Cantilever crane stretching safety control method and related assembly thereof

Abstract

The invention discloses a boom stretching safety control method and a related assembly thereof, and relates to the technical field of boom control. The number of abnormal actions of a boom is obtained; if the number of the abnormal actions reaches a preset number threshold value, setting an abnormal action alarm of the cantilever crane; if the abnormal action frequency is smaller than the preset frequency threshold value, the current input operation of the boom is obtained; starting output control corresponding to the current input operation of the arm support; determining an actual output action of the arm support after a preset period of output control corresponding to the current input operation of the arm support is started; and performing corresponding control on the arm support based on the input operation and the actual output action. It can be seen that the abnormal action alarm of the arm support is set when the number of the abnormal actions of the arm support reaches the preset number threshold value, the risk that the arm type aerial work platform is overturned is avoided, and the safety of construction work of the arm type aerial work platform is improved.

Description

Technical Field

[0001] The present invention relates to the technical field of boom control, and in particular to a boom telescopic safety control method and related components thereof. Background Art

[0002] With the continuous enrichment of aerial work construction scenes, boom-type aerial work platforms with different working heights have developed rapidly. In the construction of boom-type aerial work platforms, it is necessary to control the boom to extend or retract the boom at different working angles, so as to facilitate the transportation of operating workers to the designated construction site.

[0003] In the existing boom control technology of boom-type aerial work platforms, the maximum safe operating length that the boom can be extended in different postures is achieved through amplitude limitation. However, in some extreme fault conditions, such as when the coil of the switch valve of the hydraulic cylinder is short-circuited or the valve core of the hydraulic valve is stuck, it may cause malfunction or abnormal operation. If effective protection is not performed when the number of abnormal operations reaches the preset number threshold, there will be safety hazards in the operation of the boom-type aerial work platform. For example, the boom is operated to retract, but the actual boom is extended in the opposite direction. At this time, the number of abnormal operations is greater than the preset number threshold. When the extended length of the boom exceeds the amplitude limit, there will be a risk of tipping over of the boom-type aerial work platform, which reduces the safety of the construction operation of the boom-type aerial work platform. Summary of the invention

[0004] The purpose of the present invention is to provide a boom extension and retraction safety control method and related components, which can set the boom abnormal action alarm when the number of abnormal actions of the boom reaches a preset number threshold, and when the number of abnormal actions is less than the preset number threshold, the boom is controlled accordingly based on the current input operation and actual output action of the boom, thereby avoiding the risk of tipping over of the boom-type aerial work platform when the number of abnormal actions of the boom reaches the preset number threshold, that is, when the extension length of the boom exceeds the amplitude limit, thereby improving the safety of the construction work of the boom-type aerial work platform. The specific scheme is as follows:

[0005] In a first aspect, the present application discloses a boom extension and retraction safety control method, comprising:

[0006] Obtaining the number of abnormal movements of the boom;

[0007] If the number of abnormal movements reaches a preset number threshold, an abnormal movement alarm of the boom is set;

[0008] If the number of abnormal actions is less than the preset number threshold, obtaining the current input operation of the boom, the input operation including extension and retraction;

[0009] Enable output control corresponding to the current input operation of the arm;

[0010] determining an actual output action of the boom after a preset period of output control corresponding to a current input operation of the boom is enabled, the actual output action comprising extension and retraction;

[0011] The arm is controlled accordingly based on the input operation and the actual output action.

[0012] Optionally, determining an actual output action of the boom after enabling a preset period of output control corresponding to a current input operation of the boom comprises:

[0013] Obtaining the current extension length of the boom;

[0014] acquiring a second length of the boom after a preset period of enabling output control corresponding to a current input operation of the boom;

[0015] If the difference between the second length and the extension length is greater than a preset length threshold, it is determined that the actual output action of the boom is extension, and the preset length threshold is a positive number greater than 0;

[0016] If the difference between the extended length and the second length is greater than a preset length threshold, it is determined that the actual output action of the arm is retraction, and the preset length threshold is a positive number greater than 0.

[0017] Optionally, if the current input operation of the arm is retracting, and the actual output action of the arm is retracting;

[0018] The arm is controlled accordingly based on the input operation and the actual output action, including:

[0019] The abnormal action count and abnormal action alarm are reset based on the retracted input operation and the retracted actual output action.

[0020] Optionally, if the current input operation of the arm is retracting, and the actual output action of the arm is extending;

[0021] The arm is controlled accordingly based on the input operation and the actual output action, including:

[0022] Setting a length comparison error alarm of the boom based on the input operation of retracting and the actual output action of extending, and increasing the number of abnormal actions by one;

[0023] An output control to stop the retraction of the boom.

