Self-balancing hydraulic lifting transportation platform and self-balancing method thereof

Abstract

The invention relates to the technical field of hydraulic lifting platforms, and discloses a self-balancing hydraulic lifting transportation platform and a self-balancing method thereof.The lifting transportation platform comprises a base, a lifting plate, a front lifting cylinder, a rear lifting cylinder, a front supporting cylinder and a rear supporting cylinder. S3, judging the inclination angle of the base; S4, adjusting the base to be in a horizontal state through stretching and retracting of a front supporting cylinder and a rear supporting cylinder; S5, judging the inclination angle of the lifting plate for the second time; S6, adjusting the lifting plate to be horizontal through stretching and retracting of a front lifting cylinder and a rear lifting cylinder; and S7, the inclination angle of the base is smaller than the threshold value B1 and the lifting plate is horizontal through stretching and retracting of the front lifting cylinder, the rear lifting cylinder, the front supporting cylinder and the rear supporting cylinder. The invention provides a self-balancing hydraulic lifting transportation platform and a self-balancing method thereof. The self-balancing hydraulic lifting transportation platform can solve or at least relieve the problem that an existing lifting platform is prone to tipping over or shaking greatly when a workbench moves and works at a high position.

Description

Technical Field

[0001] The present invention relates to the technical field of hydraulic lifting platforms, and in particular to a self-balancing hydraulic lifting transport platform and a self-balancing method thereof. Background Art

[0002] As a type of multifunctional lifting and loading and unloading mechanical equipment, lifting platforms have important application value in the field of construction engineering. However, technical analysis shows that existing lifting platforms generally lack an adjustable inclined tilting mechanism design, which leads to significant technical defects in slope operation scenarios. When the working surface has a slope, construction workers still need to rely on stepladders to implement processes such as wall finishing coating, pipeline laying or lighting installation, which complicates the operation process, limits practical performance and significantly increases safety hazards, making it difficult to effectively meet the engineering needs for aerial work equipment in construction.

[0003] Although some lifting platforms currently on the market have the ability to work on slopes, their operating mode uses fixed-position work after leveling. When the working point needs to be changed, the lifting platform must go through the work process of lowering and resetting, point migration, secondary leveling and re-lifting. This intermittent operation process seriously restricts the construction efficiency of continuous operations at the same elevation. What is more serious is that the frequent instability during equipment operation significantly increases the safety risk. The typical working conditions are as follows: when the lifting platform is in a non-horizontal state and continues to lift, it is very easy to cause the center of gravity of the load to shift and cause an overturning accident; similarly, forced lifting when the base support surface is tilted will cause an imbalance in the overall torque of the equipment, posing a major safety hazard of causing the equipment to roll over.

[0004] The invention patent with publication number CN115340049A discloses a construction inclined lifting platform, including a moving mechanism and an adjusting mechanism, a protective sliding mechanism is horizontally installed above the moving mechanism, and a lifting mechanism is movably connected above the protective sliding mechanism, and the adjusting mechanism is located above the lifting mechanism, and the moving mechanism includes a base, a connecting lock rod, a rotating shaft, a track wheel, a fixed block, a fender, a telescopic rod and a suction cup, and a connecting lock rod is fixedly connected above the base. The construction inclined lifting platform, through the design coordination between the moving mechanism, the protective sliding mechanism, the lifting mechanism and the adjusting mechanism, enables the device to be applied to slopes of different angles, different orientations and different deflection angles. This design not only improves the practicability and application range of the device, but also excels in safety, stability and protection of the device. The user can start the control hydraulic cylinder, which extends downward and pushes the workbench to a horizontal state through the reverse force. Therefore, on slopes of different angles, the hydraulic cylinder always controls the workbench to be in a horizontal state, and the angle between the workbench and the base is exactly the angle of the slope. This design makes the device applicable to slopes of any angle. Although the device has the ability to operate on slopes, it needs to move along the slope during continuous operation. It is worth noting that when the working platform is in a high position and the slope angle changes dynamically, the center of gravity of the system may deviate from the base support area, thereby inducing the risk of overturning. It should be emphasized that even if the center of gravity of the working platform does not exceed the base support range, the change in the slope angle will still cause the platform to tilt. Under this working condition, if the platform posture is corrected solely by relying on the base angle adjustment mechanism, due to the significant force arm length between the platform and the base, a large amplitude mechanical vibration will be generated during the posture adjustment process, posing a safety hazard. Summary of the invention

[0005] The purpose of the present invention is to overcome the deficiencies in the prior art, solve or at least alleviate the problem that the existing lifting platform is prone to tipping over or shaking when the workbench is located at a high position and moving, and to provide a self-balancing hydraulic lifting and transportation platform and a self-balancing method thereof.

