown, the embodiment of the present application also proposes a rotary operation control method, which can be applied to the above rotary operation control system, including the following steps:

[0097] Step 201, in response to the aerial work platform start rotation instruction, adjust the turntable rotation proportional valve 105 to open to a preset start opening; when the turntable rotation proportional valve 105 is at the preset start opening, after waiting for a first time, adjust the brake cylinder proportional valve 104 to retract the piston rod end of the brake cylinder 103, so that the rotary motor 101 drives the turntable to rotate through the reducer 102;

[0098] Step 202, in response to the aerial work platform stop rotation instruction, adjust the brake cylinder proportional valve 104 to extend the piston rod end of the brake cylinder 103; after waiting for a second time, adjust the turntable rotation proportional valve 105 to gradually reduce the opening to the closed state to stop the rotation motor 101.

[0099] The slewing operation control method of the embodiment of the present application adjusts and controls the brake cylinder proportional valve 104 and the turntable slewing proportional valve 105, so that when starting the rotation, the brake cylinder 103 retracts and lags behind the start of the slewing motor 101, and when stopping the rotation, the brake cylinder 103 extends and stops ahead of the slewing motor 101. This can achieve service braking, smoothly enter the working state when starting the rotation, and smoothly end the working state when stopping the rotation, thereby reducing the shaking between the turntable and the frame, reducing equipment loss caused by the shaking, and at the same time ensuring the life safety of the operators and increasing the operating comfort during the operation.

[0100] In the above step 201, in response to the aerial work platform start rotation command, the turntable rotation proportional valve 105 is adjusted to open to the preset start opening; when the turntable rotation proportional valve 105 is at the preset start opening, after waiting for a first time, the brake cylinder proportional valve 104 is adjusted to retract the piston rod end of the brake cylinder 103, so that the rotation motor 101 drives the turntable to rotate through the reducer 102.

[0101] In response to the aerial work platform start rotation command, the aerial work platform starts to rotate from a stationary state. Since in the stationary state, the piston rod end of the brake cylinder 103 is in a state of abutting and fixing the turntable, if the turntable is to start rotating, the piston rod end of the brake cylinder 103 needs to be retracted, specifically, the controller 106 issues a command to the brake cylinder proportional valve 104 that controls the brake cylinder 103 so that the piston rod end of the brake cylinder 103 retracts. For the turntable to start rotating, the controller 106 also needs to issue a command to supply oil to the turntable rotation proportional valve 105 that controls the rotary motor 101 so that the motor drives the reducer 102 to rotate, and the reducer 102 engages with the rotary support 112 to rotate the turntable.

[0102] In this step, when the piston rod end of the brake cylinder 103 has not yet retracted, the turntable rotation proportional valve 105 is adjusted to open first, that is, the brake cylinder proportional valve 104 is adjusted so that the retraction of the piston rod end of the brake cylinder 103 lags behind the adjustment of the turntable rotation proportional valve 105 to the preset starting opening, and the lag time is the first time.

[0103] During the starting rotation process, when the turntable rotation proportional valve 105 is adjusted to open to the preset starting opening and the piston rod end of the brake cylinder 103 has not yet retracted, the rotation motor 101 is started but restricted by the brake cylinder 103 and is in a state of seemingly rotating but not rotating. Subsequently, the brake cylinder proportional valve 104 is adjusted to control the brake cylinder 103 to slowly retract. At the same time, the turntable rotation proportional valve 105 is adjusted and the opening is increased as needed. This can limit the turntable speed during startup and effectively achieve a smooth start.

[0104] The above first time can be set according to actual conditions.

[0105] In the above step 202, in response to the aerial work platform stop rotation instruction, the brake cylinder proportional valve 104 is adjusted to extend the piston rod end of the brake cylinder 103; after waiting for the second time, the turntable rotation proportional valve 105 is adjusted to gradually reduce the opening to the closed state, so that the rotation motor 101 stops rotating.

