Crank arm type aerial work platform control system and method

Abstract

The invention discloses a crank arm type aerial work platform control system and method, and belongs to the technical field of engineering equipment control. The system comprises a rotary table, a first arm and a second arm. The rotary table is connected with one end of the first arm through a first arm variable-amplitude oil cylinder, the other end of the first arm is connected with one end of the second arm through a second arm variable-amplitude oil cylinder, and the other end of the second arm is connected with the working platform. The first arm is provided with a first arm telescopic oil cylinder used for controlling the first arm to stretch out and draw back. The variable-amplitude oil cylinder and the telescopic oil cylinder work cooperatively, the first arm corresponds to a certain telescopic length at different variable-amplitude angles according to set control logic, variable-amplitude rising and stretching or variable-amplitude falling and contracting actions of the first arm can be completed through one key, and the amplitude change, caused by variable amplitude, of the platform in the horizontal direction is made up through stretching and contracting.

Description

Technical Field

[0001] The present invention relates to the technical field of engineering equipment control, and in particular to a control system and method for a crank-type aerial work platform. Background Art

[0002] The articulated arm (two sets of telescopic arms) mobile lifting work platform is mainly used in industries such as building exterior wall construction, steel structure, venue construction and leasing. As a manned engineering equipment, its operability and safety are extremely important. The control method of the No. 1 arm is a key component of the whole vehicle motion control, and its importance is self-evident.

[0003] For current articulated boom (two sets of telescopic boom) products, when the No. 1 boom is performing a luffing action, the boom cannot be telescoped synchronously. When the user wants to lift to a certain working height, or return to the ground from the working height position, the luffing and telescopic actions need to be operated separately, which is relatively inefficient. In addition, when the No. 1 boom is performing a luffing action, the working platform will produce a large horizontal movement, especially when the luffing is started, the platform will move behind the operator, and due to the large movement range, it may cause bumps or squeezing.

[0004] In addition, with the conventional arrangement, when the No. 1 boom is luffed, the No. 1 boom is fully retracted, the boom is luffed to the maximum angle first, and then extended to the maximum position at the maximum angle. This method places the platform in a position where a large moment is generated. In order to accommodate such a moment, the vehicle must include a large mass counterweight to stabilize the machine, however, this large counterweight increases the manufacturing cost. Summary of the invention

[0005] The purpose of the present invention is to overcome the deficiencies in the prior art and to provide a control system and method for a boom-type aerial work platform, which, according to a predetermined control logic, enables the No. 1 arm to correspond to a certain telescopic length at different amplitude change angles, thereby improving work efficiency while minimizing the horizontal movement amplitude of the working platform.

[0006] To achieve the above object, the present invention is implemented by adopting the following technical solutions: In one aspect, the present invention provides a control system for a boom-type aerial work platform, comprising a turntable, a first arm, and a second arm; The turntable is connected to one end of the No. 1 arm through the No. 1 arm luffing cylinder, the other end of the No. 1 arm is connected to one end of the No. 2 arm through the No. 2 arm luffing cylinder, and the other end of the No. 2 arm is connected to the working platform; The No. 1 arm is provided with a No. 1 arm telescopic oil cylinder for controlling the telescopic movement of the No. 1 arm.

[0007] When the present invention is used, the amplitude change angle of arm No. 1 corresponds to a fixed extension length, so the amplitude change, raising and extending action of arm No. 1 can be completed by one button, and the amplitude change of the platform in the horizontal direction caused by the amplitude change can be compensated by extension, thereby ensuring that the amplitude change of the working platform in the horizontal direction is controlled within a smaller range.

[0008] Optionally, a controller is provided on the turntable for controlling arm No. 1 and arm No. 2 to perform actions.

[0009] Optionally, the No. 1 arm is provided with a long angle sensor for detecting the amplitude variation angle and extension amount of the No. 1 arm.

