Self-feedback leveling aerial work vehicle and leveling control method of the aerial work vehicle

Abstract

The present invention discloses a self-feedback leveling aerial work vehicle, comprising: an operating platform, an X-axis thrust oil cylinder, a platform bracket, a telescopic boom assembly, a rotating platform, a vehicle body, a telescopic hydraulic support foot, a slewing bearing, a two-dimensional tilt sensor, a displacement sensor, a trajectory control module, and a power module; the present invention discloses a leveling control method for an aerial work vehicle, wherein the two-dimensional tilt sensor measures the tilt angle and feeds back to the trajectory control module, and the trajectory control module sends a control signal to the power module so that the power module drives the X-axis thrust oil cylinder, the telescopic boom assembly, and the rotating platform to perform actions according to the control signal. The automatic leveling of the operating platform is achieved through a sensor system and a hydraulic control system, and the level can be achieved during the lifting and operation process, meeting the operation requirements under different working conditions, ensuring the operation safety of the operator, and also having the advantages of simple structure, convenient operation, and stable operation.

Description

Technical Field

[0001] The invention relates to the technical field of aerial work equipment, and in particular to a self-feedback leveling aerial work vehicle and a leveling control method of the aerial work vehicle. Background Art

[0002] Aerial work vehicle is a special vehicle widely used in construction, maintenance, cleaning and other fields. Its main structure includes chassis, working arm, working platform, hydraulic system, electrical system and other parts.

[0003] The working arm is usually composed of a multi-section arm, which is driven by a hydraulic system to achieve telescopic, rotating and lifting movements, so that the working platform can reach a predetermined height and position. The working platform is used to carry operators and tools to ensure their safety and stability during high-altitude operations.

[0004] Since the leveling system of the work vehicle mainly relies on the ground level to maintain the balance of the work platform, traditional aerial work vehicles can only perform aerial work on flat roads or roads with a small slope. When the operator works on a slope, the work platform will tilt with the inclination of the ground, causing the operator to be in an unstable state, and even the operator is prone to lose balance, thus causing safety accidents. In addition, when working on complex terrains such as slopes, traditional aerial work vehicles need to spend a lot of time to level the ground, which seriously affects the work efficiency. Summary of the invention

[0005] In order to solve the above technical problems, the present invention provides a self-feedback leveling aerial work vehicle and a leveling control method of the aerial work vehicle.

[0006] In order to have a basic understanding of some aspects of the disclosed embodiments, a brief summary is given below. This summary is not intended to be a general review, nor is it intended to identify key / important components or to delineate the scope of protection of these embodiments. Its only purpose is to present some concepts in a simple form as a preface to the detailed description that follows.

[0007] The present invention adopts the following technical solution:

[0008] In a first aspect, the present invention provides a self-feedback leveling aerial work vehicle, comprising:

[0009] A two-dimensional inclination sensor is arranged on the working platform, and is used to measure the inclination angle of the working platform on the X-axis and the Y-axis, and feed back the collected inclination data to the trajectory control module;

[0010] An X-axis thrust cylinder is used to drive the working platform to rotate around the X-axis;

[0011] A telescopic arm assembly, used for driving the working platform to rotate around the Y axis;

[0012] A rotating platform, used to drive the working platform to rotate around the Z axis;

[0013] The trajectory control module is used to obtain the inclination data fed back by the two-dimensional inclination sensor, and send a control signal to the power module according to the inclination data, so that the power module drives the X-axis thrust cylinder, the telescopic arm assembly and the rotating platform to move according to the control signal.

[0014] Furthermore, the self-feedback leveling aerial work vehicle also includes: a platform bracket; the work platform is located above the platform bracket, and the work platform is connected to the platform bracket via a pin; the fixed end of the X-axis thrust cylinder is fixed to the platform bracket via a pin, and the telescopic end of the X-axis thrust cylinder is connected to the work platform via a pin.