[0106] In response to the command to stop the rotation of the aerial work platform, the aerial work platform starts braking from the rotating state until it stops completely to a stationary state. For the turntable to stop rotating, the controller 106 needs to issue a command to first supply oil to the turntable rotation proportional valve 105 that controls the rotary motor 101 so that the motor drives the reducer 102 to rotate and decelerate until it stops rotating. The reducer 102 engages with the rotary support 112 to decelerate the turntable rotation until it stops rotating. For the turntable to stop completely to a stationary state, the piston rod end of the brake cylinder 103 needs to be gradually extended, and friction braking is continuously applied to finally reach a state of resisting and fixing the turntable. Therefore, if the turntable is to stop rotating, the piston rod end of the brake cylinder 103 needs to be extended. Specifically, the controller 106 issues a command to the brake cylinder proportional valve 104 that controls the brake cylinder 103 so that the piston rod end of the brake cylinder 103 extends.

[0107] In this step, when the turntable rotation proportional valve 105 is not closed and the turntable is still rotating, the piston rod end of the brake cylinder 103 is retracted and extended in advance, and friction braking is performed, that is, the brake cylinder proportional valve 104 is adjusted so that the piston rod end of the brake cylinder 103 is extended in advance before the turntable rotation proportional valve 105 is adjusted to gradually reduce the opening to the closed state, and the advance time is the second time.

[0108] During the process of stopping rotation, when the turntable rotation proportional valve 105 is not closed and the turntable is still rotating, the brake cylinder 103 first moves to extend and contact the brake pad 107, so that the friction brake structure first performs friction braking, and the turntable rotation speed is limited and reduced. Then the turntable rotation proportional valve 105 is adjusted to reduce the opening. At the same time, the brake cylinder 103 is also gradually and slowly extended according to demand, and further braking is performed until the rotation is finally stopped. This control process can limit the turntable rotation speed when it stops rotating, and can effectively achieve a smooth stop rotation.

[0109] The second time mentioned above can be set according to actual conditions.

[0110] In some embodiments, the slewing operation control system further includes a hydraulic lock 110, which is disposed on the brake cylinder 103 and is used to lock the extended position of the piston rod end of the brake cylinder 103; the slewing operation control system further includes a pressure sensor 111, which is disposed in the rodless cavity of the brake cylinder 103 and is used to obtain the pressure in the rodless cavity of the brake cylinder 103;

[0111] After waiting for the second time, adjusting the turntable rotary proportional valve 105 to gradually reduce the opening to a closed state so that the rotary motor 101 stops rotating, the method further includes:

[0112] Acquire a first pressure in the rodless chamber of the brake oil cylinder 103;

[0113] Under the condition that the first pressure is greater than the set pressure, the brake cylinder proportional valve 104 is closed and the hydraulic lock 110 is locked.

[0114] In this embodiment, under the condition that the first pressure is greater than the set pressure, that is, when the piston rod end of the brake cylinder 103 clamps the brake pad 107 or contacts the turntable or the frame and is already clamped and can fix the turntable, the brake cylinder proportional valve 104 needs to be closed to maintain the current extended state of the piston rod end of the brake cylinder 103 to keep the turntable fixed. At the same time, locking the hydraulic lock 110 can further achieve stable fixation.

[0115] The first pressure in the rodless chamber of the brake cylinder 103 can be measured by the pressure sensor 111 .

[0116] The first pressure in the rodless chamber of the brake cylinder 103 can reflect the state of the piston rod end of the brake cylinder 103 clamping the brake pad 107 or contacting the turntable or the chassis. The gradual increase in the first pressure indicates that the piston rod end of the brake cylinder 103 continues to extend and gradually clamp the brake pad 107 or the turntable or the chassis.

[0117] The above set pressure can be set according to the empirical value applicable to the current aerial work platform equipment.

[0118] The above-mentioned set pressure can indicate that the piston rod end of the brake cylinder 103 has clamped the brake pad 107 or has abutted against the turntable or the frame and can fix the turntable. At this time, the brake cylinder proportional valve 104 needs to be closed to maintain the extended state of the piston rod end of the current brake cylinder 103 to keep the turntable fixed.

[0119] The hydraulic lock 110 can realize parking brake.

[0120] The rotary operation control method provided in the embodiment of the present application may be executed by the rotary operation control device 300. In the embodiment of the present application, the rotary operation control device 300 executing the rotary operation control method is taken as an example to illustrate the rotary operation control device 300 provided in the embodiment of the present application.