[0024] Optionally, if the current input operation of the arm is to extend, and the actual output action of the arm is to extend;

[0025] The arm is controlled accordingly based on the input operation and the actual output action, including:

[0026] The abnormal movement times and abnormal movement alarm of the boom are reset based on the input operation of extending and the actual output action of extending.

[0027] Optionally, if the current input operation of the arm is extension, and the actual output action of the arm is retraction;

[0028] The arm is controlled accordingly based on the input operation and the actual output action, including:

[0029] Setting a length comparison error alarm of the boom based on an input operation of extending and an actual output action of retracting;

[0030] An output control for stopping the extension of the boom.

[0031] Optionally, before enabling the output control corresponding to the current input operation of the arm, the method further includes:

[0032] Determining whether the arm length comparison error alarm is in a set state;

[0033] If yes, power on and restart to reset the arm length comparison error alarm.

[0034] In a second aspect, the present application discloses a boom extension safety control device, comprising:

[0035] A frequency acquisition module, used to acquire the number of abnormal movements of the boom;

[0036] A setting module, used for setting an abnormal action alarm of the boom if the number of abnormal actions reaches a preset number threshold;

[0037] An input acquisition module, used for acquiring the current input operation of the boom if the number of abnormal actions is less than the preset number threshold, the input operation including extension and retraction;

[0038] An enabling module, used for enabling output control corresponding to the current input operation of the arm;

[0039] a determination module, configured to determine an actual output action of the boom after a preset cycle of output control corresponding to a current input operation of the boom is enabled, the actual output action comprising extension and retraction;

[0040] A control module is used to control the arm accordingly based on the input operation and the actual output action.

[0041] In a third aspect, the present application discloses a boom extension safety control device, comprising:

[0042] Memory, used to store computer programs;

[0043] The processor is used to execute the computer program to implement the steps of the boom extension and retraction safety control method as described above.

[0044] In a fourth aspect, the present application discloses an arm-type aerial work platform, including an arm length sensor, an arm operating button, an arm operating handle, an arm telescopic cylinder reversing switch valve and an arm telescopic cylinder flow proportional valve, and also includes the arm telescopic safety control device as mentioned above.

[0045] The present application provides a boom extension and retraction safety control method and its related components, which need to first obtain the number of abnormal actions of the boom; if the number of abnormal actions reaches a preset number threshold, then set the abnormal action alarm of the boom; if the number of abnormal actions is less than the preset number threshold, then obtain the current input operation of the boom, the input operation includes extension and retraction; enable the output control corresponding to the current input operation of the boom; determine the actual output action of the boom after the preset cycle of enabling the output control corresponding to the current input operation of the boom, the actual output action includes extension and retraction; control the boom accordingly based on the input operation and the actual output action. It can be seen that the present application sets the abnormal action alarm of the boom when the number of abnormal actions of the boom reaches the preset number threshold, and controls the boom accordingly based on the current input operation and the actual output action of the boom when the number of abnormal actions is less than the preset number threshold, thereby avoiding the risk of tipping over of the boom-type aerial work platform when the number of abnormal actions of the boom reaches the preset number threshold, that is, when the extension length of the boom exceeds the amplitude limit, thereby improving the safety of the construction operation of the boom-type aerial work platform. BRIEF DESCRIPTION OF THE DRAWINGS

[0046] In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the prior art and the drawings required for use in the embodiments are briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without creative work.

[0047] Figure 1 It is a flow chart of a boom extension and retraction safety control method disclosed in the present invention;

[0048] Figure 2 It is a structural schematic diagram of a boom extension and retraction safety control device disclosed in the present invention;

[0049] Figure 3 The present invention discloses a structural diagram of a boom extension and retraction safety control device. DETAILED DESCRIPTION

[0050] The core of the present invention is to provide a boom extension and retraction safety control method and related components, which can set the boom abnormal movement alarm when the number of abnormal movements of the boom reaches a preset number threshold, and when the number of abnormal movements is less than the preset number threshold, the boom is controlled accordingly based on the current input operation and actual output action of the boom, thereby avoiding the risk of overturning of the boom-type aerial work platform when the number of abnormal movements of the boom reaches the preset number threshold, that is, when the extension length of the boom exceeds the amplitude limit, thereby improving the safety of the construction operation of the boom-type aerial work platform.

[0051] In order to make the purpose, technical solution and advantages of the embodiments of the present invention clearer, the technical solution in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are 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 creative work are within the scope of protection of the present invention.