[0015] Furthermore, the telescopic arm assembly includes: three cross-arranged support arms; the support arms include: a primary arm, a secondary arm, a tertiary arm and a multi-stage cylinder, the primary arm, the secondary arm and the tertiary arm are connected by guide rails to form a moving pair, the bottom end of the primary arm is connected to the rotating platform and the fixed end of the multi-stage cylinder through a pin, and the top end of the tertiary arm is connected to the platform bracket and the telescopic end of the multi-stage cylinder through a pin.

[0016] Furthermore, the self-feedback leveling aerial work vehicle also includes: a vehicle body, a slewing bearing and a telescopic hydraulic support foot; the rotating platform is located above the vehicle body, and the rotating platform is connected to the vehicle body through the slewing bearing, and the telescopic hydraulic support foot is arranged at the bottom of the vehicle body.

[0017] Furthermore, the power module includes: a PID controller, a three-position four-way valve and a hydraulic station; the three-position four-way valve is connected to the control output end of the PID controller, and the three-position four-way valve is arranged on the oil supply pipeline connecting the hydraulic station and the X-axis thrust cylinder and the multi-stage cylinders in the three support arms.

[0018] Furthermore, hydraulic locks are provided on the X-axis thrust cylinder and the multi-stage cylinders in the three support arms.

[0019] Furthermore, the self-feedback leveling aerial work vehicle further includes: a displacement sensor for measuring the telescopic distance of the X-axis thrust cylinder and feeding back to the trajectory control module.

[0020] In a second aspect, the present invention provides a leveling control method for an aerial work vehicle, comprising:

[0021] The two-dimensional inclination sensor measures the inclination angle of the work platform on the X-axis and Y-axis, and feeds the collected inclination data back to the trajectory control module;

[0022] The trajectory control module obtains the inclination data fed back by the two-dimensional inclination sensor, and sends a control signal to the power module according to the inclination data, so that the power module drives the X-axis thrust cylinder, the telescopic boom assembly and the rotating platform to move according to the control signal.

[0023] The beneficial effects brought about by the present invention are as follows: the present application realizes automatic leveling of the working platform through the sensor system and the hydraulic control system, and can achieve leveling during the lifting and operation process, meeting the operation requirements under different working conditions, ensuring the operation safety of the operator, and also has the advantages of simple structure, easy operation and stable operation. 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 drawings required for use in the embodiments or the description of the prior art will be 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 paying creative work.

[0025] Figure 1 It is a stereogram of a self-feedback leveling aerial work vehicle of the present invention;

[0026] Figure 2 It is a left view of a self-feedback leveling aerial work vehicle of the present invention;

[0027] Figure 3 It is a connection diagram of the working platform, the platform bracket and the X-axis thrust cylinder of the present invention;

[0028] Figure 4 It is a structural schematic diagram of the support arm of the present invention;

[0029] Figure 5 is a schematic cross-sectional view of a support arm of the present invention;

[0030] Figure 6 It is a schematic diagram of the aerial work vehicle of the present invention when it is retracted;

[0031] Figure 7 It is the control principle diagram of the present invention;

[0032] Figure 8 It is a flow chart of the lifting process of the aerial work vehicle of the present invention;

[0033] Fig. 9 It is a flow chart of the retraction process of the aerial work vehicle of the present invention. DETAILED DESCRIPTION

[0034] The embodiments of the present invention are described in detail below in conjunction with the accompanying drawings. It should be clear that the described embodiments are only part of the embodiments of the present invention, rather than 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.

[0035] like Figure 1-9 As shown, in some illustrative embodiments, a self-feedback leveling aerial work vehicle is provided, comprising: an operating platform 1, an X-axis thrust cylinder 2, a platform bracket 3, a telescopic arm assembly, a rotating platform 7, a vehicle body 8, a telescopic hydraulic support leg 9, a slewing bearing 10, a two-dimensional inclination sensor 15, a displacement sensor, a trajectory control module, and a power module.