[0121] See also Figure 8 , is a schematic diagram of the structure of a rotary operation control device 300 provided in an embodiment of the present application. Figure 8 As shown, the rotary operation control device 300 includes:

[0122] The start control module 301 is used to respond to the aerial work platform start rotation instruction, adjust the turntable rotation proportional valve 105 to open to a preset start opening; when the turntable rotation proportional valve 105 is at the preset start opening, after waiting for a first time, adjust the brake cylinder proportional valve 104 to retract the piston rod end of the brake cylinder 103, so that the rotary motor 101 drives the turntable to rotate through the reducer 102;

[0123] The stop control module 302 is used to respond to the aerial work platform stop rotation instruction, adjust the brake cylinder proportional valve 104 to extend the piston rod end of the brake cylinder 103; after waiting for a second time, adjust the turntable rotation proportional valve 105 to gradually reduce the opening to a closed state to stop the rotation of the rotation motor 101.

[0124] In some embodiments, the slewing operation control system further includes a hydraulic lock 110, which is disposed on the brake cylinder 103 and is used to lock the extended position of the piston rod end of the brake cylinder 103; the brake cylinder 103 further includes a pressure sensor 111, which is disposed in the rodless cavity of the brake cylinder 103 and is used to obtain the pressure in the rodless cavity of the brake cylinder 103;

[0125] The stop control module 302 may also be used to:

[0126] Acquire a first pressure in the rodless chamber of the brake oil cylinder 103;

[0127] Under the condition that the first pressure is greater than the set pressure, the brake cylinder proportional valve 104 is closed and the hydraulic lock 110 is locked.

[0128] Since the rotary operation control device 300 adopts all the technical solutions of the rotary operation control method of the above-mentioned embodiment, it has at least all the beneficial effects brought by the technical solutions of the above-mentioned embodiment, which will not be described in detail here.

[0129] Fig. 9 A schematic diagram of the hardware structure of an electronic device provided in an embodiment of the present application.

[0130] The electronic device may include a processor 401 and a memory 402 storing computer program instructions.

[0131] Specifically, the processor 401 may include a central processing unit (CPU), or an application specific integrated circuit (ASIC), or may be configured to implement one or more integrated circuits of the embodiments of the present application.

[0132] Memory 402 may include a large capacity memory for data or instructions. By way of example and not limitation, memory 402 may include a hard disk drive (HDD), a floppy disk drive, a flash memory, an optical disk, a magneto-optical disk, a magnetic tape, or a universal serial bus (USB) drive or a combination of two or more of these. In appropriate cases, memory 402 may include a removable or non-removable (or fixed) medium. In appropriate cases, memory 402 may be inside or outside of an integrated gateway disaster recovery device. In a specific embodiment, memory 402 is a non-volatile solid-state memory.

[0133] In some embodiments, the memory 402 may include a read-only memory (ROM), a random access memory (RAM), a magnetic disk storage medium device, an optical storage medium device, a flash memory device, an electrical, optical or other physical / tangible memory storage device. Thus, in general, the memory includes one or more tangible (non-transitory) computer-readable storage media (e.g., a memory device) encoded with software including computer-executable instructions, and when the software is executed (e.g., by one or more processors), it is operable to perform the operations described with reference to the method according to an aspect of the present disclosure.

[0134] The processor 401 implements any one of the rotary operation control methods in the above embodiments by reading and executing computer program instructions stored in the memory 402 .

[0135] In one example, the electronic device may further include a communication interface 403 and a bus 410. Figure 3 As shown, the processor 401, the memory 402, and the communication interface 403 are connected via a bus 410 and communicate with each other.

[0136] The communication interface 403 is mainly used to implement communication between various modules, devices, units and / or equipment in the embodiments of the present application.