[0010] Optionally, when the angle between the No. 1 arm and the No. 2 arm is less than a preset angle, a first preset corresponding relationship is provided between the amplitude variation angle of the No. 1 arm and the telescopic amount of the No. 1 arm; When the angle between arm 1 and arm 2 is greater than or equal to the preset angle, a second preset correspondence is set between the amplitude angle of arm 1 and the telescopic amount of arm 1. According to the angle between arm 1 and arm 2, two correspondence tables are designed, so arm 2 will have two paths, defined as path 1 and path 2, respectively. The first preset correspondence executes path 1, and the second preset correspondence executes path 2. For the same amplitude angle of arm 1, the telescopic amount of arm 1 corresponding to path 1 is longer than that of path 2; that is, when the angle of arm 2 is <50°, the risk of the whole machine tilting forward is high, and path 1 is executed; when the angle of arm 2 is ≥50°, path 2 is executed.

[0011] Optionally, the arm No. 1 is provided with a preset maximum amplitude variation angle and a minimum amplitude variation angle.

[0012] Optionally, the arm No. 1 is provided with a preset maximum telescopic amount and a minimum telescopic amount.

[0013] Optionally, a frame is also included, and the turntable is installed on the frame.

[0014] In a second aspect, the present invention provides a method for controlling an articulated boom aerial work platform, using the articulated boom aerial work platform control system described in the first aspect, the method comprising: The No. 1 arm luffing cylinder controls the No. 1 arm to perform the luffing opening action, and the No. 1 arm telescopic cylinder controls the No. 1 arm to perform the stretching action. At the same time, the No. 2 arm luffing cylinder extends to control the No. 2 arm to keep the luffing angle unchanged, and the working platform moves upward.

[0015] In a third aspect, the present invention provides a method for controlling an articulated boom aerial work platform, using the articulated boom aerial work platform control system described in the first aspect, the method comprising: The No. 1 arm luffing cylinder controls the No. 1 arm to perform the luffing closing action, and the No. 1 arm telescopic cylinder controls the No. 1 arm to perform the retraction action. At the same time, the No. 2 arm luffing cylinder retracts to control the No. 2 arm's luffing angle to remain unchanged, and the working platform moves downward.

[0016] Optionally, the amplitude variation angle of arm No. 1 and its corresponding telescopic length are controlled according to a preset correspondence between the amplitude variation angle and telescopic amount of arm No. 1.

[0017] Compared with the prior art, the present invention has the following beneficial effects: The coordinated operation of the boom cylinder and the telescopic cylinder of the present invention realizes a certain telescopic length of the No. 1 arm at different boom angles according to the established control logic, and the boom raising and extending or boom lowering and retracting actions of the No. 1 arm can be completed by one button, and the amplitude change of the platform in the horizontal direction caused by the boom change can be compensated by elongation / shortening. Therefore, it can simultaneously ensure that the amplitude change of the working platform in the horizontal direction is controlled within a smaller range, so that the working platform moves close to the vertical direction; at the same time, the extended or retracted No. 1 arm can play the role of a counterweight to balance the tipping moment, which can effectively reduce the weight of the whole vehicle, reduce the material cost and transportation cost of the whole machine, improve the operating performance and operating safety, and improve work efficiency while minimizing the movement amplitude of the working platform in the horizontal direction. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] Figure 1 The figure is a schematic diagram of the structure of a control system of a boom-type aerial work platform according to an embodiment of the present invention; Figure 2 The figure is a schematic structural diagram of a control system of an articulated boom aerial work platform according to another embodiment of the present invention; In the figure: 1-frame; 2-turntable; 3-arm No. 1; 4-luffing cylinder of arm No. 1; 5-luffing cylinder of arm No. 1; 6-long angle sensor; 7-luffing cylinder of arm No. 2; 8-arm No. 2; 9-working platform; 10-controller. DETAILED DESCRIPTION

[0019] The technical solution of the present invention is described in detail below through the accompanying drawings and specific embodiments. It should be understood that the embodiments of the present invention and the specific features in the embodiments are detailed descriptions of the technical solution of the present invention, rather than limitations on the technical solution of the present invention. The embodiments of the present invention and the technical features in the embodiments may be combined with each other unless there is a conflict.