[0006] To achieve the above object, the present invention provides the following technical solutions: a self-balancing method for a self-balancing hydraulic lifting and transporting platform, the lifting and transporting platform comprises a base, a lifting plate, a front lifting cylinder, a rear lifting cylinder, a front supporting cylinder and a rear supporting cylinder, including lifting self-balancing and conveying self-balancing, wherein the conveying self-balancing comprises the following steps: S1, determine the inclination angle of the lifting plate once, if the inclination angle of the lifting plate is less than the threshold value A1, proceed to step S2, if the inclination angle of the lifting plate is greater than the threshold value A1, proceed to step S3; S2, after the lifting plate is adjusted to the set height, go to step S1; S3, judging the inclination angle of the base, if the inclination angle of the base is greater than the threshold value B1, proceeding to step S4, if the inclination angle of the base is less than the threshold value B1, proceeding to step S5; S4, adjust the base to a horizontal state by extending and retracting the front support cylinder and the rear support cylinder, and proceed to step S2; S5, secondly determine the inclination angle of the lifting plate, if the inclination angle of the lifting plate is less than the threshold value A2, proceed to step S6, if the inclination angle of the lifting plate is greater than the threshold value A2, proceed to step S7; S6, adjust the lifting plate to a horizontal level by extending and retracting the front lifting cylinder and the rear lifting cylinder, and proceed to step S2; S7. By extending and retracting the front lifting cylinder, the rear lifting cylinder, the front supporting cylinder and the rear supporting cylinder, the base inclination angle is made smaller than the threshold value B1 and the lifting plate is adjusted to be horizontal, and then the process goes to step S2.

[0007] In order to further realize the present invention, the following technical solutions may be preferably selected: Preferably, step S6 comprises the following steps: Step S61, detecting the extension amounts of the front support cylinder and the rear support cylinder; Step S62: the extension amount of the front support cylinder is less than the extension amount of the rear support cylinder, and the process proceeds to step S63; the extension amount of the front support cylinder is greater than the extension amount of the rear support cylinder, and the process proceeds to step S64; the extension amount of the front support cylinder is equal to the extension amount of the rear support cylinder, and the process proceeds to step S65; Step S63, the front lifting cylinder or the rear lifting cylinder is retracted to adjust the lifting plate to a horizontal position; Step S64, the front lifting cylinder or the rear lifting cylinder extends to adjust the lifting plate to a horizontal level; Step S65: The front lifting cylinder and the rear lifting cylinder are synchronously extended and retracted in opposite directions to adjust the lifting plate to a horizontal position.

[0008] Preferably, the step S61 further detects the tilt state of the lifting plate; In the step S63, if the lifting plate is higher at the front and lower at the back, the front lifting cylinder will be retracted; if the lifting plate is lower at the front and higher at the back, the rear lifting cylinder will be retracted; In the step S64, if the lifting plate is higher at the front and lower at the back, the rear lifting cylinder will be extended; if the lifting plate is lower at the front and higher at the back, the front lifting cylinder will be extended; In step S65, if the lifting plate is higher at the front and lower at the back, the front lifting cylinder will be retracted and the rear lifting cylinder will be extended synchronously; if the lifting plate is lower at the front and higher at the back, the front lifting cylinder will be extended and the rear lifting cylinder will be retracted synchronously.

