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

Abstract

The present application discloses a slewing operation control system, method, device, equipment, medium, and work platform. The system includes: a slewing motor; a reducer for driving a turntable to rotate relative to a base frame under the drive of the slewing motor; a brake cylinder disposed on the turntable or base frame, the piston rod end of the brake cylinder being provided with a friction brake structure, which is used to brake the turntable using friction when the piston rod end extends out of the brake cylinder; a brake cylinder proportional valve for adjusting the state of the piston rod end extending or retracting into the brake cylinder; a turntable rotation proportional valve for adjusting the state of the slewing motor driving the turntable to rotate; and a controller for controlling the brake cylinder proportional valve and the turntable rotation proportional valve. The present application can reduce the shaking generated during the slewing operation of an aerial work platform, effectively improving safety.

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] Typically, aerial work platforms connect their base frame and turntable via slewing supports. During operation, the turntable and base frame rotate to improve operating range and efficiency. However, this rotational motion can cause wobbling between the turntable and base frame, especially when the boom is extended. This wobbling can easily damage the equipment and pose a significant safety hazard to 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 embodiment of the present application, a rotary operation control system includes:

[0005] Rotary motor;

[0006] a speed reducer, configured to drive the turntable to rotate relative to the base frame under the drive of the rotary motor;

[0007] a brake cylinder, disposed on the turntable or the underframe, with a friction brake structure provided at the piston rod end of the brake cylinder, the friction brake structure being used to brake the turntable by friction 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 or retracting into the brake cylinder;

[0009] A turntable rotation proportional valve is 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 cylinder is disposed on the turntable, and a fixing bracket is provided on the brake cylinder, wherein one end of the fixing bracket away from the brake cylinder extends below the piston rod end;

[0012] The friction brake structure comprises:

[0013] a brake pad, disposed 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 to clamp and rub 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 embodiment of the present application, the rotary operation control method includes:

[0021] In response to a rotation start instruction of the aerial work platform, 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 rotation 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 of the rotation motor.

[0023] According to some embodiments of the present application, the rotary operation control system further includes a hydraulic lock, provided on the brake oil cylinder, for locking the extended position of the piston rod end of the brake oil cylinder; the rotary operation control system further includes a pressure sensor, provided in the rodless cavity of the brake oil cylinder, for obtaining the pressure in the rodless cavity of the brake oil cylinder;

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

[0025] obtaining a first pressure in the rodless chamber of the brake 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 a third aspect of the present application, a rotary operation control device includes:

[0028] a start control module, configured to, in response to a rotation start instruction of the aerial work platform, adjust the turntable rotation proportional valve to open to a preset start opening; and, 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 rotation motor drives the turntable to rotate via 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, so that the rotation motor stops rotating.

[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] According to the fifth embodiment of the present application, the aerial work platform includes the electronic equipment as described in the fourth 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 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 the 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.

[0034] Other features and advantages of the present application will be set forth in the following description, and in part will be apparent from the description, or may be learned 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 schematic diagram of a partial mechanical structure of an embodiment of the rotary operation control system of the present application;

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

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

[0041] Figure 6 This is a partial system structure 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] Figure 9 It is a hardware structure diagram of an embodiment of the electronic device of the present application. DETAILED DESCRIPTION

[0045] The following describes in detail embodiments of the present application. 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 are not to be construed 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 this application, it should be understood that descriptions involving orientation, such as the orientation or positional relationship indicated by up, down, etc., are based on the orientation or positional relationship shown in the accompanying drawings, and are only for the convenience of describing this application and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation on this application.

[0048] In the description of this application, it should be noted that, unless otherwise clearly defined, terms such as setting, installing, and connecting should be understood in a broad sense, and technical personnel 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 schematic diagram of a partial mechanical structure of an embodiment of the rotary operation control system of the present application; Figure 2 This is a front view of a portion 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 portion of the mechanical structure of an embodiment of the rotary operation control system of the present application; Figure 5 This 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 , further elaborating on the embodiments of this application.