[0036] The telescopic arm assembly includes: three cross-arranged support arms, which are respectively denoted as the first support arm 4, the second support arm 5, and the third support arm 6, wherein the cross-arrangement means that the first support arm 4 and the second support arm 5 are inclined to one side, and the third support arm 6 is located between the first support arm 4 and the second support arm 5 and inclined to the other side to form an X-shaped structure.

[0037] The working platform 1 is used to carry operators and tools and is the main working area for aerial work.

[0038] The working platform 1 is located above the platform bracket 3, and the working platform 1 is connected to the platform bracket 3 through two pins, so the working platform 1 can swing around the position of the pins on the platform bracket 3, that is, rotate around the X-axis.

[0039] The X-axis thrust cylinder 2 is used to drive the work platform 1 to rotate around the X-axis. Specifically, the fixed end of the X-axis thrust cylinder 2 is fixed to the platform bracket 3 through a pin shaft to form a revolving pair, which ensures that the X-axis thrust cylinder 2 can rotate at a certain angle. The telescopic end of the X-axis thrust cylinder 2 is connected to the work platform 1 through a pin shaft, and the telescopic movement of the X-axis thrust cylinder 2 drives the work platform 1 to rotate along the pin shaft, thereby realizing the rotation of the work platform 1 around the X-axis.

[0040] The two-dimensional inclination sensor 15 is disposed at the bottom of the working platform 1 and is used to measure the inclination angles of the working platform 1 on the X-axis and the Y-axis, and feed back the collected inclination data to the trajectory control module.

[0041] The telescopic arm assembly is used to drive the work platform 1 to rotate around the Y axis, and adjust the position and posture of the work platform through the coordinated movement of multiple support arms. The first support arm 4 is parallel to the second support arm 5, and the movements are the same. The third support arm 6 is cross-arranged with the first support arm 4 and the second support arm 5 to form a stable support structure.

[0042] The first support arm 4 , the second support arm 5 and the third support arm 6 have the same structure. Specifically, the support arm comprises: a primary arm 11 , a secondary arm 12 , a tertiary arm 13 and a multi-stage oil cylinder 14 .

[0043] The primary arm 11, the secondary arm 12 and the tertiary arm 13 are connected in sequence through guide rails to form a moving pair, so that each arm can slide on the guide rail to achieve telescopic action. The multi-stage cylinder 14 is used to drive the extension and retraction of the support arm to achieve the lifting and rotation of the working platform 1. The bottom end of the primary arm 11 is connected to the rotating platform 7 and the fixed end of the multi-stage cylinder 14 through a pin shaft to form a bottom rotation pair, and the top end of the tertiary arm 13 is connected to the platform bracket 3 and the telescopic end of the multi-stage cylinder 14 through a pin shaft to form a top rotation pair.

[0044] When the work platform 1 needs to rotate around the Y axis, the action of the multi-stage oil cylinder 14 will drive the extension and retraction of the support arms, and the lifting and rotation of the work platform 1 are achieved through the change of the extension and retraction length of the three support arms. The first support arm 4 and the second support arm 5 are parallel and have the same action. When they are extended and retracted at the same time, the work platform 1 will rotate around the Y axis. The movement of the third support arm 6 is coordinated with the first and second support arms to maintain the balance and stability of the entire telescopic arm assembly.

[0045] The rotating platform 7 is used to drive the working platform 1 to rotate around the Z axis, that is, to provide support and power for the working platform 1 to rotate around the Z axis, so that the working platform 1 can rotate 360 ​​degrees in the current plane to meet the needs of working in different directions. The rotating platform 7 is located above the vehicle body 8, and the rotating platform 7 is connected to the vehicle body 8 through a slewing bearing 10. The telescopic hydraulic support feet 9 are arranged at the bottom of the vehicle body 8 to stabilize the vehicle body during operation and prevent the vehicle from moving or tilting during operation.