[0009] Preferably, the step S7 comprises the following steps: Step S71, detecting the extension amounts of the front support cylinder and the rear support cylinder; Step S72: the extension amount of the front support cylinder is less than the extension amount of the rear support cylinder, and the process proceeds to step S73; the extension amount of the front support cylinder is greater than the extension amount of the rear support cylinder, and the process proceeds to step S74; the extension amount of the front support cylinder is equal to the extension amount of the rear support cylinder, and the process proceeds to step S4; Step S73, the front lifting cylinder or the rear lifting cylinder is retracted to adjust the lifting plate to a horizontal level, and the front supporting cylinder or the rear supporting cylinder is retracted to reduce the inclination angle of the base; Step S74, the front lifting cylinder or the rear lifting cylinder is extended to adjust the lifting plate to a horizontal level, and the front supporting cylinder or the rear supporting cylinder is extended to reduce the inclination angle of the base.

[0010] Preferably, the step S71 further detects the tilt state of the lifting plate and the base; In the step S73, if the lifting plate is higher in front and lower in the back and the base is higher in front and lower in the back, the front lifting cylinder and the front supporting cylinder will shrink at the same time; if the lifting plate is higher in front and lower in the back and the base is lower in front and higher in the back, the front lifting cylinder and the rear supporting cylinder will shrink at the same time; if the lifting plate is lower in front and higher in the back and the base is higher in front and lower in the back, the rear lifting cylinder and the front supporting cylinder will shrink at the same time; if the lifting plate is lower in front and higher in the back and the base is lower in front and higher in the back, the rear lifting cylinder and the rear supporting cylinder will shrink at the same time; In the step S74, if the lifting plate is higher at the front and lower at the back and the base is higher at the front and lower at the back, the rear lifting cylinder and the rear supporting cylinder extend simultaneously; if the lifting plate is higher at the front and lower at the back and the base is lower at the front and higher at the back, the rear lifting cylinder and the front supporting cylinder extend simultaneously; if the lifting plate is lower at the front and higher at the back and the base is higher at the front and lower at the back, the front lifting cylinder and the front supporting cylinder extend simultaneously; if the lifting plate is lower at the front and higher at the back and the base is lower at the front and higher at the back, the front lifting cylinder and the front supporting cylinder extend simultaneously.

[0011] Preferably, before executing step S1, the following steps are first performed: S0, threshold correction, detect the height h of the lifting plate relative to the base at this time, the increase or decrease of threshold A1, threshold A2 and threshold B1 are inversely proportional to the increase or decrease of the height h.

[0012] Preferably, when the inclination angle of the base is less than a threshold value B1, the telescopic speed of the front lifting cylinder and the rear lifting cylinder is X_1, and when the inclination angle of the base is greater than the threshold value B1, the telescopic speed of the front lifting cylinder and the rear lifting cylinder is X_2, and X_1 is greater than X_2.

[0013] Preferably, when the front support cylinder or the rear support cylinder is extended and retracted synchronously with the front lifting cylinder or the rear lifting cylinder, the extension and retraction speed of the front support cylinder and the rear support cylinder is Y, Y is not greater than X_2, and the increase or decrease of Y is inversely proportional to the increase or decrease of the height h.

[0014] Preferably, the lifting self-balancing comprises the following steps: SA, front support cylinder and rear support cylinder synchronously extend the setting amount L1; SB, determine whether the base is level, if the base is level, go to step SC, if the base is not level, go to step SD; The SC, front lift cylinder and rear lift cylinder extend and retract synchronously to make the lift plate reach the set height; SD. According to the tilt state of the base, the front support cylinder or the rear support cylinder is extended or retracted. The synchronous extension setting amount of the front support cylinder and the rear support cylinder is greater than L1 and less than L2, and the process goes to step SB.

[0015] A self-balancing hydraulic lifting and transporting platform, the self-balancing hydraulic lifting and transporting platform adopts the above-mentioned self-balancing method of the self-balancing hydraulic lifting and transporting platform, comprising: a base, which moves along the ground; A lifting plate is located on the upper side of the base; A front lifting cylinder and a rear lifting cylinder, which are used to drive the lifting plate to move up and down and are respectively located at the front and rear ends of the base, and the front lifting cylinder and the rear lifting cylinder both extend upward; The front support cylinder and the rear support cylinder are used to adjust the inclination state of the base and are respectively located at the front and rear ends of the base; the front support cylinder and the rear support cylinder both extend downward; An inclination detection assembly, comprising a first inclination detection unit and a second inclination detection unit, wherein the first inclination detection unit and the second inclination detection unit are respectively used to detect the inclinations of the base and the lifting plate; The height detection unit is used to detect the height position of the lifting plate.