[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 provided on the turntable or the chassis. 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 friction 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 the 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 rotary motor 101 can provide power for the rotation of the turntable during the rotary operation of the aerial work platform.

[0060] like Figures 1 to 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 speed and transmit torque between the prime mover and the working machine or the actuator, and can reduce the speed and increase the torque. Specifically, the above-mentioned reducer 102 can be driven by the rotary motor 101 to rotate, 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, thereby braking the turntable using friction force. Therefore, the brake cylinder 103 can be installed 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, thereby braking the turntable using friction force. The brake cylinder 103 can be installed 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, thereby braking the turntable using 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 thus 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 turntable rotation proportional valve 105 can adjust and control the working state of the rotary motor 101, and further adjust and control the state of the rotary motor 101 driving the turntable to rotate.

[0066] like Figure 5 As shown, the above-mentioned 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 smooth stopping during the rotation operation of the high-altitude working platform.

[0067] The controller 106 can automatically 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. The brake cylinder 103 can extend the piston rod end to cause the friction brake structure to contact and rub the chassis or turntable, thereby braking the chassis or turntable using friction force. The brake cylinder proportional valve 104 can adjust the state of the piston rod end extending or retracting into 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 rotation motor 101. The controller 106 can control the working states of the brake cylinder proportional valve 104 and the turntable rotation proportional valve 105. The slewing operation control system of the embodiment of the present application, through the friction brake device provided on the brake cylinder 103 and its piston rod end, can achieve friction braking during the slewing operation of the aerial work platform, reduce the shaking between the turntable and the chassis, and reduce the equipment loss caused by the shaking, while ensuring the life safety of the operators and increasing 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 controls the brake cylinder proportional valve 104 and the turntable rotation proportional valve 105, thereby controlling the state of the piston rod end extending or retracting into the brake cylinder 103 and the operating state of the rotation motor 101.

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

[0071] The first friction plate 108 is provided at the end of the piston rod end, and is used for contacting the friction chassis 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 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 base frame. In this case, the brake cylinder 103 is mounted on the turntable, and the base frame below the turntable acts as the brake plate 107. The brake cylinder 103 moves as the turntable rotates. When the brake cylinder 103 extends its piston rod, the first friction plate 108 at the end of the piston rod abuts against and continuously rubs against the base frame, braking the turntable using friction.

[0076] The first friction plate 108 can be used to rub against the turntable. In this case, the brake cylinder 103 is mounted on a chassis, and the turntable above the chassis acts as the brake plate 107. When the brake cylinder 103 extends its piston rod, the first friction plate 108 at the end of the piston rod contacts and continuously rubs against the rotating turntable, braking the turntable using friction.

[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 provided on the brake cylinder 103, wherein one end of the fixing bracket away from the brake cylinder 103 extends 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] Brake pad 107, provided between the turntable and the chassis;

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

[0081] The second friction plate 109 is arranged at the 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 fixing bracket can be "L"-shaped, one end of the fixing bracket is connected and fixed to the brake cylinder 103, and the other end of the fixing 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, 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 installed on the turntable. The brake cylinder 103 moves as the turntable rotates. The brake plate 107 is installed between the turntable and the base frame. When the brake cylinder 103 extends the piston rod end, the first friction plate 108 at the end of the piston rod and the second friction plate 109 at one end of the fixed bracket clamp and continuously rub the brake plate 107 up and down, using friction to brake the turntable.

[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 swing operation control system further includes a hydraulic lock 110;

[0090] The hydraulic lock 110 is provided 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 base 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 achieve further stable fixation of 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 cavity of the brake cylinder 103. The pressure in the rodless cavity 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 resisting the turntable or the base 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 feedback pressure value.