[0052] In the existing boom control technology of boom-type aerial work platforms, the maximum safe operating length that the boom can be extended in different postures is achieved through amplitude limitation. However, in some extreme fault conditions, such as when the coil of the switch valve of the hydraulic cylinder is short-circuited or the valve core of the hydraulic valve is stuck, it may cause malfunction or abnormal operation. If effective protection is not performed when the number of abnormal operations reaches the preset number threshold, there will be safety hazards in the operation of the boom-type aerial work platform. For example, the boom is operated to retract, but the actual boom is extended in the opposite direction. At this time, the number of abnormal operations is greater than the preset number threshold. When the extended length of the boom exceeds the amplitude limit, there will be a risk of tipping over of the boom-type aerial work platform, which reduces the safety of the construction operation of the boom-type aerial work platform.

[0053] See also Figure 1 As shown, Figure 1 The present invention discloses a flow chart of a boom extension and retraction safety control method.

[0054] The boom extension and retraction safety control method includes:

[0055] S11. Obtain the number of abnormal movements of the boom.

[0056] S12. If the number of abnormal movements reaches a preset threshold, an abnormal movement alarm of the boom is set.

[0057] In order to provide effective protection when the number of abnormal movements reaches the preset number threshold, avoid the risk of tipping over of the boom-type aerial work platform when the number of abnormal movements of the boom is greater than the preset number threshold, that is, when the extension length of the boom exceeds the amplitude limit. This application obtains the number of abnormal movements of the boom before controlling the extension and retraction of the boom. When the number of abnormal movements of the boom reaches the preset number threshold, the extension length of the boom has reached the maximum safe operating length that can be extended. If the boom is extended again, it will cause the risk of tipping over of the boom-type aerial work platform. In order to avoid this situation, the protection measure of setting the abnormal movement alarm of the boom is adopted to improve the safety of the construction operation of the boom-type aerial work platform.

[0058] Specifically, since the extension length of the boom remains unchanged after the boom loses power, the abnormal movement of the boom before the power failure will not be reset, so the number of abnormal movements allowed after the boom loses power is the preset number threshold minus the number of abnormal movements before the boom loses power. The present application writes the number of abnormal movements of the boom into the power-off storage area, and reads the number of abnormal movements of the boom from the power-off storage area before controlling the boom to extend or retract each time. If the number of abnormal movements reaches the preset number threshold, the abnormal movement alarm of the boom is set.

[0059] It should be noted that in order to further improve the safety of construction operations of boom-type aerial work platforms, when the number of abnormal movements of the boom reaches a preset threshold, the extended length of the boom is less than the maximum safe operating length that the boom can be extended in the corresponding posture. The preset thresholds for the boom in different postures are different, and the posture of the boom is determined by the working height and working angle.

[0060] S13. If the number of abnormal actions is less than a preset number threshold, the current input operation of the boom is obtained, and the input operation includes extending and retracting.

[0061] S14: Enable output control corresponding to the current input operation of the boom.

[0062] If the number of abnormal actions is less than the preset number threshold, the current input operation of the boom is obtained, and the output control corresponding to the current input operation of the boom is enabled to control the extension or retraction of the boom. Specifically, if the current input operation of the boom is extension, the output control of extension corresponding to the current input operation of the boom is enabled; if the current input operation of the boom is retraction, the output control of retraction corresponding to the current input operation of the boom is enabled.

[0063] S15, determining an actual output action of the boom after a preset cycle of output control corresponding to the current input operation of the boom is enabled, the actual output action including extension and retraction.

[0064] Under normal working conditions, if the current input operation of the boom is extension, the output control of extension corresponding to the current input operation of extension of the boom is enabled, and the actual output action of the boom is extension; if the current input operation of the boom is retraction, the output control of retraction corresponding to the current input operation of retraction of the boom is enabled, and the actual output action of the boom is retraction.

[0065] However, extreme faults may occur when controlling the extension or retraction of the boom, such as a short circuit in the coil of the hydraulic cylinder's switch valve or a stuck valve core of the hydraulic valve. If the actual output action of the boom at the previous moment was retraction, even if the current input operation of the boom is extension, the boom telescopic cylinder reversing switch valve cannot be reset at this time, and the boom telescopic cylinder reversing switch valve is still in the direction of retracting the boom. When the output control of extension corresponding to the current input operation of extension of the boom is enabled, the boom cannot be extended, and the actual output action of the boom is retraction; if the actual output action of the boom at the previous moment was extension, even if the current input operation of the boom is retraction, the boom telescopic cylinder reversing switch valve cannot be reset at this time, and the boom telescopic cylinder reversing switch valve is still in the direction of extending the boom. When the output control of retraction corresponding to the current input operation of retraction of the boom is enabled, the boom cannot be retracted, and the actual output action of the boom is extension.