[0016] The beneficial effects of the present invention are: 1. The present invention analyzes the inclination angle of the base and the lifting plate. When the inclination angle of the lifting plate is small, the inclination state of the base remains unchanged. The lifting plate is leveled only by adjusting the inclination angle of the lifting plate through the extension and contraction of the front support cylinder and the rear support cylinder. Since the inclination angle is small, the center of gravity of the lifting plate will not exceed the base and will not tip over. At the same time, the adjustment arm is small, which ensures the stability of the lifting plate during adjustment. When the inclination angle of the lifting plate is large, the inclination of the base and the lifting plate needs to be adjusted synchronously, and the inclination angle of the base needs to be appropriately reduced to ensure that the lifting plate maintains a horizontal state, so as to prevent the center of gravity of the lifting plate from shifting due to the excessive inclination angle of the base. At the same time, the inclination angle of the lifting plate can be directly adjusted to effectively reduce shaking.

[0017] 2. The present invention also detects the extension amount of the front support cylinder and the rear support cylinder to determine whether it is uphill or downhill. While adjusting the inclination angle of the lifting plate, it ensures that the lifting plate is at the same height position as much as possible, reducing the adjustment amount and adjustment frequency of the height position of the lifting plate during translation, thereby improving the stability of the position state of the lifting plate during operation.

[0018] 3. The present invention dynamically sets the adjustment threshold value according to the height position of the lifting plate relative to the base, and on the basis of ensuring that the lifting plate does not tip over, improves the stability by adjusting the inclination angle of the lifting plate as much as possible. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] Figure 1 It is a flow chart of the self-balancing of the transport of the present invention.

[0020] Figure 2 This is a flow chart of step S6 of the transport self-balancing process of the present invention.

[0021] Figure 3 This is a flow chart of step S7 of the transport self-balancing process of the present invention.

[0022] Figure 4 It is a flow chart of the lifting self-balancing of the present invention. DETAILED DESCRIPTION

[0023] In the description of the present invention, it is also necessary to explain that, unless otherwise clearly specified and limited, the terms "set", "install", "connect", and "connect" 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 elements. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0024] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative work are within the scope of protection of the present invention.

[0025] Embodiment 1 Although the existing lifting platforms with adjustable angles can work on slopes, they need to walk along the slopes when working continuously, and the angle of the slope is not fixed. When the angle of the slope changes, and the workbench is at a high position, the center of gravity of the workbench may exceed the base, causing tipping. And even if the center of gravity of the workbench does not exceed the base, the change in the slope angle will cause the workbench to tilt. At this time, if the angle of the workbench is adjusted only by the angle of the base, the workbench will have a large force arm because it is far away from the base, and the workbench will shake greatly during adjustment, which is prone to safety hazards.

[0026] Reference Figure 1 The present embodiment discloses a self-balancing method for a self-balancing hydraulic lifting and transporting platform, which relates to an adaptive balancing lifting device, including a base, a lifting plate, a front lifting cylinder, a rear lifting cylinder, a front supporting cylinder, and a rear supporting cylinder. The device realizes self-balancing of lifting and self-balancing of transportation through adaptive balancing technology. The steps for realizing self-balancing of transportation include: utilizing the synergistic effect of the deflection adjustment disk and the deflection adjustment rope to adjust the balance state of the main frame in real time to ensure stability during the lifting process, thereby effectively reducing the deflection problem caused by uneven weight distribution.