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

[0097] Step 201: In response to a rotation start instruction for the aerial work platform, the turntable rotation proportional valve 105 is adjusted 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, 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 via 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 of 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 the rotation is started, the brake cylinder 103 retracts and lags behind the start of the slewing motor 101, and when the rotation is stopped, the brake cylinder 103 extends and stops earlier than the slewing motor 101. This can achieve service braking, smoothly enter the working state when the rotation is started, and smoothly end the working state when the rotation is stopped, thereby reducing the shaking between the turntable and the chassis, 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 instruction, 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's rotation start command, the aerial work platform starts rotating from a stationary state. Since the piston rod end of the brake cylinder 103 is in a state of abutting and fixing the turntable in the stationary state, 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 controlling the brake cylinder 103 to retract the piston rod end of the brake cylinder 103. For the turntable to start rotating, the controller 106 also needs to issue a command to the turntable rotation proportional valve 105 controlling the rotation motor 101 to first supply oil to the motor to drive the reducer 102 to rotate. The reducer 102 engages with the slewing 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 first adjusted to open, 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 will start braking from the rotating state until it completely stops and reaches a stationary state. For the turntable to stop rotating, the controller 106 needs to issue a command to the turntable rotation proportional valve 105 that controls the rotary motor 101 to first supply oil to allow the motor to drive 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 completely stop and reach a stationary state, the piston rod end of the brake cylinder 103 needs to be gradually extended, and friction braking is continuously applied to eventually reach a state of supporting 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 to extend the piston rod end of the brake cylinder 103.

[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 of adjusting the turntable rotation proportional valve 105 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 extended slowly according to demand, and further braking is performed until the rotation is finally stopped. This control process can limit the turntable speed when it stops rotating, and can effectively achieve smooth stop rotation.

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

[0110] In some embodiments, the swing operation control system further includes a hydraulic lock 110, which is provided on the brake cylinder 103 and is used to lock the extended position of the piston rod end of the brake cylinder 103; the swing operation control system further includes a pressure sensor 111, which is provided 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 rotation proportional valve 105 to gradually reduce the opening to the closed state so that the rotation motor 101 stops rotating, the method further includes:

[0112] Acquire a first pressure in the rodless chamber of the brake 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 chassis and is 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 above-mentioned brake cylinder 103 can reflect the state of the piston rod end of the brake cylinder 103 clamping the brake pad 107 or resisting the turntable or chassis. The gradual increase in the first pressure indicates that the piston rod end of the brake cylinder 103 continues to extend and gradually clamps the brake pad 107 or the turntable or 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 is clamping the brake pad 107 or is in contact with the turntable or the chassis, and the turntable can be fixed. 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 can be executed by the rotary operation control device 300. In the embodiment of the present application, the rotary operation control device 300 is used as an example to illustrate the rotary operation control method provided in the embodiment of the present application.

[0121] See Figure 8 , is a structural diagram 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 configured to, in response to a rotation start instruction of the aerial work platform, adjust the turntable rotation proportional valve 105 to a preset start opening; when the turntable rotation proportional valve 105 is at the preset start opening, adjust the brake cylinder proportional valve 104 after a first waiting time to retract the piston rod end of the brake cylinder 103, thereby allowing the rotation motor 101 to drive the turntable to rotate via 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 the closed state, so that the rotation motor 101 stops rotating.

[0124] In some embodiments, the slewing operation control system further includes a hydraulic lock 110, which is provided 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 provided 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 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 embodiment, it has at least all the beneficial effects brought by the technical solutions of the above embodiment, which will not be described in detail here.

[0129] Figure 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. Where appropriate, memory 402 may include removable or non-removable (or fixed) media. Where appropriate, memory 402 may be inside or outside the 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 read-only memory (ROM), random access memory (RAM), magnetic disk storage media devices, optical storage media devices, flash memory devices, electrical, optical, or other physical / tangible memory storage devices. Thus, generally, the memory includes one or more tangible (non-transitory) computer-readable storage media (e.g., memory devices) 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 reads and executes computer program instructions stored in the memory 402 to implement any one of the rotary operation control methods in the above embodiments.

[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 components of online data flow metering equipment are coupled to each other. For example, but not limitation, bus may include accelerated graphics port (AGP) or other graphics bus, enhanced industry standard architecture (EISA) bus, front side bus (FSB), hypertransport (HT) interconnection, industry 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 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 relates to 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 equipment.

[0140] In addition, in conjunction with the rotary operation control method in the above embodiments, embodiments of the present application may 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 of the rotary operation control methods in the above embodiments is implemented.