[0137] Bus 410 includes hardware, software or both, and the parts of online data flow billing equipment are coupled to each other. For example, but not limitation, bus may include accelerated graphics port (AGP) or other graphics bus, enhanced industrial standard architecture (EISA) bus, front-side bus (FSB), hypertransport (HT) interconnection, industrial standard architecture (ISA) bus, infinite bandwidth interconnection, low pin count (LPC) bus, memory bus, micro channel architecture (MCA) bus, peripheral component interconnection (PCI) bus, PCI-Express (PCI-X) bus, serial advanced technology attachment (SATA) bus, video electronics standard association local (VLB) bus or other suitable bus or two or more of these combinations. In appropriate cases, bus 410 may include one or more buses. Although the present application embodiment describes and shows a specific bus, the present application considers any suitable bus or interconnection.

[0138] The electronic device can execute the rotary operation control method in the embodiment of the present application, thereby realizing the combination Figure 5 and Figure 6 The invention discloses a rotary operation control method and device.

[0139] An embodiment of the present application may provide an aerial work platform, which includes the above-mentioned electronic device.

[0140] In addition, in combination with the rotary operation control method in the above embodiment, the embodiment of the present application can provide a computer storage medium for implementation. The computer storage medium stores computer program instructions; when the computer program instructions are executed by a processor, any rotary operation control method in the above embodiment is implemented.

[0141] It should be clear that the present application is not limited to the specific configuration and processing described above and shown in the figures. For the sake of simplicity, a detailed description of the known method is omitted here. In the above embodiments, several specific steps are described and shown as examples. However, the method process of the present application is not limited to the specific steps described and shown, and those skilled in the art can make various changes, modifications and additions, or change the order between the steps after understanding the spirit of the present application.

[0142] The functional blocks shown in the above-described block diagram can be implemented as hardware, software, firmware or a combination thereof. When implemented in hardware, it can be, for example, an electronic circuit, an application specific integrated circuit (ASIC), appropriate firmware, a plug-in, a function card, etc. When implemented in software, the elements of the present application are programs or code segments that are used to perform the required tasks. The program or code segment can be stored in a machine-readable medium, or transmitted on a transmission medium or a communication link by a data signal carried in a carrier wave. "Machine-readable medium" can include any medium capable of storing or transmitting information. Examples of machine-readable media include electronic circuits, semiconductor memory devices, ROM, flash memory, erasable ROM (EROM), floppy disks, CD-ROMs, optical disks, hard disks, optical fiber media, radio frequency (RF) links, etc. The code segment can be downloaded via a computer network such as the Internet, an intranet, etc.

[0143] It should also be noted that the exemplary embodiments mentioned in this application describe some methods or systems based on a series of steps or devices. However, this application is not limited to the order of the above steps, that is, the steps can be performed in the order mentioned in the embodiment, or in a different order from the embodiment, or several steps can be performed simultaneously.

[0144] Aspects of the present disclosure are described above with reference to the flowchart and / or block diagram of the method, device (system) and computer program product according to the embodiment of the present disclosure. It should be understood that each box in the flowchart and / or block diagram and the combination of each box in the flowchart and / or block diagram can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, a special-purpose computer, or other programmable data processing device to produce a machine so that these instructions executed by the processor of the computer or other programmable data processing device enable the implementation of the function / action specified in one or more boxes of the flowchart and / or block diagram. Such a processor can be, but is not limited to, a general-purpose processor, a special-purpose processor, a special application processor, or a field programmable logic circuit. It can also be understood that each box in the block diagram and / or flowchart and the combination of boxes in the block diagram and / or flowchart can also be implemented by dedicated hardware that performs a specified function or action, or can be implemented by a combination of dedicated hardware and computer instructions.

[0145] The above is only a specific implementation of the present application. Those skilled in the art can clearly understand that for the convenience and simplicity of description, the specific working processes of the systems, modules and units described above can refer to the corresponding processes in the aforementioned method embodiments, and will not be repeated here. It should be understood that the protection scope of the present application is not limited to this. Any technician familiar with the technical field can easily think of various equivalent modifications or replacements within the technical scope disclosed in this application, and these modifications or replacements should be included in the protection scope of this application.