[0027] S1, determine the inclination angle of the lifting plate once, if the inclination angle of the lifting plate is less than the threshold value A1, proceed to step S2, if the inclination angle of the lifting plate is greater than the threshold value A1, proceed to step S3; S2, after the lifting plate is adjusted to the set height, go to step S1; S3, judging the inclination angle of the base, if the inclination angle of the base is greater than the threshold value B1, proceeding to step S4, if the inclination angle of the base is less than the threshold value B1, proceeding to step S5; S4, adjust the base to a horizontal state by extending and retracting the front support cylinder and the rear support cylinder, and proceed to step S2; S5, secondly determine the inclination angle of the lifting plate, if the inclination angle of the lifting plate is less than the threshold value A2, proceed to step S6, if the inclination angle of the lifting plate is greater than the threshold value A2, proceed to step S7; S6, adjust the lifting plate to a horizontal level by extending and retracting the front lifting cylinder and the rear lifting cylinder, and proceed to step S2; S7. By extending and retracting the front lifting cylinder, the rear lifting cylinder, the front supporting cylinder and the rear supporting cylinder, the base inclination angle is made smaller than the threshold value B1 and the lifting plate is adjusted to be horizontal, and then the process goes to step S2.

[0028] Reference Figure 4 , wherein the lifting self-balancing includes the following steps: SA, the front support cylinder and the rear support cylinder are extended synchronously by a setting amount L1 to ensure that the front support cylinder and the rear support cylinder have a certain amount of contraction during subsequent self-balancing transportation; SB, determine whether the base is level, if the base is level, go to step SC, if the base is not level, go to step SD; The SC, front lift cylinder and rear lift cylinder extend and retract synchronously to make the lift plate reach the set height; SD. According to the tilt state of the base, the front support cylinder or the rear support cylinder is extended or retracted. The synchronous extension setting amount of the front support cylinder and the rear support cylinder is greater than L1 and less than L2, and the process goes to step SB.

[0029] Through a detailed analysis of the inclination angle of the base and the lifting plate, we found that when the inclination angle of the lifting plate is small, the base maintains its original inclination state, and only the inclination angle of the lifting plate needs to be adjusted through the telescopic action of the front support cylinder and the rear support cylinder to achieve the leveling of the lifting plate. Due to the small inclination angle, the center of gravity of the lifting plate is always within the range of the base, avoiding the occurrence of tipping. At the same time, the smaller adjustment arm also ensures the stability of the lifting plate during the adjustment process. When the inclination angle of the lifting plate is large, it is necessary to adjust the inclination state of the base and the lifting plate at the same time, and make the lifting plate reach a horizontal state by reducing the inclination angle of the base. This adjustment strategy effectively avoids the problem of the center of gravity of the lifting plate exceeding the range of the base due to the excessive inclination angle of the base. At the same time, the inclination angle of the lifting plate is directly adjusted to further reduce the shaking of the lifting plate.

[0030] Embodiment 2 The technical solution of the first embodiment can avoid tipping and ensure stability. However, when the lifting platform is in mobile operation, it is usually necessary to keep the lifting platform at the same height. When moving on a slope, it is necessary to continuously adjust the height of the lifting platform. When the angle of the slope changes, it is necessary not only to level the lifting platform but also to adjust its height. At the same time, during the adjustment, the shaking of the lifting platform will increase, reducing stability.

[0031] Reference Figure 2 and Figure 3 In this embodiment, step S6 includes the following steps: Step S61, detecting the extension amounts of the front support cylinder and the rear support cylinder; Step S62: the extension amount of the front support cylinder is less than the extension amount of the rear support cylinder, and the process proceeds to step S63; the extension amount of the front support cylinder is greater than the extension amount of the rear support cylinder, and the process proceeds to step S64; the extension amount of the front support cylinder is equal to the extension amount of the rear support cylinder, and the process proceeds to step S65; Step S63, the front lifting cylinder or the rear lifting cylinder is retracted to adjust the lifting plate to a horizontal position; Step S64, the front lifting cylinder or the rear lifting cylinder extends to adjust the lifting plate to a horizontal level; Step S65: The front lifting cylinder and the rear lifting cylinder are synchronously extended and retracted in opposite directions to adjust the lifting plate to a horizontal position.