[0066] S16. Control the boom accordingly based on the input operation and the actual output action.

[0067] Since the input operation includes two situations, namely, extension and retraction, and the actual output action also includes two situations, namely, extension and retraction, there are four corresponding protection modes for the boom according to the four situations of input operation and actual output action.

[0068] In the first specific implementation, if the current input operation of the boom is retraction, and the actual output action of the boom is retraction, it indicates that the boom is in normal working condition, and the extension length of the boom will not exceed the amplitude limit, causing the arm-type aerial work platform to tip over, and the boom can be controlled to continue to operate normally.

[0069] In a second specific implementation, if the current input operation of the boom is retraction and the actual output action of the boom is extension, it indicates that an extreme fault has occurred in the boom, such as a short circuit in the coil of the switching valve of the hydraulic cylinder or a stuck valve core of the hydraulic valve. In order to avoid the risk of tipping over of the boom-type aerial work platform when the extension length of the boom exceeds the amplitude limit, a protection measure is adopted in which an alarm is set for the length of the boom and a control is performed to read the number of abnormal actions of the boom plus one from the power-off storage area, and the new number of abnormal actions of the boom is written into the power-off storage area for the next reading, and then the output control of the retraction of the boom is stopped.

[0070] In a third specific implementation, if the current input operation of the boom is extension, and the actual output action of the boom is extension, it indicates that the boom is in normal working condition, and the extension length of the boom will not exceed the amplitude limit, causing the arm-type aerial work platform to tip over, and the boom can be controlled to continue to operate normally.

[0071] In a fourth specific implementation, if the current input operation of the boom is extension and the actual output action of the boom is retraction, it indicates that an extreme fault has occurred in the boom, such as a short circuit in the coil of the switching valve of the hydraulic cylinder or a stuck valve core of the hydraulic valve. However, since the extension length of the boom is decreasing, the extension length of the boom will not exceed the amplitude limit and cause the arm-type aerial work platform to tip over. An extreme fault alarm message can be issued and the output control of the extension of the boom can be stopped.

[0072] It can be seen that the present application sets the abnormal movement alarm of the boom when the number of abnormal movements of the boom reaches a preset threshold number of times, and controls the boom accordingly based on the current input operation and actual output action of the boom when the number of abnormal movements is less than the preset threshold number of times, thereby avoiding the risk of the boom aerial work platform tipping over when the number of abnormal movements of the boom reaches the preset threshold number of times, that is, when the extended length of the boom exceeds the amplitude limit, thereby improving the safety of the construction operation of the boom aerial work platform.

[0073] Based on the above embodiments:

[0074] As an optional embodiment, determining an actual output action of the boom after enabling a preset period of output control corresponding to a current input operation of the boom includes:

[0075] The current extension length of the boom is obtained; and the second length of the boom after a preset cycle of enabling output control corresponding to the current input operation of the boom is obtained.

[0076] If the difference between the second length and the extension length is greater than a preset length threshold, it is determined that the actual output action of the boom is extension, and the preset length threshold is a positive number greater than 0.

[0077] If the difference between the extended length and the second length is greater than a preset length threshold, it is determined that the actual output action of the boom is retraction, and the preset length threshold is a positive number greater than 0.

[0078] Specifically, in order to determine the actual output action of the boom, this embodiment immediately obtains the current extension length of the boom after the output control corresponding to the current input operation of the boom is enabled, and obtains the second length of the boom at this time after the preset period of enabling the output control corresponding to the current input operation of the boom, and determines the actual output action of the boom according to the current extension length of the boom and the second length of the boom after the preset period of enabling the output control corresponding to the current input operation of the boom. If the difference between the second length and the extension length is greater than the preset length threshold, it indicates that enabling the output control corresponding to the current input operation of the boom increases the extension length of the boom, and the actual output action of the boom can be determined to be extension; if the difference between the extension length and the second length is greater than the preset length threshold, it indicates that enabling the output control corresponding to the current input operation of the boom decreases the extension length of the boom, and the actual output action of the boom can be determined to be retraction. Wherein, the preset length threshold is a positive number greater than 0.