Claims

1. A rotary operation control system, characterized in that: include: Swing motor; A speed reducer, used for driving the turntable to rotate relative to the base frame under the drive of the rotary motor; A brake cylinder is arranged on the turntable or the base frame, and a friction brake structure is arranged at the piston rod end of the brake cylinder, and the friction brake structure is used to brake the turntable by friction force when the piston rod end extends out of the brake cylinder; A brake cylinder proportional valve, used to adjust the state of the piston rod end extending out or retracting into the brake cylinder; A turntable rotation proportional valve, used to adjust the state of the turntable driven by the rotary motor; A controller is used to control the brake cylinder proportional valve and the turntable rotation proportional valve.

2. The rotary operation control system according to claim 1, characterized in that: The brake oil cylinder is arranged on the turntable, and a fixing bracket is arranged on the brake oil cylinder, and one end of the fixing bracket away from the brake oil cylinder extends to the bottom of the piston rod end; The friction brake structure comprises: A brake pad is arranged between the turntable and the base frame; A first friction plate, disposed at the end of the piston rod; The second friction plate is arranged at one end of the fixed bracket away from the brake cylinder; the first friction plate and the second friction plate are used for clamping and rubbing the brake plate up and down to brake when the brake cylinder extends out of the piston rod end.

3. The rotary operation control system according to claim 1, characterized in that: The rotary operation control system also includes: A hydraulic lock is provided on the brake oil cylinder and is used to lock the extended position of the piston rod end of the brake oil cylinder.

4. The rotary operation control system according to claim 1 or 3, characterized in that: The rotary operation control system also includes: The pressure sensor is arranged in the rodless cavity of the brake oil cylinder and is used to obtain the pressure in the rodless cavity of the brake oil cylinder.

5. A rotary operation control method, characterized in that: Applied to the rotary operation control system according to any one of claims 1 to 4, the rotary operation control method comprises: In response to the aerial work platform start rotation instruction, the turntable rotation proportional valve is adjusted to open to a preset start opening; when the turntable rotation proportional valve is at the preset start opening, after waiting for a first time, the brake cylinder proportional valve is adjusted to retract the piston rod end of the brake cylinder, so that the rotary motor drives the turntable to rotate through the reducer; In response to the aerial work platform stop rotation instruction, the brake cylinder proportional valve is adjusted to extend the piston rod end of the brake cylinder; after waiting for a second time, the turntable rotation proportional valve is adjusted to gradually reduce the opening to a closed state to stop the rotation motor.

6. The rotary operation control method according to claim 5, characterized in that: The rotary operation control system further includes a hydraulic lock, which is arranged on the brake oil cylinder and is used to lock the extended position of the piston rod end of the brake oil cylinder; the rotary operation control system further includes a pressure sensor, which is arranged in the rodless cavity of the brake oil cylinder and is used to obtain the pressure in the rodless cavity of the brake oil cylinder; After the second waiting time, adjusting the turntable rotary proportional valve to gradually reduce the opening to a closed state so that the rotary motor stops rotating, the method further includes: Acquiring a first pressure in the rodless chamber of the brake oil cylinder; Under the condition that the first pressure is greater than the set pressure, the brake cylinder proportional valve is closed and the hydraulic lock is locked.

7. A rotary operation control device, characterized in that: include: A start control module, used to respond to the aerial work platform start rotation instruction and adjust the turntable rotation proportional valve to open to a preset start opening; When the turntable rotary proportional valve is at the preset start-up opening, after waiting for a first time, the brake cylinder proportional valve is adjusted to retract the piston rod end of the brake cylinder, so that the rotary motor drives the turntable to rotate through the reducer; The stop control module is used to respond to the aerial work platform stop rotation instruction, adjust the brake cylinder proportional valve so that the piston rod end of the brake cylinder extends; after waiting for a second time, adjust the turntable rotation proportional valve to gradually reduce the opening to a closed state to stop the rotation of the rotation motor.

8. An electronic device, characterized in that: It includes a processor and a memory, wherein the memory stores a program or instruction that can be run on the processor, and when the program or instruction is executed by the processor, the steps of the rotary operation control method as described in any one of claims 5 to 6 are implemented.

9. An aerial work platform, characterized in that: Comprising the electronic device as claimed in claim 8.

10. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores computer-executable instructions, and the computer-executable instructions are used to enable a computer to execute the rotary operation control method as described in any one of claims 5 to 6.

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