[0032] In the step S61, the tilt state of the lifting plate is also detected; In the step S63, if the lifting plate is higher at the front and lower at the back, the front lifting cylinder will be retracted; if the lifting plate is lower at the front and higher at the back, the rear lifting cylinder will be retracted; In the step S64, if the lifting plate is higher at the front and lower at the back, the rear lifting cylinder will be extended; if the lifting plate is lower at the front and higher at the back, the front lifting cylinder will be extended; In step S65, if the lifting plate is higher at the front and lower at the back, the front lifting cylinder will be retracted and the rear lifting cylinder will be extended synchronously; if the lifting plate is lower at the front and higher at the back, the front lifting cylinder will be extended and the rear lifting cylinder will be retracted synchronously.

[0033] The step S7 comprises the following steps: Step S71, detecting the extension amounts of the front support cylinder and the rear support cylinder; Step S72: the extension amount of the front support cylinder is less than the extension amount of the rear support cylinder, and the process proceeds to step S73; the extension amount of the front support cylinder is greater than the extension amount of the rear support cylinder, and the process proceeds to step S74; the extension amount of the front support cylinder is equal to the extension amount of the rear support cylinder, and the process proceeds to step S4; Step S73, the front lifting cylinder or the rear lifting cylinder is retracted to adjust the lifting plate to a horizontal level, and the front supporting cylinder or the rear supporting cylinder is retracted to reduce the inclination angle of the base; Step S74, the front lifting cylinder or the rear lifting cylinder is extended to adjust the lifting plate to a horizontal level, and the front supporting cylinder or the rear supporting cylinder is extended to reduce the inclination angle of the base.

[0034] In the step S71, the tilt state of the lifting plate and the base is also detected; In step S73, if the lifting plate is higher in the front and lower in the back, and the base is also higher in the front and lower in the back, the front lifting cylinder and the front supporting cylinder will shrink synchronously; if the lifting plate is higher in the front and lower in the back, and the base is lower in the front and higher in the back, the front lifting cylinder and the rear supporting cylinder will shrink synchronously; if the lifting plate is lower in the front and higher in the back, and the base is higher in the front and lower in the back, the rear lifting cylinder and the front supporting cylinder will shrink synchronously; if both the lifting plate and the base are lower in the front and higher in the back, the rear lifting cylinder and the rear supporting cylinder will shrink synchronously.

[0035] In the step S74, if the lifting plate is higher at the front and lower at the back and the base is higher at the front and lower at the back, the rear lifting cylinder and the rear supporting cylinder extend simultaneously; if the lifting plate is higher at the front and lower at the back and the base is lower at the front and higher at the back, the rear lifting cylinder and the front supporting cylinder extend simultaneously; if the lifting plate is lower at the front and higher at the back and the base is higher at the front and lower at the back, the front lifting cylinder and the front supporting cylinder extend simultaneously; if the lifting plate is lower at the front and higher at the back and the base is lower at the front and higher at the back, the front lifting cylinder and the front supporting cylinder extend simultaneously.

[0036] First determine whether it is going up or down. When going up, the lifting plate is leveled by contracting the front lifting cylinder or the rear lifting cylinder, thereby offsetting the rise in the height position of the lifting plate when going up; when going down, the lifting plate is leveled by extending the front lifting cylinder or the rear lifting cylinder, thereby offsetting the drop in the height position of the lifting plate when going up. While adjusting the inclination of the lifting plate, ensure that the lifting plate is at the same height position as much as possible, reduce the adjustment amount and frequency of the height position of the lifting plate during translation, and thus improve the stability of the position state of the lifting plate during operation.

[0037] Embodiment 3 In order to ensure the stability of the lifting platform and avoid tipping due to the center of gravity exceeding the base, the relationship between the center of gravity position and the tipping line must be considered during design, and the inclination adjustment of the base can be reduced by optimizing the support point structure and overlap parameters.

[0038] In this embodiment, before executing step S1, the following steps are first performed: S0, threshold correction, detect the height h of the lifting plate relative to the base at this time, the increase or decrease of threshold A1, threshold A2 and threshold B1 are inversely proportional to the increase or decrease of the height h.