[0046] The trajectory control module is used to obtain the inclination data fed back by the two-dimensional inclination sensor 15, and send a control signal to the power module according to the inclination data, so that the power module drives the X-axis thrust cylinder 2, the telescopic arm assembly and the rotating platform 7 to move according to the control signal.

[0047] The trajectory control module obtains real-time inclination data from the two-dimensional inclination sensor 15, processes the inclination data, analyzes the posture of the current working platform, and determines the adjustments that need to be made. According to the processed inclination data, the corresponding control signal is sent to the power module to command the corresponding actuator to act. The actuators are the X-axis thrust cylinder 2, the rotating platform 7, the first support arm 4, the second support arm 5 and the third support arm 6.

[0048] The power module includes: a PID controller 31 , a three-position four-way valve 32 , a hydraulic station, and a hydraulic lock 33 ; the hydraulic station includes: an oil tank 34 , a pressure gauge 35 , a hydraulic pump 36 , and a filter 37 .

[0049] There are four three-position four-way valves 32, corresponding to the X-direction thrust cylinder 2, the first support arm 4, the second support arm 5 and the third support arm 6, that is, the three-position four-way valve 32 can control whether the hydraulic oil flows to the X-direction thrust cylinder 2 and the multi-stage cylinder 14 in the three support arms. The three-position four-way valve 32 is connected to the control output end of the PID controller 31, and the three-position four-way valve 32 is arranged on the oil supply pipeline connecting the oil tank 34 and the X-direction thrust cylinder 2 and the multi-stage cylinder 14 in the three support arms.

[0050] The two-dimensional inclination sensor 15 located at the bottom of the working platform 1 can collect inclination data in real time and transmit the data to the trajectory control module. The trajectory control module processes the signal and sends the corresponding control signal to the control part used to control the working platform 1 to rotate around the X-axis, Y-axis, and Z-axis.

[0051] The control signal for controlling the rotation of the working platform 1 around the X-axis is passed through the PID controller 31 to control the on-off of the three-position four-way valve 32, thereby promoting the movement of the X-direction thrust cylinder 2, and then controlling the operation of the working platform 1 in the X-direction. The control signal for controlling the rotation of the working platform 1 around the Y-axis is passed through the PID controller 31 to control the on-off of the three-position four-way valve 32, and then controlling the movement of the multi-stage cylinder 14 in the first support arm 4, the second support arm 5 and the third support arm 6, and finally realizing the control of the operation of the working platform 1 in the Y-direction. The trajectory control module sends the control signal for controlling the rotation of the working platform 1 around the Z-axis to the rotating platform 7 to control the rotation of the rotating platform 7 on the vehicle body 8.

[0052] Hydraulic locks 33 are provided on the X-axis thrust cylinder 2 and the multi-stage cylinders 14 in the three support arms. The hydraulic locks 33 can ensure the locking of the cylinders to prevent the cylinders from generating large impacts and vibrations.

[0053] The displacement sensor is used to measure the extension and retraction distance of the X-axis thrust cylinder 2 and feed it back to the trajectory control module, that is, the measurement data of the displacement sensor forms a feedback signal to control the rotation in the X direction.

[0054] When working on an inclined road, the sensor system composed of a two-dimensional inclination sensor 15 and a displacement sensor collects the posture data of the working platform 1, and the hydraulic control system composed of a trajectory control module and a power module drives the X-axis thrust cylinder 2, the rotating platform 7, the first support arm 4, the second support arm 5 and the third support arm 6 to automatically adjust the working platform 1 to a horizontal position, and realizes the flexible adjustment of the working platform 1 at any angle and the stability during the lifting process, thereby ensuring the personal safety of the operator. Through the rotation of the slewing bearing 10, the working platform is controlled to rotate around the Z axis, thereby flexibly controlling the angle of the working platform 1 to adapt to operations under complex working conditions. Through the support of the telescopic hydraulic support legs 9, the vehicle body is guaranteed to have a stable mechanical structure, with the advantages of simple structure and convenient operation.