[0020] The term "and / or" is only a way to describe the association relationship of related objects, indicating that there can be three relationships. For example, A and / or B can mean: A exists alone, A and B exist at the same time, and B exists alone. In addition, the character " / " generally indicates that the related objects are in an "or" relationship.

[0021] In the description of the present invention, it should be understood that the terms "center", "longitudinal", "lateral", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside" and the like indicate positions or positional relationships based on the positions or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present invention 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 limiting the present invention. In addition, the terms "first", "second", and the like are only used for descriptive purposes, and cannot be understood as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, features defined as "first", "second", and the like may explicitly or implicitly include one or more of the features. In the description of the present invention, unless otherwise specified, "multiple" means two or more.

[0022] In the description of the present invention, it should be noted that, unless otherwise clearly specified and limited, the terms "installed", "connected", and "connected" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection, or it can be indirectly connected through an intermediate medium, or it can be the internal communication of two components. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood by specific circumstances.

[0023] Example 1

[0024] like Figure 1 , 2 As shown, this embodiment introduces a control system for a boom-type aerial work platform, which specifically includes a frame 1, a turntable 2 installed on the frame 1, a No. 1 arm 3, a No. 1 arm luffing cylinder 4, a No. 1 arm luffing cylinder 5, a long angle sensor 6, a No. 2 arm luffing cylinder 7, a No. 2 arm 8, a working platform 9, and a controller 10.

[0025] The turntable 2 is provided with a controller 10 for controlling the No. 1 arm 3 and the No. 2 arm 8 to perform actions.

[0026] When the angle between arm No. 1 3 and arm No. 2 8 is less than a preset angle, a first preset corresponding relationship is set between the amplitude variation angle of arm No. 1 3 and the telescopic amount of arm No. 1 3; when the angle between arm No. 1 3 and arm No. 2 8 is greater than or equal to the preset angle, a second preset corresponding relationship is set between the amplitude variation angle of arm No. 1 3 and the telescopic amount of arm No. 1 3.

[0027] In this embodiment, two correspondence tables are designed according to the angle between arm No. 1 and arm No. 2, so arm No. 2 will have two paths, which are defined as path 1 and path 2 respectively. The first preset correspondence executes path 1, and the second preset correspondence executes path 2. For the same arm amplitude variation angle of arm No. 1, the arm extension amount corresponding to path 1 is longer than that of path 2; that is, when the angle of arm No. 2 is <50°, the risk of the whole machine tilting forward is higher, and path 1 is executed; when the angle of arm No. 2 is ≥50°, path 2 is executed.

[0028] The arm No. 1 3 is provided with a preset maximum amplitude variation angle and a minimum amplitude variation angle, and the arm No. 1 3 is provided with a preset maximum telescopic amount and a minimum telescopic amount.

[0029] The turntable 2 is connected to one end of the No. 1 arm 3 through the No. 1 arm luffing cylinder 4, the other end of the No. 1 arm 3 is connected to one end of the No. 2 arm 8 through the No. 2 arm luffing cylinder 7, the other end of the No. 2 arm 8 is connected to the working platform 9, and the No. 1 arm 3 is provided with a No. 1 arm telescopic cylinder 5 for controlling the telescopic movement of the No. 1 arm 3, and a long angle sensor 6 for detecting the luffing angle and telescopic amount of the No. 1 arm 3.

[0030] The vehicle frame 1 is used to connect and fix with the turntable 2 and support the whole vehicle.

[0031] The turntable 2 is used to connect with the No. 1 boom 3 and the No. 1 boom luffing cylinder 4 and support their operation, and is installed with a controller 10 .

[0032] The No. 1 arm 3 is used to connect with the No. 1 arm luffing cylinder 4, the No. 2 arm 8, and the No. 2 arm luffing cylinder 7. The long angle sensor 6 and the No. 1 arm telescopic cylinder 5 are installed, and the luffing and telescopic operations can be performed simultaneously.

