Intelligent counterweight system and method for aerial work platform

Abstract

The invention discloses an intelligent counterweight system and method of an aerial work platform, and the intelligent counterweight system of the aerial work platform comprises a rotary support frame, a telescopic frame, a rotary oil cylinder, a telescopic oil cylinder, a hydraulic control assembly, a hydraulic oil way assembly, a force sensor assembly, a rotary encoder and a controller, the rotary support frames are symmetrically mounted on the left and right sides of the revolving platform; the telescopic frame is rotatably installed on the rotary supporting frame, and the rotary oil cylinder is connected with the telescopic frame. The telescopic oil cylinder is arranged on the telescopic frame; the hydraulic control assembly is connected with the rotating oil cylinder and the telescopic oil cylinder. The force sensor assembly is distributed in a rectangular shape and is arranged between the chassis and the axle; the rotary encoder is mounted on the rotary platform; the input end of the controller is connected with the force sensor assembly and the rotary encoder, and the output end of the controller is connected with the hydraulic control assembly. The balance weight can be adjusted in real time according to the bearing reaction force of the ground to the tires, the balance weight height and the gravity center of the whole vehicle are effectively reduced, and the stability of the vehicle is improved.

Description

Technical Field

[0001] The present invention belongs to the technical field of counterweights for aerial work platforms, and in particular relates to an intelligent counterweight system and method for aerial work platforms. Background Art

[0002] Aerial work platforms are products that serve various industries for high-altitude operations, equipment installation, maintenance and other mobile high-altitude operations. In order to ensure the safety of high-altitude operations and prevent vehicle overturning, counterweights are added to the rear of the vehicle. The counterweights of existing self-propelled aerial work vehicles are fixed. The weight and position of the counterweights are calculated and matched according to extreme operating conditions. They are used to balance the load torque to prevent the vehicle from overturning. In order to match the extreme working conditions, the weight of the counterweights is generally larger. For example, the counterweight of a 22-meter aerial work vehicle exceeds two tons, which not only increases the weight of the vehicle, but also limits the maximum operating range of the vehicle because the weight and position of the counterweights are fixed. Summary of the invention

[0003] In order to at least partially solve the technical problems existing in the above-mentioned prior art, the present invention provides an intelligent counterweight system and method for an aerial work platform.

[0004] The intelligent counterweight system of the aerial work platform of the present invention comprises:

[0005] A rotating support frame, the rotating support frame is symmetrically installed on the left and right sides of the rotating platform, and the rotating support frame is used to install a supporting counterweight structure;

[0006] A telescopic frame, the telescopic frame is rotatably mounted on the rotating support frame, and the telescopic frame is used to install a counterweight and drive the counterweight to extend and retract;

[0007] A rotating cylinder, the rotating cylinder is connected to the telescopic frame, and the rotating cylinder is used to provide a rotational force to the telescopic frame;

[0008] A telescopic oil cylinder, the telescopic oil cylinder is arranged on the telescopic frame, and the telescopic oil cylinder is used to provide telescopic power to the telescopic frame;

[0009] Four hydraulic control components, the four hydraulic control components are respectively connected to the rotating oil cylinder and the telescopic oil cylinder, and the hydraulic control components are used to provide driving force to the rotating oil cylinder and the telescopic oil cylinder and accurately control the telescopic length;

[0010] Four force sensor assemblies, the four force sensor assemblies are distributed in a rectangular shape, the force sensor assemblies are arranged between the chassis and the axle, and are used to detect the tilt pressure change of the chassis;

[0011] A rotary encoder, which is mounted on a rotary platform and is used to detect rotation information;

[0012] A controller, wherein the controller input end is connected to the force sensor assembly and the rotary encoder, and the controller output end is connected to the hydraulic control assembly. The controller is used to control the operation of the hydraulic control assembly according to the force sensor assembly and the rotary encoder.

[0013] Furthermore, in the intelligent counterweight system of the above-mentioned aerial work platform, the telescopic frame includes two telescopic arms and two connecting plates, the two telescopic arms and the two connecting plates are symmetrically arranged, the connecting plates are respectively fixed at the ends of the telescopic arms, the telescopic arms are connected to the top of the rotating support frame through a hinge shaft, the output end of the telescopic arm is fixedly connected to the counterweight, the telescopic cylinder is connected to the connecting plates through a hinge shaft, and the output end of the telescopic cylinder is fixed to the counterweight.