[0141] It should be understood that the present application is not limited to the specific configurations and processes described above and illustrated in the figures. For the sake of brevity, a detailed description of known methods is omitted here. In the above embodiments, several specific steps are described and illustrated as examples. However, the method process of the present application is not limited to the specific steps described and illustrated. Those skilled in the art can make various changes, modifications, and additions, or change the order of 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, they can be, for example, electronic circuits, application specific integrated circuits (ASICs), appropriate firmware, plug-ins, function cards, 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 that can store or transmit information. Examples of machine-readable media include electronic circuits, semiconductor memory devices, ROMs, flash memories, erasable ROMs (EROMs), 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. In other words, the steps can be performed in the order mentioned in the embodiments, or in a different order, or several steps can be performed simultaneously.

[0144] Aspects of the present disclosure have been described above with reference to the flowcharts and / or block diagrams of the methods, devices (systems) and computer program products according to the embodiments 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 is also understood that each box in the block diagram and / or flowchart and the combination of the boxes in the block diagram and / or flowchart can also be implemented by dedicated hardware that performs the specified function or action, or can be implemented by a combination of dedicated hardware and computer instructions.

[0145] The above description is only a specific embodiment of the present application. Those skilled in the art will clearly understand that for the convenience and brevity 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 scope of protection of the present application is not limited thereto. Any person skilled in the art can easily think of various equivalent modifications or replacements within the technical scope disclosed in the present application, and these modifications or replacements should be included in the scope of protection of the present application.

Claims

1. A rotary operation control method, characterized in that: Applied to a rotary operation control system, the rotary operation control system includes: Rotary motor; a speed reducer, configured to drive the turntable to rotate relative to the base frame under the drive of the rotary motor; a brake cylinder, disposed on the turntable or the underframe, with a friction brake structure provided at the piston rod end of the brake cylinder, the friction brake structure being used to brake the turntable by friction 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 or retracting into the brake cylinder; A turntable rotation proportional valve is used to adjust the state of the turntable driven by the rotary motor; A controller, used to control the brake cylinder proportional valve and the turntable rotation proportional valve; The rotary operation control method includes: In response to a rotation start instruction of the aerial work platform, 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 of the rotation motor.

2. The rotary operation control method according to claim 1, characterized in that: The brake oil cylinder is arranged on the turntable, and a fixing bracket is provided 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, disposed 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 to clamp and rub the brake plate up and down to brake when the brake cylinder extends out of the piston rod end.

3. The rotary operation control method according to claim 1, characterized in that: The rotary operation control system further 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 method according to claim 3, characterized in that: The rotary operation control system further 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. The rotary operation control method according to claim 4, characterized in that: After waiting for the second time, adjusting the turntable rotation proportional valve to gradually reduce the opening to a closed state so that the rotation motor stops rotating, the method further includes: obtaining a first pressure in the rodless chamber of the brake 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.

6. A rotary operation control system, characterized in that: The invention comprises a rotary motor, a reducer, a brake oil cylinder, a brake oil cylinder proportional valve, a turntable rotary proportional valve and a controller, wherein the controller is used to execute the rotary operation control method according to any one of claims 1 to 5.

7. A rotary operation control device, characterized in that: include: A start control module, configured to adjust the turntable rotation proportional valve to a preset start opening in response to a start rotation instruction of the aerial work platform; When the turntable rotary proportional valve is at the preset starting 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; a stop control module, configured to, in response to a stop rotation instruction of the aerial work platform, adjust a brake cylinder proportional valve to extend the piston rod end of the brake cylinder; and, after waiting for a second time, adjust the turntable rotation proportional valve to gradually reduce an opening to a closed state to stop the rotation of the rotation motor; The brake cylinder is arranged on the turntable or the base frame, and the piston rod end of the brake cylinder is provided with a friction brake structure, which is used to brake the turntable by friction when the piston rod end extends out of the brake cylinder.

8. An electronic device, characterized in that: The method comprises 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 according to any one of claims 1 to 5 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 according to any one of claims 1 to 5.

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