[0033] The No. 1 boom luffing cylinder 4 is used to provide power for the luffing action of the No. 1 boom 3 .

[0034] The No. 1 arm telescopic cylinder 5 is used to provide power for the telescopic action of the No. 1 arm 3.

[0035] The long angle sensor 6 is used to detect the amplitude change angle and extension amount of the No. 1 arm 3 .

[0036] The No. 2 boom luffing cylinder 7 is used to perform telescopic actions corresponding to the luffing rise and fall of the No. 1 boom 3 to keep the angle of the No. 2 boom 8 unchanged.

[0037] The No. 2 arm 8 is used to connect with the No. 2 arm luffing cylinder 7 and the No. 1 arm 3 , and to install a fixed working platform 9 .

[0038] The working platform 9 is used to carry people and goods.

[0039] The controller 10 is used to determine whether the boom extension and retraction action can be performed and other action control according to the boom angle.

[0040] In this embodiment, according to the controller instructions, the arm No. 1 boom amplitude change and telescopic action work in coordination, and the arm No. 1 boom amplitude change up, extension or boom amplitude change down, retraction action can be completed with one button, and the amplitude change of the platform in the horizontal direction caused by the boom amplitude change can be compensated by extension or shortening, thereby ensuring that the amplitude change of the working platform in the horizontal direction is controlled within a smaller range at the same time; at the same time, the extended or retracted arm No. 1 can play the role of a counterweight to balance the tipping moment, which can effectively reduce the weight of the whole vehicle, reduce the material cost and transportation cost of the whole machine, and improve the operating performance and operating safety.

[0041] Example 2

[0042] This embodiment introduces a control method for an articulated boom aerial work platform, using the articulated boom aerial work platform control system described in Embodiment 1, and the method specifically includes the following steps: The raising and extending of arm 3 are the same switch, and the lowering and retracting of arm 3 are the same switch.

[0043] During operation, when the working platform 9 is to be raised to a certain height, the lifting and extending switch of arm 1 3 is turned, and arm 1 3 performs the luffing and starting action, and arm 1 luffing cylinder 4 provides power for it. At the same time, arm 1 3 performs the extension action, and arm 1 telescopic cylinder 5 provides power for arm 1 3, and controller 10 issues a command to extend arm 2 luffing cylinder 7 to ensure that the angle of arm 2 8 remains unchanged. According to the preset correspondence between the luffing angle and the telescopic amount of arm 1 3, the controller 10 issues a command, and the luffing angle of arm 1 3 corresponds to a fixed extension length. Therefore, the luffing and extending action of arm 1 3 can be completed with one click, and the amplitude change of the working platform 9 in the horizontal direction caused by the amplitude change is compensated by the extension. Therefore, the amplitude change of the working platform 9 in the horizontal direction can be controlled within a small range, and the working platform 9 will move upward, which is close to vertical upward movement at this time. Figure 2 As shown, position 1 is the whole vehicle folded state, position 2 is the No. 1 arm 3 raised and extended in the middle state, position 3 is the No. 1 arm 3 raised and extended in the final state, and the execution path of the working platform 9 during the lifting and raising process is close to vertical upward movement.

[0044] According to the angle between the No. 1 arm and the No. 2 arm, two corresponding relationship tables are designed. Therefore, the No. 2 arm will have two paths, which are defined as path 1 and path 2. The first preset corresponding relationship executes path 1, and the second preset corresponding relationship executes path 2. For the same arm amplitude change angle, the arm extension amount corresponding to path 1 is longer than that of path 2; that is, when the angle of the No. 2 arm is less than 50°, the risk of the whole machine tilting forward is higher, and path 1 is executed; when the angle of the No. 2 arm is ≥50°, path 2 is executed. Figure 1The following are schematic diagrams of the results of the two execution paths. This control method can use the No. 1 arm 3 as a counterweight to balance the tipping moment during the entire operation process without increasing the risk of backward tilting, ensuring that the stability of the entire vehicle during the operation of the vehicle meets the safety requirements, while not increasing the weight of the counterweight to balance the tipping moment generated by the arm frame, thereby increasing the weight of the entire machine.