[0014] Furthermore, in the above-mentioned intelligent counterweight system of the aerial work platform, the hydraulic control component includes an electric proportional valve, an electromagnetic reversing valve and a hydraulic lock, the left side output oil circuit of the electric proportional valve is connected to the input oil circuit of the electromagnetic reversing valve, the left side output oil circuit of the electromagnetic reversing valve is connected to the rod cavity of the rotating cylinder or the telescopic cylinder, the right side output oil circuit of the electromagnetic reversing valve is connected to the rodless cavity of the rotating cylinder or the telescopic cylinder, and the hydraulic lock is arranged on the oil circuit between the electromagnetic reversing valve and the rotating cylinder or the telescopic cylinder.

[0015] Furthermore, the intelligent counterweight system of the above-mentioned aerial work platform also includes a hydraulic oil circuit assembly, which includes an oil tank, a variable pump, a relief valve, a first one-way valve and a second one-way valve. The variable pump input oil circuit is connected to the oil tank output end, the variable pump output oil circuit is respectively connected to the relief valve and the first one-way valve input oil circuit, the relief valve output oil circuit is connected to the oil tank input end, and the variable pump control input end is connected to the second one-way valve output end oil circuit.

[0016] Furthermore, in the above-mentioned intelligent counterweight system of the aerial work platform, the first one-way valve output oil circuit is connected to the electric proportional valve input oil circuit, the second one-way valve input oil circuit is respectively connected to the electromagnetic reversing valve output oil circuit, and the electromagnetic reversing valve output oil circuit is connected to the oil tank input end.

[0017] Furthermore, in the above-mentioned intelligent counterweight system of the aerial work platform, the force sensor assembly includes a compression spring and a force sensor, the force sensor is fixed to the axle, one end of the compression spring is fixed to the chassis, and the other end of the compression spring is pressed on the force sensor.

[0018] The intelligent weight balancing method of the present invention comprises:

[0019] When the vehicle is fully recovered, the counterweight is also fully recovered. When the upper body is in the front and rear directions, the compression springs of the two force sensor assemblies on the rear axle apply pressure to the force sensor during the extension of the boom. The force sensor data becomes larger and larger, while the data of the front axle force sensor becomes smaller and smaller. When the data monitored by the front axle force sensor is less than the minimum support reaction force preset by the program, the controller controls the solenoid valve reversing valve in the hydraulic control assembly connected to the telescopic cylinders on the left and right sides to open, and at the same time controls the opening of the electric proportional valve to control the extension of the telescopic cylinders on the left and right sides respectively, pushing the counterweight to extend. When the data of the force sensor increases to the set value, the controller controls the hydraulic control assembly to close. At this time, the controller controls the solenoid valve reversing valve in the hydraulic control assembly connected to the left and right rotating cylinders to open, and at the same time controls the opening of the electric proportional valve, and controls the extension of the left and right rotating cylinders respectively, pushing the telescopic arm to rotate toward the ground on the rotating support frame, so that the vehicle reaches the best stability. When the revolving platform rotates, the rotary encoder can monitor the direction of the platform in real time and output signals to the controller. The controller combines the input signals of the four force sensors and the rotary encoder on the chassis, and adopts different control strategies to control the extension amount and rotation angle of the counterweight according to the direction of the platform, thereby ensuring that the vehicle has the best stability in any state.

[0020] The intelligent counterweight system and method for an aerial work platform of the present invention have the following advantages and beneficial effects:

[0021] The present invention realizes the telescopic extension of the counterweight through the cooperation of the telescopic arm and the telescopic oil cylinder, effectively increases the balancing moment of the counterweight, and effectively ensures the function of the balancing moment of the small counterweight;

[0022] The telescopic arm can be rotated by the cooperation of the rotating support frame and the rotating cylinder, thereby effectively reducing the height of the counterweight, that is, lowering the center of gravity of the vehicle, and effectively ensuring the stability of the vehicle;

[0023] The force sensor and the rotation sensor provide control information to the controller and control the hydraulic control components, effectively forming a closed-loop control of the extension and rotation of the counterweight, effectively ensuring the optimal stability of the vehicle. BRIEF DESCRIPTION OF THE DRAWINGS