[0079] It can be seen that this embodiment can more accurately determine the actual output action of the boom by comparing the difference between the extension length of the boom before and after the output control corresponding to the current input operation of the boom is enabled and the size of the preset length threshold, so as to take timely measures later to prevent the risk of tipping over of the boom-type aerial work platform when the extension length of the boom exceeds the amplitude limit.

[0080] As an optional embodiment, if the current input operation of the boom is retraction, and the actual output action of the boom is retraction.

[0081] The boom is controlled accordingly based on the input operation and the actual output action, including:

[0082] The abnormal action count and abnormal action alarm are reset based on the retracted input operation and the actual retracted output action.

[0083] Specifically, if the current input operation of the boom is retraction, and the actual output action of the boom is retraction, indicating that the boom is in normal working condition, after the preset cycle of the output control corresponding to the current input operation of the boom is enabled, the second length of the boom is less than the current extension length of the boom, and the situation where the arm-type aerial work platform tipps over when the extension length of the boom exceeds the amplitude limit will not occur. The number of abnormal actions of the boom will be directly cleared to zero, and the abnormal action alarm of the boom will be reset.

[0084] It can be seen that if the current input operation of the boom is retraction, and the actual output action of the boom is retraction, the boom is in normal working condition. By clearing the number of abnormal actions of the boom and resetting the abnormal action alarm of the boom, it can be ensured that the boom will not be restricted or stopped working due to historical abnormal records during normal operation, thereby improving the overall control efficiency.

[0085] As an optional embodiment, if the current input operation of the boom is retraction, and the actual output action of the boom is extension.

[0086] The boom is controlled accordingly based on the input operation and the actual output action, including:

[0087] The arm length comparison error alarm is set based on the retracted input operation and the extended actual output action, and the number of abnormal actions is increased by one.

[0088] Output control to stop the retraction of the boom.

[0089] Specifically, if the current input operation of the boom is retraction and the actual output action of the boom is extension, it indicates that an extreme fault has occurred in the boom, such as a short circuit in the coil of the switching valve of the hydraulic cylinder or a stuck valve core of the hydraulic valve. In order to avoid the risk of tipping over of the boom aerial work platform when the extension length of the boom exceeds the amplitude limit, a protection measure of setting the boom length comparison error alarm is adopted to issue an alarm message, and control the reading of the number of abnormal actions of the boom from the power-off storage area to increase by one, and then write the new number of abnormal actions of the boom into the power-off storage area for the next reading, so as to stop the output control of the retraction of the boom.

[0090] It can be seen that if the current input operation of the boom is retraction, and the actual output action of the boom is extension, a protection measure of setting the boom length comparison error alarm can be adopted, and the number of abnormal actions of the boom read from the power-off storage area is increased by one by control, and then the new number of abnormal actions of the boom is written into the power-off storage area. When the power is turned on and restarted, the abnormal action number in the power-off storage area can be read to understand the abnormal action of the boom before the last power failure, so as to better perform fault troubleshooting and protection, and further improve the safety of the construction operation of the boom aerial work platform.

[0091] As an optional embodiment, if the current input operation of the boom is extension, and the actual output action of the boom is extension.

[0092] The boom is controlled accordingly based on the input operation and the actual output action, including:

[0093] The abnormal movement times and abnormal movement alarm of the boom are reset based on the input operation of the extension and the actual output action of the extension.

[0094] Specifically, if the current input operation of the boom is extension, and the actual output action of the boom is extension, indicating that the boom is in normal working condition, the second length of the boom after the preset cycle of the output control corresponding to the current input operation of the boom is enabled is greater than the current extended length of the boom, and at this time, the second length of the boom after the preset cycle of the output control corresponding to the current input operation of the boom is enabled is not greater than the maximum safe operating length that the boom can be extended at this time, and the situation where the arm-type aerial work platform overturns when the extended length of the boom exceeds the amplitude limit will not occur. The number of abnormal actions of the boom can be directly cleared to zero, and the abnormal action alarm of the boom can be reset.

[0095] It can be seen that if the current input operation of the boom is extension, and the actual output action of the boom is extension, the boom is in normal working condition. By clearing the number of abnormal actions of the boom and resetting the abnormal action alarm of the boom, it can be ensured that the boom will not be restricted or stopped working due to historical abnormal records during normal operation, thereby improving the overall control efficiency.

[0096] As an optional embodiment, if the current input operation of the boom is extension, and the actual output action of the boom is retraction.

[0097] The boom is controlled accordingly based on the input operation and the actual output action, including:

[0098] The arm length comparison error alarm is set based on the input operation of extending and the actual output action of retracting.

[0099] Output control to stop the extension of the boom.