[0045] Example 3

[0046] This embodiment introduces a control method for an articulated boom aerial work platform, using the articulated boom aerial work platform control system described in Embodiment 1, and the method specifically includes the following steps: The raising and extending of arm 3 are the same switch, and the lowering and retracting of arm 3 are the same switch.

[0047] During operation, if you want to lower the working platform 9 to a certain height, turn the switch of arm 1 3 to drop and retract. Arm 1 3 will perform the amplitude drop and retraction actions at the same time. Arm 1 amplitude cylinder 4 and arm 1 telescopic cylinder 5 provide power for it. At the same time, controller 10 issues a command to retract arm 2 amplitude cylinder 7 to ensure that the angle of arm 2 8 remains unchanged. According to the preset correspondence between the amplitude change angle and the telescopic amount of arm 1 3, the controller 10 issues a command, and the amplitude change angle of arm 1 3 corresponds to a fixed extension length. Therefore, the amplitude drop and retraction actions of arm 1 3 can be completed with one click. The amplitude change of the working platform 9 in the horizontal direction caused by the amplitude change is compensated by shortening. Therefore, the amplitude change of the working platform 9 in the horizontal direction can be controlled within a small range. The working platform 9 will move downward, and it is close to vertical downward movement at this time. Figure 2 As shown, position 3 is the starting state of arm 3 falling and retracting, position 2 is the intermediate state of arm 3 falling and retracting, position 1 is the whole vehicle folded state, and the execution path of the working platform 9 during the falling and retracting process is close to vertical downward movement.

[0048] According to the angle between the No. 1 arm and the No. 2 arm, two corresponding relationship tables are designed. Therefore, the No. 2 arm will have two paths, which are defined as path 1 and path 2. The first preset corresponding relationship executes path 1, and the second preset corresponding relationship executes path 2. For the same arm amplitude change angle, the arm extension amount corresponding to path 1 is longer than that of path 2; that is, when the angle of the No. 2 arm is less than 50°, the risk of the whole machine tilting forward is higher, and path 1 is executed; when the angle of the No. 2 arm is ≥50°, path 2 is executed. Figure 1 The following are schematic diagrams of the results of two execution paths. Figure 1 This control method shown can use the No. 1 arm 3 as a counterweight to balance the tipping moment during the entire operation process without increasing the risk of tilting backward, ensuring that the stability of the entire vehicle during the operation of the vehicle meets the safety requirements. At the same time, the weight of the counterweight is not increased due to the need to balance the tipping moment generated by the arm frame, thereby increasing the weight of the entire machine.

[0049] Those skilled in the art will appreciate that the embodiments of the present application may be provided as methods, systems, or computer program products. Therefore, the present application may adopt the form of a complete hardware embodiment, a complete software embodiment, or an embodiment combining software and hardware. Moreover, the present application may adopt the form of a computer program product implemented on one or more computer-usable storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) containing computer-usable program codes.

[0050] The present application is described 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 application. It should be understood that each process and / or box in the flowchart and / or block diagram, as well as the combination of the processes and / or boxes 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, an embedded processor, or other programmable data processing device to generate a machine, so that the instructions executed by the processor of the computer or other programmable data processing device generate instructions for implementing the processes in the flowchart and / or block diagram. Figure 1 A process or multiple processes and / or boxes Figure 1 A device that provides the functions specified in a block or multiple blocks.

[0051] These computer program instructions may also be stored in a computer-readable memory capable of directing a computer or other programmable data processing device to operate in a specific manner, so that the instructions stored in the computer-readable memory produce an article of manufacture comprising an instruction device, which implements the process Figure 1 A process or multiple processes and / or boxes Figure 1 A function specified in one or more boxes.