[0024] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the following briefly introduces the drawings required for use in the embodiments or the prior art descriptions. Obviously, the drawings in the following descriptions are only used to further understand the embodiments of the present invention and constitute a part of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without creative work. In the drawings:

[0025] Figure 1 It is a structural schematic diagram of the intelligent counterweight system of the aerial work platform of the present invention;

[0026] Figure 2 It is a schematic diagram of the distribution of pressure sensors of the intelligent counterweight system of the aerial work platform of the present invention;

[0027] Figure 3 It is a schematic diagram of the intelligent counterweight system of the aerial work platform of the present invention, in which the counterweight is extended and rotated to lower;

[0028] Figure 4 It is a schematic diagram of the hydraulic principle of the intelligent counterweight system of the aerial work platform of the present invention.

[0029] Description of reference numerals:

[0030] 100: counterweight, 200: slewing platform, 300: axle, 400: chassis;

[0031] 1: Rotating support frame;

[0032] 2: telescopic frame, 21: telescopic arm, 22: connecting plate;

[0033] 3: Rotating cylinder; 4: Telescopic cylinder;

[0034] 5: Hydraulic control assembly, 52: Electric proportional valve, 53: Solenoid reversing valve, 54: Hydraulic lock;

[0035] 6: hydraulic oil circuit assembly, 61: oil tank, 62: variable pump, 63: overflow valve, 64: first one-way valve, 65: second one-way valve;

[0036] 7: force sensor assembly, 71: compression spring, 72: force sensor;

[0037] 8: Rotary encoder; 9: Controller. DETAILED DESCRIPTION

[0038] In order to make the purpose, technical solution and advantages of the present invention clearer, the technical solution of the present invention will be clearly and completely described below in conjunction with the specific embodiments of the present invention and the corresponding drawings. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative work are within the scope of protection of the present invention.

[0039] like Figures 1 to 4 As shown, the intelligent counterweight system of the aerial work platform of the present invention includes:

[0040] Rotating support frame 1, which is symmetrically mounted on the left and right sides of the rotating platform 200, and is used to install the supporting counterweight 100 structure;

[0041] The telescopic frame 2 is rotatably mounted on the rotating support frame 1, and the telescopic frame 2 is used to install the counterweight 100 and drive the counterweight 100 to extend and retract;

[0042] A rotating cylinder 3, which is connected to the telescopic frame 2 and is used to provide a rotational force to the telescopic frame 2;

[0043] The telescopic cylinder 4 is arranged on the telescopic frame 2, and is used to provide telescopic power to the telescopic frame 2;

[0044] Four hydraulic control components 5, the four hydraulic control components 5 are respectively connected to the rotating oil cylinder 3 and the telescopic oil cylinder 4, and the hydraulic control components 5 are used to provide driving force for the rotating oil cylinder 3 and the telescopic oil cylinder 4 and accurately control the telescopic length;

[0045] Four force sensor assemblies 7, which are distributed in a rectangular shape. The force sensor assemblies 7 are arranged between the chassis 400 and the axle 300, and are used to detect the tilt pressure change of the chassis 400;

[0046] A rotary encoder 8, which is mounted on the rotary platform 200 and is used to detect rotation information;

[0047] The controller 9 has an input end connected to the force sensor assembly 7 and the rotary encoder 8 , and an output end connected to the hydraulic control assembly 5 . The controller 9 is used to control the operation of the hydraulic control assembly 5 according to the force sensor assembly 7 and the rotary encoder 8 .

[0048] Furthermore, in the intelligent counterweight system of the aerial work platform of the present invention, the telescopic frame 2 includes two telescopic arms 21 and two connecting plates 22, and the two telescopic arms 21 and the two connecting plates 22 are symmetrically arranged, and the connecting plates 22 are respectively fixed at the ends of the telescopic arms 21, and the telescopic arms 21 are connected to the top of the rotating support frame 1 through a hinge shaft, and the output end of the telescopic arm 21 is fixedly connected to the counterweight 100, and the telescopic cylinder 4 is connected to the connecting plate 22 through a hinge shaft, and the output end of the telescopic cylinder 4 is fixed to the counterweight 100, so that the counterweight 100 can be pushed out when the telescopic cylinder 4 is extended, and the counterweight 100 can be retracted when the telescopic cylinder 4 is retracted. When the rotating cylinder 3 is extended, the telescopic arm 21 rotates around the rotating support frame 1 to reduce the height of the counterweight 100 from the ground, and when the rotating cylinder 3 is retracted, the telescopic arm 21 rotates around the rotating support frame 1 and is reset.