[0100] Specifically, if the current input operation of the boom is extension and the actual output action of the boom is retraction, it indicates that an extreme fault has occurred in the boom, such as a short circuit in the coil of the switching valve of the hydraulic cylinder or a stuck valve core of the hydraulic valve. However, since the extension length of the boom is decreasing, the extension length of the boom will not exceed the amplitude limit and cause the boom-type aerial work platform to tip over. A protection measure of setting the length comparison error alarm of the boom can be used to issue an alarm message and stop the output control of the extension of the boom.

[0101] It can be seen that if the current input operation of the boom is extension and the actual output action of the boom is retraction, the extension length of the boom is decreasing, and the extension length of the boom will not exceed the amplitude limit, which can effectively avoid accidents caused by extreme faults and further improve the safety of the construction operations of the boom-type aerial work platform.

[0102] As an optional embodiment, before enabling the output control corresponding to the current input operation of the boom, the method further includes:

[0103] Determine whether the arm length comparison error alarm is in the set state.

[0104] If yes, power on and restart to reset the arm length comparison error alarm.

[0105] Specifically, if the arm length comparison error alarm cannot be reset in time, it may cause the operator to misunderstand the state of the arm, thereby causing unnecessary misoperation and reducing work efficiency. This embodiment resets the arm length comparison error alarm by powering on and restarting, which can reduce the risk of misoperation caused by inaccurate arm length comparison error alarm information and ensure the accuracy of construction operations.

[0106] It can be seen that this embodiment avoids the risk of misoperation caused by inaccurate arm length comparison error alarm information by timely resetting the arm length comparison error alarm, thereby improving work efficiency and accuracy of construction operations.

[0107] The present invention also provides an arm-type aerial work platform, including an arm length sensor, an arm operating button, an arm operating handle, an arm telescopic cylinder reversing switch valve and an arm telescopic cylinder flow proportional valve, and also includes the arm telescopic safety control device as described above.

[0108] Specifically, the boom length sensor is used to measure the extension length of the boom in real time, the boom operation button is used to operate the boom to extend or retract on the turntable side of the boom-type aerial work platform, and the boom operating handle is used to operate the boom to extend or retract on the platform side of the boom-type aerial work platform. After obtaining the analog / digital signals of the boom length sensor, the boom operation button and the boom operating handle, the boom extension safety control device outputs a certain form of control drive signal to the boom extension cylinder reversing switch valve and the boom extension cylinder flow proportional valve after a certain control strategy and algorithm logic operation, for example, outputs a 12V / 0V voltage to the boom extension cylinder reversing switch valve to control the valve core displacement of the boom extension cylinder reversing switch valve to achieve switching of the direction of extension or retraction of the boom, outputs a PWM (Pulse Width Modulation, pulse width modulation signal) signal to the boom extension cylinder flow proportional valve, and adjusts the duty cycle of the PWM signal to achieve speed control of the extension or retraction action of the boom.

[0109] In addition, for an introduction to an arm-type aerial work platform provided by the invention, please refer to the embodiment of the above-mentioned boom extension and retraction safety control method, and the present invention will not be repeated here.

[0110] It can be seen that the present application sets the abnormal movement alarm of the boom when the number of abnormal movements of the boom reaches a preset threshold number of times, and controls the boom accordingly based on the current input operation and actual output action of the boom when the number of abnormal movements is less than the preset threshold number of times, thereby avoiding the risk of the boom aerial work platform tipping over when the number of abnormal movements of the boom reaches the preset threshold number of times, that is, when the extended length of the boom exceeds the amplitude limit, thereby improving the safety of the construction operation of the boom aerial work platform.

[0111] Accordingly, see Figure 2 As shown, Figure 2 The present invention also provides a boom extension safety control device, including:

[0112] A frequency acquisition module 31 is used to acquire the number of abnormal movements of the boom;

[0113] A setting module 32, configured to set an abnormal action alarm of the boom if the number of abnormal actions reaches a preset number threshold;

[0114] An input acquisition module 33, configured to acquire the current input operation of the boom if the number of abnormal actions is less than the preset number threshold, wherein the input operation includes extending and retracting;

[0115] An enabling module 34, used to enable output control corresponding to the current input operation of the boom;

[0116] A determination module 35, configured to determine an actual output action of the boom after a preset period of output control corresponding to a current input operation of the boom is enabled, wherein the actual output action includes extension and retraction;

[0117] The control module 36 is used to control the arm accordingly based on the input operation and the actual output action.