[0052] These computer program instructions can also be loaded onto a computer or other programmable data processing device so that a series of operating steps are executed on the computer or other programmable device to produce a computer-implemented process, thereby providing instructions for implementing the process. Figure 1 A process or multiple processes and / or boxes Figure 1 The steps for the functions specified in one or more boxes.

[0053] The embodiments of the present invention are described above in conjunction with the accompanying drawings, but the present invention is not limited to the above-mentioned specific implementation methods. The above-mentioned specific implementation methods are merely illustrative and not restrictive. Under the enlightenment of the present invention, ordinary technicians in this field can also make many forms without departing from the scope of protection of the purpose of the present invention and the claims, which all fall within the protection of the present invention.

Claims

1. A control system for a boom-type aerial work platform, characterized in that: It comprises a turntable (2), a first arm (3) and a second arm (8); The turntable (2) is connected to one end of the No. 1 arm (3) via the No. 1 arm luffing cylinder (4), the other end of the No. 1 arm (3) is connected to one end of the No. 2 arm (8) via the No. 2 arm luffing cylinder (7), and the other end of the No. 2 arm (8) is connected to the working platform (9); The No. 1 arm (3) is provided with a No. 1 arm telescopic oil cylinder (5) for controlling the telescopic movement of the No. 1 arm (3).

2. The control system of the articulated boom aerial work platform according to claim 1, characterized in that: The turntable (2) is provided with a controller (10) for controlling the first arm (3) and the second arm (8) to perform actions.

3. The control system of the articulated boom aerial work platform according to claim 1, characterized in that: The No. 1 arm (3) is provided with a long angle sensor (6) for detecting the amplitude variation angle and telescopic amount of the No. 1 arm (3).

4. The control system of the articulated boom aerial work platform according to claim 1, characterized in that: When the included angle between the No. 1 arm (3) and the No. 2 arm (8) is smaller than a preset included angle, a first preset corresponding relationship is provided between the amplitude variation angle of the No. 1 arm (3) and the telescopic amount of the No. 1 arm (3); When the angle between the No. 1 arm (3) and the No. 2 arm (8) is greater than or equal to a preset angle, a second preset corresponding relationship is provided between the amplitude variation angle of the No. 1 arm (3) and the telescopic amount of the No. 1 arm (3).

5. The control system of the articulated boom aerial work platform according to claim 1, characterized in that: The first arm (3) is provided with a preset maximum amplitude variation angle and a minimum amplitude variation angle.

6. The control system of the articulated boom aerial work platform according to claim 1, characterized in that: The first arm (3) is provided with a preset maximum telescopic amount and a minimum telescopic amount.

7. The control system of the articulated boom aerial work platform according to claim 1, characterized in that: It also includes a vehicle frame (1), and the turntable (2) is mounted on the vehicle frame (1).

8. A control method for a boom-type aerial work platform, characterized in that: Using the articulated boom aerial work platform control system according to any one of claims 1 to 7, the method comprises: The No. 1 arm luffing cylinder (4) controls the No. 1 arm (3) to perform the luffing opening action, and the No. 1 arm telescopic cylinder (5) controls the No. 1 arm (3) to perform the stretching action, while the No. 2 arm luffing cylinder (7) extends to control the No. 2 arm (8) to keep the luffing angle unchanged, and the working platform (9) moves upward.

9. A control method for a boom-type aerial work platform, characterized in that: Using the articulated boom aerial work platform control system according to any one of claims 1 to 7, the method comprises: The No. 1 arm luffing cylinder (4) controls the No. 1 arm (3) to perform a luffing closing action, and the No. 1 arm telescopic cylinder (5) controls the No. 1 arm (3) to perform a retraction action. At the same time, the No. 2 arm luffing cylinder (7) retracts to control the No. 2 arm (8) to keep its luffing angle unchanged, and the working platform (9) moves downward.

10. The control method of the articulated boom aerial work platform according to claim 8 or 9, characterized in that: According to a preset corresponding relationship between the amplitude variation angle and the telescopic amount of the first arm (3), the amplitude variation angle of the first arm (3) and its corresponding telescopic length are controlled.

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