[0049] Furthermore, in the intelligent counterweight system of the aerial work platform of the present invention, the hydraulic control component 5 includes an electric proportional valve 52, an electromagnetic reversing valve 53 and a hydraulic lock 54. The left side output oil circuit of the electric proportional valve 52 is connected to the input oil circuit of the electromagnetic reversing valve 53, the left side output oil circuit of the electromagnetic reversing valve 53 is connected to the rod cavity of the rotating cylinder 3 or the telescopic cylinder 4, and the right side output oil circuit of the electromagnetic reversing valve 53 is connected to the rodless cavity of the rotating cylinder 3 or the telescopic cylinder 4. The hydraulic lock 54 is arranged on the oil circuit between the electromagnetic reversing valve 53 and the rotating cylinder 3 or the telescopic cylinder 4. The action speed of the telescopic cylinder 4 and the rotating cylinder 3 is effectively guaranteed by the electric proportional valve 52. The telescopic cylinder 4 and the rotating cylinder 3 can be telescoped and controlled by the electromagnetic reversing valve 53. The large and small cavities of the telescopic cylinder 4 and the rotating cylinder 3 are effectively locked by the setting of the hydraulic lock 54, which effectively avoids the rotation and telescoping of the counterweight 100 when not in operation.

[0050] Furthermore, in the intelligent counterweight system of the aerial work platform of the present invention, it also includes a hydraulic oil circuit assembly 6, which includes an oil tank 61, a variable pump 62, a relief valve 63, a first one-way valve 64 and a second one-way valve 65. The input oil circuit of the variable pump 62 is connected to the output end of the oil tank 61, the output oil circuit of the variable pump 62 is respectively connected to the input oil circuits of the relief valve 63 and the first one-way valve 64, the output oil circuit of the relief valve 63 is connected to the input end of the oil tank 61, and the control input end of the variable pump 62 is connected to the output oil circuit of the second one-way valve 65, thereby effectively providing stable hydraulic oil to the rotating cylinder 3 and the telescopic cylinder 4.

[0051] Furthermore, in the intelligent counterweight system of the aerial work platform of the present invention, the output oil circuit of the first one-way valve 64 is connected to the input oil circuit of the electric proportional valve 52, the input oil circuit of the second one-way valve 65 is respectively connected to the output oil circuit of the electromagnetic reversing valve 53, and the output oil circuit of the electromagnetic reversing valve 53 is connected to the input end of the oil tank 61.

[0052] Furthermore, in the intelligent counterweight system of the aerial work platform of the present invention, the force sensor assembly 7 includes a compression spring 71 and a force sensor 72. The force sensor 72 is fixed to the axle 300, one end of the compression spring 71 is fixed to the chassis 400, and the other end of the compression spring 71 is pressed on the force sensor 72, so that when the chassis 400 tilts, the distance between the axle 300 and the chassis 400 will decrease, the spring will be compressed, and the pressure acting on the force sensor 72 will also change, so that data can be collected in real time, and the support reaction force of the ground on the tire can be indirectly calculated through the algorithm to reflect the stability of the vehicle. The axle 300 and the chassis 400 are connected by a central axis, and the axle 300 has a certain floating space up and down. The force sensor 72 is arranged in this space, and the support reaction force of the ground on the tire can be indirectly measured.