[0055] The present application also provides a leveling control method for an aerial work vehicle, comprising: a two-dimensional inclination sensor 15 measures the inclination angle of the work platform 1 on the X-axis and the Y-axis, and feeds back the collected inclination data to a trajectory control module; the trajectory control module obtains the inclination data fed back by the two-dimensional inclination sensor 15, and sends a control signal to a power module based on the inclination data, so that the power module drives the X-axis thrust cylinder 2, the telescopic arm assembly and the rotating platform 7 to move according to the control signal.

[0056] like Figure 8 As shown, the operation process of the aerial work vehicle when rising is as follows:

[0057] S101: The vehicle moves to a fixed position.

[0058] S102: When the vehicle moves to a fixed position, the four telescopic hydraulic legs 9 at the bottom of the vehicle body 8 extend to fix the entire vehicle body 8. At this time, if the vehicle is parked on an inclined road, the entire vehicle will be in a tilted state.

[0059] S103: Collect data through the two-dimensional inclination sensor 15 installed at the bottom of the working platform 1 to obtain the inclination angles of the vehicle body and the X-axis and the Y-axis.

[0060] S104: The rotating platform 7 drives the working platform 1 to rotate to a specific angle so that the X-axis coincides with the tilt direction.

[0061] S105: The X-axis thrust cylinder 2 moves to adjust the working platform 1 to a horizontal state. The above steps can be completed manually or automatically.

[0062] S106: After the above process is completed, the working platform 1 is in a horizontal state, and the operator and equipment can be moved to the working platform 1, and then the first support arm 4, the second support arm 5 and the third support arm 6 are extended to lift the working platform 1.

[0063] S107: During the lifting process, the two-dimensional inclination sensor 15 collects inclination data in real time.

[0064] S108: The trajectory control module adjusts the telescopic movement of the X-axis thrust cylinder 2 in real time through the power module to achieve X-axis leveling of the work platform 1.

[0065] S109: The trajectory control module adjusts the telescopic movement of each multi-stage cylinder in the telescopic boom assembly in real time through the power module to achieve leveling of the work platform 1 in the Y direction.

[0066] If tilting occurs during the lifting process, the trajectory control module controls the movement of the X-axis thrust cylinder 2 and the multi-stage cylinder 14 in the three support arms to control the working platform 1 to remain horizontal. At the same time, the rotating platform 7 can be controlled to move during the lifting process to meet certain specific work requirements.

[0067] S110: After the working platform 1 is lifted to the working height, the rotating platform 7 drives the working platform 1 to rotate toward the working position.

[0068] like Fig. 9 As shown, the operation process of the aerial work vehicle when retracting is as follows:

[0069] S201: The working platform 1 starts to descend.

[0070] S202: Similar to the lifting process, at the initial stage of the descent, the two-dimensional inclination sensor 15 collects inclination data in real time and uploads it to the trajectory control module.

[0071] S203: Real-time adjustment of the X-axis thrust cylinder 2 to ensure that the work platform 1 is always in a horizontal position during the descent process. If a tilt occurs, real-time adjustment will be performed.

[0072] S204: Real-time adjustment of the movement of each multi-stage oil cylinder 14 in the telescopic boom assembly to ensure that the working platform 1 is always in a horizontal position during the descent process. If a tilt occurs, real-time adjustment will be performed.

[0073] S205: At the same time, by controlling the rotation of the rotating platform 7, the working platform 1 is controlled to reach a desired specific angle.

[0074] S206: When any one of the first support arm 4, the second support arm 5, and the third support arm 6 is retracted into place, the entire system stops moving, and the staff and operating equipment are removed.

[0075] S207: When there is no object on the working platform 1, the working platform 1 is adjusted to an initial angle by rotating the platform 7 manually or automatically.