[0118] It can be seen that the present application sets the abnormal movement alarm of the boom when the number of abnormal movements of the boom reaches a preset threshold number of times, and controls the boom accordingly based on the current input operation and actual output action of the boom when the number of abnormal movements is less than the preset threshold number of times, thereby avoiding the risk of the boom aerial work platform tipping over when the number of abnormal movements of the boom reaches the preset threshold number of times, that is, when the extended length of the boom exceeds the amplitude limit, thereby improving the safety of the construction operation of the boom aerial work platform.

[0119] In some specific implementations, the determination module 35 includes:

[0120] A first acquisition unit, used to acquire the current extension length of the boom;

[0121] A second acquisition unit, configured to acquire a second length of the boom after a preset period of output control corresponding to a current input operation of the boom is enabled;

[0122] an extension determination unit, configured to determine that the actual output action of the boom is extension if a difference between the second length and the extension length is greater than a preset length threshold;

[0123] The retraction determination unit is used to determine that the actual output action of the boom is retraction if the difference between the extended length and the second length is greater than a preset length threshold.

[0124] In some specific embodiments, if the current input operation of the arm is retracting, and the actual output action of the arm is retracting;

[0125] The control module 36 includes:

[0126] The first control unit is used to reset the abnormal action times and abnormal action alarm based on the retracted input operation and the retracted actual output action.

[0127] In some specific embodiments, if the current input operation of the arm is retracting, and the actual output action of the arm is extending;

[0128] The control module 36 includes:

[0129] A second control unit is used to set a length comparison error alarm of the boom based on the input operation of retracting and the actual output action of extending, and increase the number of abnormal actions by one;

[0130] The third control unit is used for output control to stop the retraction of the boom.

[0131] In some specific implementations, if the current input operation of the arm is to extend, and the actual output action of the arm is to extend;

[0132] The control module 36 includes:

[0133] The fourth control unit is used to reset the abnormal action times and abnormal action alarm of the arm frame based on the input operation of extending and the actual output action of extending.

[0134] In some specific embodiments, if the current input operation of the arm is extension, and the actual output action of the arm is retraction;

[0135] The control module 36 includes:

[0136] a fifth control unit, configured to set a length comparison error alarm of the boom based on an input operation of extending and an actual output action of retracting;

[0137] A sixth control unit is used for output control to stop the extension of the boom.

[0138] In some specific embodiments, the boom extension safety control device further includes:

[0139] A judging unit, used for judging whether the length comparison error alarm of the boom is in a set state;

[0140] The restart unit is used for powering on and restarting if yes, so as to reset the length comparison error alarm of the arm.

[0141] Furthermore, the present application also discloses an electronic device. Figure 3 The structure diagram of a boom extension safety control device disclosed in the present invention is not to be considered as any limitation on the scope of use of the present application. The electronic device 20 may include: at least one processor 21, at least one memory 22, a power supply 23, a communication interface 24, an input / output interface 25, and a communication bus 26. The memory 22 is used to store a computer program, which is loaded and executed by the processor 21 to implement the relevant steps in the boom extension safety control method disclosed in any of the aforementioned embodiments. In addition, the electronic device 20 in this embodiment may be a computer.

[0142] In this embodiment, the power supply 23 is used to provide working voltage for each hardware device on the electronic device 20; the communication interface 24 can create a data transmission channel between the electronic device 20 and the external device, and the communication protocol it follows is any communication protocol that can be applied to the technical solution of the present application, and is not specifically limited here; the input and output interface 25 is used to obtain external input data or output data to the outside world, and its specific interface type can be selected according to specific application needs and is not specifically limited here.

[0143] In addition, the memory 22 as a carrier for resource storage may be a read-only memory, a random access memory, a disk or an optical disk, etc. The resources stored thereon may include an operating system 221, a computer program 222, etc., and the storage method may be temporary storage or permanent storage.

[0144] The operating system 221 is used to manage and control the hardware devices and computer programs 222 on the electronic device 20, and can be Windows, Server, Netware, Unix, Linux, etc. In addition to the computer program that can be used to complete the boom extension safety control method performed by the electronic device 20 disclosed in any of the aforementioned embodiments, the computer program 222 can further include computer programs that can be used to complete other specific tasks.

[0145] In this specification, each embodiment is described in a progressive manner, and each embodiment focuses on the differences from other embodiments. The same or similar parts between the embodiments can be referred to each other. For the device disclosed in the embodiment, since it corresponds to the method disclosed in the embodiment, the description is relatively simple, and the relevant parts can be referred to the method part.