[0053] The intelligent weight balancing method implemented by the present invention comprises:

[0054] When the vehicle is fully recovered, the counterweight 100 is also fully recovered. When the upper body is in the front and rear direction, during the extension of the upper arm, the overturning moment of the upper arm on the chassis 400 will become larger and larger, and the compression spring 71 of the two force sensor assemblies 7 of the rear axle will apply pressure to the force sensor 72, and the data of the force sensor 72 will become larger and larger, while the data of the front axle force sensor 72 will become smaller and smaller. When the data monitored by the front axle force sensor 72 is less than the minimum support reaction force preset by the program, the controller 9 controls the solenoid valve reversing valve in the hydraulic control assembly 5 connected to the telescopic cylinders 4 on the left and right sides to open, and at the same time controls the opening of the electric proportional valve 52 to control the extension of the telescopic cylinders 4 on the left and right sides respectively, and push the counterweight 100 to extend. As the counterweight 100 is extended, the balancing moment of the counterweight 100 on the chassis 400 will gradually increase, and the support reaction force of the ground on the tire will also gradually increase. When the force sensor When the data of 72 increases to the set value, the controller 9 controls the hydraulic control component 5 to close. At this time, the controller 9 controls the solenoid valve reversing valve in the hydraulic control component 5 connected to the left and right rotating cylinders 3 to open, and at the same time controls the opening of the electric proportional valve 52, and respectively controls the left and right rotating cylinders 3 to extend, pushing the telescopic arm 21 to rotate toward the ground on the rotating support frame 1, thereby lowering the height of the counterweight 100 from the ground, so that the vehicle reaches the optimal stable state. When the rotating platform 200 rotates, the rotary encoder 8 can monitor the direction of the rotating platform 200 in real time, and output signals to the controller 9. The controller 9 combines the input signals of the four force sensors 72 and the rotary encoder 8 on the chassis 400, and adopts different control strategies to control the extension amount and rotation angle of the counterweight according to the direction of the platform, thereby ensuring that the vehicle has the best stability in any state.

[0055] In summary, compared with the prior art, the intelligent counterweight system and method for aerial work platforms of the present invention have the following advantages and beneficial effects:

[0056] The present invention realizes the telescopic extension of the counterweight through the cooperation of the telescopic arm and the telescopic oil cylinder, effectively increases the balancing moment of the counterweight, and effectively ensures the function of the balancing moment of the small counterweight;

[0057] The telescopic arm can be rotated by the cooperation of the rotating support frame and the rotating cylinder, thereby effectively reducing the height of the counterweight, that is, lowering the center of gravity of the vehicle, and effectively ensuring the stability of the vehicle;

[0058] The force sensor and the rotation sensor provide control information to the controller and control the hydraulic control components, effectively forming a closed-loop control of the extension and rotation of the counterweight, effectively ensuring the optimal stability of the vehicle.

[0059] It should be noted that, in this article, unless otherwise clearly specified and limited, the term "connection" or its synonyms should be understood in a broad sense. For example, "connection" can be a fixed connection or a detachable connection; it can be a mechanical connection or an electrical connection; it can be directly connected or indirectly connected through an intermediate medium, it can be the internal connection of two elements or the interaction relationship between two elements. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to the specific circumstances. Moreover, expressions such as "first" and "second" are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any such actual relationship or order between these entities or operations. At the same time, the terms "include", "comprise" or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such a process, method, article or device. In addition, "front", "back", "left", "right", "upper" and "lower" in this article are all referenced to the placement state shown in the accompanying drawings.

[0060] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit it. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or make equivalent replacements for some of the technical features therein. However, these modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

1. An intelligent counterweight system for an aerial work platform, characterized in that: The intelligent counterweight system of the aerial work platform includes: A rotating support frame, the rotating support frame is symmetrically installed on the left and right sides of the rotating platform, and the rotating support frame is used to install a supporting counterweight structure; A telescopic frame, the telescopic frame is rotatably mounted on the rotating support frame, and the telescopic frame is used to install a counterweight and drive the counterweight to extend and retract; A rotating cylinder, the rotating cylinder is connected to the telescopic frame, and the rotating cylinder is used to provide a rotational force to the telescopic frame; A telescopic oil cylinder, the telescopic oil cylinder is arranged on the telescopic frame, and the telescopic oil cylinder is used to provide telescopic power to the telescopic frame; Four hydraulic control components, the four hydraulic control components are respectively connected to the rotating oil cylinder and the telescopic oil cylinder, and the hydraulic control components are used to provide driving force to the rotating oil cylinder and the telescopic oil cylinder and accurately control the telescopic length; Four force sensor assemblies, the four force sensor assemblies are distributed in a rectangular shape, the force sensor assemblies are arranged between the chassis and the axle, and are used to detect the tilt pressure change of the chassis; A rotary encoder, which is mounted on a rotary platform and is used to detect rotation information; A controller, wherein the controller input end is connected to the force sensor assembly and the rotary encoder, and the controller output end is connected to the hydraulic control assembly. The controller is used to control the operation of the hydraulic control assembly according to the force sensor assembly and the rotary encoder.