[0076] S208: Retract the remaining support arms and control the X-axis thrust cylinder 2 to the middle position.

[0077] S209: Finally, the four telescopic hydraulic legs 9 are retracted, and the entire descending process is completed.

[0078] The above is only a specific embodiment of the present invention, but the protection scope of the present invention is not limited thereto. Any changes or substitutions that can be easily thought of by a person skilled in the art within the technical scope disclosed by the present invention should be included in the protection scope of the present invention. Therefore, the protection scope of the present invention shall be subject to the protection scope of the claims.

Claims

1. A self-feedback leveling aerial work vehicle, characterized in that: include: A two-dimensional inclination sensor is arranged on the working platform, and is used to measure the inclination angle of the working platform on the X-axis and the Y-axis, and feed back the collected inclination data to the trajectory control module; An X-axis thrust cylinder is used to drive the working platform to rotate around the X-axis; A telescopic arm assembly, used for driving the working platform to rotate around the Y axis; A rotating platform, used to drive the working platform to rotate around the Z axis; The trajectory control module is used to obtain the inclination data fed back by the two-dimensional inclination sensor, and send a control signal to the power module according to the inclination data, so that the power module drives the X-axis thrust cylinder, the telescopic arm assembly and the rotating platform to move according to the control signal.

2. The self-feedback leveling aerial work vehicle according to claim 1, characterized in that: Also includes: Platform bracket; the working platform is located above the platform bracket, and the working platform is connected to the platform bracket through a pin shaft; the fixed end of the X-axis thrust cylinder is fixed to the platform bracket through a pin shaft, and the telescopic end of the X-axis thrust cylinder is connected to the working platform through a pin shaft.

3. The self-feedback leveling aerial work vehicle according to claim 2, characterized in that: The telescopic arm assembly includes: three cross-arranged support arms; the support arms include: a primary arm, a secondary arm, a tertiary arm and a multi-stage cylinder, the primary arm, the secondary arm and the tertiary arm are connected by guide rails to form a moving pair, the bottom end of the primary arm is connected to the rotating platform and the fixed end of the multi-stage cylinder through a pin, and the top end of the tertiary arm is connected to the platform bracket and the telescopic end of the multi-stage cylinder through a pin.

4. The self-feedback leveling aerial work vehicle according to claim 3, characterized in that: Also includes: A vehicle body, a slewing bearing and a telescopic hydraulic support leg; the rotating platform is located above the vehicle body, and the rotating platform is connected to the vehicle body through the slewing bearing, and the telescopic hydraulic support leg is arranged at the bottom of the vehicle body.

5. The self-feedback leveling aerial work vehicle according to claim 4, characterized in that: The power module includes: a PID controller, a three-position four-way valve and a hydraulic station; the three-position four-way valve is connected to the control output end of the PID controller, and the three-position four-way valve is arranged on the oil supply pipeline connecting the hydraulic station and the X-direction thrust cylinder and the multi-stage cylinders in the three support arms.

6. The self-feedback leveling aerial work vehicle according to claim 5, characterized in that: Hydraulic locks are arranged on the X-direction thrust cylinder and the multi-stage cylinders in the three support arms.

7. The self-feedback leveling aerial work vehicle according to claim 6, characterized in that: Also includes: The displacement sensor is used to measure the extension and retraction distance of the X-axis thrust cylinder and feed back to the trajectory control module.

8. A leveling control method for an aerial work vehicle, characterized in that: include: The two-dimensional inclination sensor measures the inclination angle of the work platform on the X-axis and Y-axis, and feeds the collected inclination data back to the trajectory control module; The trajectory control module obtains the inclination data fed back by the two-dimensional inclination sensor, and sends a control signal to the power module according to the inclination data, so that the power module drives the X-axis thrust cylinder, the telescopic boom assembly and the rotating platform to move according to the control signal.

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