[0146] It should also be noted that, in this specification, relational terms such as first and second, etc. 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. Moreover, the terms "comprise", "include" 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 process, method, article or device. In the absence of further restrictions, an element defined by the statement "comprises a ..." does not exclude the presence of other identical elements in the process, method, article or device including the element.

[0147] The above description of the disclosed embodiments enables those skilled in the art to implement or use the present invention. Various modifications to these embodiments will be apparent to those skilled in the art, and the general principles defined herein may be implemented in other embodiments without departing from the spirit or scope of the present invention. Therefore, the present invention will not be limited to the embodiments shown herein, but rather to the widest scope consistent with the principles and novel features disclosed herein.

Claims

1. A boom extension safety control method, characterized in that: include: Obtaining the number of abnormal movements of the boom; If the number of abnormal movements reaches a preset number threshold, an abnormal movement alarm of the boom is set; If the number of abnormal actions is less than the preset number threshold, obtaining the current input operation of the boom, the input operation including extension and retraction; Enable output control corresponding to the current input operation of the arm; determining an actual output action of the boom after a preset period of output control corresponding to a current input operation of the boom is enabled, the actual output action comprising extension and retraction; The arm is controlled accordingly based on the input operation and the actual output action.

2. The boom extension safety control method according to claim 1, characterized in that: Determining an actual output action of the boom after enabling a preset period of output control corresponding to a current input operation of the boom, comprises: Obtaining the current extension length of the boom; acquiring a second length of the boom after a preset period of enabling output control corresponding to a current input operation of the boom; If the difference between the second length and the extension length is greater than a preset length threshold, it is determined that the actual output action of the boom is extension, and the preset length threshold is a positive number greater than 0; If the difference between the extended length and the second length is greater than a preset length threshold, it is determined that the actual output action of the arm is retraction, and the preset length threshold is a positive number greater than 0.

3. The boom extension safety control method according to claim 1, characterized in that: If the current input operation of the arm is retracting, and the actual output action of the arm is retracting; The arm is controlled accordingly based on the input operation and the actual output action, including: The abnormal action count and abnormal action alarm are reset based on the retracted input operation and the retracted actual output action.

4. The boom extension safety control method according to claim 1, characterized in that: If the current input operation of the arm is retracting, and the actual output action of the arm is extending; The arm is controlled accordingly based on the input operation and the actual output action, including: Setting a length comparison error alarm of the boom based on the input operation of retracting and the actual output action of extending, and increasing the number of abnormal actions by one; An output control to stop the retraction of the boom.

5. The boom extension safety control method according to claim 1, characterized in that: If the current input operation of the arm is to extend, and the actual output action of the arm is to extend; The arm is controlled accordingly based on the input operation and the actual output action, including: The abnormal movement times and abnormal movement alarm of the boom are reset based on the input operation of extending and the actual output action of extending.

6. The boom extension safety control method according to claim 1, characterized in that: If the current input operation of the arm is extension, and the actual output action of the arm is retraction; The arm is controlled accordingly based on the input operation and the actual output action, including: Setting a length comparison error alarm of the boom based on an input operation of extending and an actual output action of retracting; An output control for stopping the extension of the boom.

7. The boom extension safety control method according to any one of claims 1 to 6, characterized in that: Before enabling the output control corresponding to the current input operation of the arm, the method further includes: Determining whether the arm length comparison error alarm is in a set state; If yes, power on and restart to reset the arm length comparison error alarm.

8. A boom extension safety control device, characterized in that: include: A frequency acquisition module, used to acquire the number of abnormal movements of the boom; A setting module, used for setting an abnormal action alarm of the boom if the number of abnormal actions reaches a preset number threshold; An input acquisition module, used for acquiring the current input operation of the boom if the number of abnormal actions is less than the preset number threshold, the input operation including extension and retraction; An enabling module, used for enabling output control corresponding to the current input operation of the arm; a determination module, configured to determine an actual output action of the boom after a preset cycle of output control corresponding to a current input operation of the boom is enabled, the actual output action comprising extension and retraction; A control module is used to control the arm accordingly based on the input operation and the actual output action.

9. A boom extension safety control device, characterized in that: include: Memory, used to store computer programs; A processor is used to execute the computer program to implement the steps of the boom extension and retraction safety control method as described in any one of claims 1 to 7.

10. An arm-type aerial work platform, characterized in that: It includes a boom length sensor, a boom operating button, a boom operating handle, a boom telescopic cylinder reversing switch valve and a boom telescopic cylinder flow proportional valve, and also includes the boom telescopic safety control device as claimed in claim 9.

Images