2. The intelligent counterweight system for aerial work platforms according to claim 1, characterized in that: The telescopic frame includes two telescopic arms and two connecting plates, the two telescopic arms and the two connecting plates are symmetrically arranged, the connecting plates are respectively fixed to the ends of the telescopic arms, the telescopic arms are connected to the top of the rotating support frame through a hinge shaft, the output end of the telescopic arm is fixedly connected to the counterweight, the telescopic cylinder is connected to the connecting plates through a hinge shaft, and the output end of the telescopic cylinder is fixed to the counterweight.

3. The intelligent counterweight system for aerial work platforms according to claim 1, characterized in that: The hydraulic control component includes an electric proportional valve, an electromagnetic reversing valve and a hydraulic lock. The left side output oil circuit of the electric proportional valve is connected to the input oil circuit of the electromagnetic reversing valve, the left side output oil circuit of the electromagnetic reversing valve is connected to the rod cavity of the rotating cylinder or the telescopic cylinder, the right side output oil circuit of the electromagnetic reversing valve is connected to the rodless cavity of the rotating cylinder or the telescopic cylinder, and the hydraulic lock is arranged on the oil circuit between the electromagnetic reversing valve and the rotating cylinder or the telescopic cylinder.

4. The intelligent counterweight system for aerial work platforms according to claim 3, characterized in that: It also includes a hydraulic oil circuit assembly, which includes an oil tank, a variable pump, a relief valve, a first one-way valve and a second one-way valve. The variable pump input oil circuit is connected to the oil tank output end, the variable pump output oil circuit is respectively connected to the relief valve and the first one-way valve input oil circuit, the relief valve output oil circuit is connected to the oil tank input end, and the variable pump control input end is connected to the second one-way valve output end oil circuit.

5. The intelligent counterweight system for aerial work platforms according to claim 1, characterized in that: The first one-way valve output oil circuit is connected to the electric proportional valve input oil circuit, the second one-way valve input oil circuit is respectively connected to the electromagnetic reversing valve output oil circuit, and the electromagnetic reversing valve output oil circuit is connected to the oil tank input end.

6. The intelligent counterweight system for aerial work platforms according to claim 1, characterized in that: The force sensor assembly comprises a compression spring and a force sensor. The force sensor is fixed to the vehicle axle. One end of the compression spring is fixed to the chassis, and the other end of the compression spring is pressed on the force sensor.

7. An intelligent counterweight method implemented by using the intelligent counterweight system of an aerial work platform according to any one of claims 1 to 6, characterized in that: The intelligent weight balancing method comprises: When the vehicle is fully recovered, the counterweight is also fully recovered. When the upper body is in the front and rear directions, the compression springs of the two force sensor assemblies on the rear axle apply pressure to the force sensor during the extension of the boom. The force sensor data becomes larger and larger, while the data of the front axle force sensor becomes smaller and smaller. When the data monitored by the front axle force sensor is less than the minimum support reaction force preset by the program, the controller controls the solenoid valve reversing valve in the hydraulic control assembly connected to the telescopic cylinders on the left and right sides to open, and at the same time controls the opening of the electric proportional valve to control the extension of the telescopic cylinders on the left and right sides respectively, pushing the counterweight to extend. When the data of the force sensor increases to the set value, the controller controls the hydraulic control assembly to close. At this time, the controller controls the solenoid valve reversing valve in the hydraulic control assembly connected to the left and right rotating cylinders to open, and at the same time controls the opening of the electric proportional valve, and controls the extension of the left and right rotating cylinders respectively, pushing the telescopic arm to rotate toward the ground on the rotating support frame, so that the vehicle reaches the best stability. When the revolving platform rotates, the rotary encoder can monitor the direction of the platform in real time and output signals to the controller. The controller combines the input signals of the four force sensors and the rotary encoder on the chassis, and adopts different control strategies to control the extension amount and rotation angle of the counterweight according to the direction of the platform, thereby ensuring that the vehicle has the best stability in any state.

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