[0039] When the lifting plate is at a higher position, if the base is tilted, the horizontal offset of the lifting plate relative to the base will increase, thereby increasing the risk of tipping. Therefore, as the height h increases, the thresholds A1 and A2 will decrease accordingly to reduce the adjustment amount and increase the adjustment frequency to ensure safety. At the same time, the threshold B1 will also decrease to further reduce the horizontal offset of the lifting plate relative to the base. The smaller the height h, the larger the thresholds A1 and A2, increasing the adjustment amount, reducing the adjustment frequency, and ensuring stability. The larger the threshold B1, the smaller the horizontal offset of the lifting plate relative to the base. At this time, try to adjust the inclination of the lifting plate alone to further ensure stability.

[0040] In order to further improve stability, when the inclination angle of the base is less than the threshold value B1, the extension and retraction speeds of the front and rear lifting cylinders are X_1, and when the inclination angle of the base is greater than the threshold value B1, the extension and retraction speeds of the front and rear lifting cylinders are X_2, and X_1 is greater than X_2.

[0041] When the front support cylinder or the rear support cylinder is extended and retracted synchronously with the front lifting cylinder or the rear lifting cylinder, the extension and retraction speed of the front support cylinder and the rear support cylinder is Y, Y is not greater than X_2, and the increase or decrease of Y is inversely proportional to the increase or decrease of the height h.

[0042] Embodiment 4 A self-balancing hydraulic lifting and transporting platform, the self-balancing hydraulic lifting and transporting platform adopts the above-mentioned self-balancing method of the self-balancing hydraulic lifting and transporting platform, comprising: a base, which moves along the ground; A lifting plate is located on the upper side of the base; The front lifting cylinder and the rear lifting cylinder are respectively installed at the front and rear ends of the base, responsible for driving the lifting plate to perform lifting actions, and both extend upward.

[0043] The front support cylinder and the rear support cylinder are respectively arranged at the front and rear ends of the base, and are used to adjust the tilt angle of the base, and both extend downward.

[0044] The inclination detection component includes two detection parts: the first inclination detection part is responsible for detecting the inclination of the base, and the second inclination detection part is responsible for detecting the inclination of the lifting plate.

[0045] The height detection unit is used to detect the height position of the lifting plate.

[0046] The above are only preferred specific implementation modes of the present invention, but the protection scope of the present invention is not limited thereto. Any technician familiar with the technical field can make equivalent replacements or changes according to the technical solutions and inventive concepts of the present invention within the technical scope disclosed by the present invention, which should be covered by the protection scope of the present invention.

Claims

1. A self-balancing method for a self-balancing hydraulic lifting and transporting platform, the lifting and transporting platform comprising a base, a lifting plate, a front lifting cylinder, a rear lifting cylinder, a front supporting cylinder and a rear supporting cylinder, characterized in that: It includes lifting self-balancing and conveying self-balancing, wherein the conveying self-balancing includes the following steps: S1, determine the inclination angle of the lifting plate once, if the inclination angle of the lifting plate is less than the threshold value A1, proceed to step S2, if the inclination angle of the lifting plate is greater than the threshold value A1, proceed to step S3; S2, after the lifting plate is adjusted to the set height, go to step S1; S3, judging the inclination angle of the base, if the inclination angle of the base is greater than the threshold value B1, proceeding to step S4, if the inclination angle of the base is less than the threshold value B1, proceeding to step S5; S4, adjust the base to a horizontal state by extending and retracting the front support cylinder and the rear support cylinder, and proceed to step S2; S5, secondly determine the inclination angle of the lifting plate, if the inclination angle of the lifting plate is less than the threshold value A2, proceed to step S6, if the inclination angle of the lifting plate is greater than the threshold value A2, proceed to step S7; S6, adjust the lifting plate to a horizontal level by extending and retracting the front lifting cylinder and the rear lifting cylinder, and proceed to step S2; S7. By extending and retracting the front lifting cylinder, the rear lifting cylinder, the front supporting cylinder and the rear supporting cylinder, the base inclination angle is made smaller than the threshold value B1 and the lifting plate is adjusted to be horizontal, and then the process goes to step S2.

2. A self-balancing method for a self-balancing hydraulic lifting and transporting platform according to claim 1, characterized in that: The step S6 comprises the following steps: Step S61, detecting the extension amounts of the front support cylinder and the rear support cylinder; Step S62: the extension amount of the front support cylinder is less than the extension amount of the rear support cylinder, and the process proceeds to step S63; the extension amount of the front support cylinder is greater than the extension amount of the rear support cylinder, and the process proceeds to step S64; the extension amount of the front support cylinder is equal to the extension amount of the rear support cylinder, and the process proceeds to step S65; Step S63, the front lifting cylinder or the rear lifting cylinder is retracted to adjust the lifting plate to a horizontal position; Step S64, the front lifting cylinder or the rear lifting cylinder extends to adjust the lifting plate to a horizontal level; Step S65: The front lifting cylinder and the rear lifting cylinder are synchronously extended and retracted in opposite directions to adjust the lifting plate to a horizontal position.

3. A self-balancing method for a self-balancing hydraulic lifting and transporting platform according to claim 2, characterized in that: In the step S61, the tilt state of the lifting plate is also detected; In the step S63, if the lifting plate is higher at the front and lower at the back, the front lifting cylinder will be retracted; if the lifting plate is lower at the front and higher at the back, the rear lifting cylinder will be retracted; In the step S64, if the lifting plate is higher at the front and lower at the back, the rear lifting cylinder will be extended; if the lifting plate is lower at the front and higher at the back, the front lifting cylinder will be extended; In step S65, if the lifting plate is higher at the front and lower at the back, the front lifting cylinder will be retracted and the rear lifting cylinder will be extended synchronously; if the lifting plate is lower at the front and higher at the back, the front lifting cylinder will be extended and the rear lifting cylinder will be retracted synchronously.

4. A self-balancing method for a self-balancing hydraulic lifting and transporting platform according to claim 1, characterized in that: The step S7 comprises the following steps: Step S71, detecting the extension amounts of the front support cylinder and the rear support cylinder; Step S72: the extension amount of the front support cylinder is less than the extension amount of the rear support cylinder, and the process proceeds to step S73; the extension amount of the front support cylinder is greater than the extension amount of the rear support cylinder, and the process proceeds to step S74; the extension amount of the front support cylinder is equal to the extension amount of the rear support cylinder, and the process proceeds to step S4; Step S73, the front lifting cylinder or the rear lifting cylinder is retracted to adjust the lifting plate to a horizontal level, and the front supporting cylinder or the rear supporting cylinder is retracted to reduce the inclination angle of the base; Step S74, the front lifting cylinder or the rear lifting cylinder is extended to adjust the lifting plate to a horizontal level, and the front supporting cylinder or the rear supporting cylinder is extended to reduce the inclination angle of the base.

5. A self-balancing method for a self-balancing hydraulic lifting and transporting platform according to claim 4, characterized in that: In the step S71, the tilt state of the lifting plate and the base is also detected; In the step S73, if the lifting plate is higher in front and lower in the back and the base is higher in front and lower in the back, the front lifting cylinder and the front supporting cylinder will shrink at the same time; if the lifting plate is higher in front and lower in the back and the base is lower in front and higher in the back, the front lifting cylinder and the rear supporting cylinder will shrink at the same time; if the lifting plate is lower in front and higher in the back and the base is higher in front and lower in the back, the rear lifting cylinder and the front supporting cylinder will shrink at the same time; if the lifting plate is lower in front and higher in the back and the base is lower in front and higher in the back, the rear lifting cylinder and the rear supporting cylinder will shrink at the same time; In the step S74, if the lifting plate is higher at the front and lower at the back and the base is higher at the front and lower at the back, the rear lifting cylinder and the rear supporting cylinder extend simultaneously; if the lifting plate is higher at the front and lower at the back and the base is lower at the front and higher at the back, the rear lifting cylinder and the front supporting cylinder extend simultaneously; if the lifting plate is lower at the front and higher at the back and the base is higher at the front and lower at the back, the front lifting cylinder and the front supporting cylinder extend simultaneously; if the lifting plate is lower at the front and higher at the back and the base is lower at the front and higher at the back, the front lifting cylinder and the front supporting cylinder extend simultaneously.

6. A self-balancing method for a self-balancing hydraulic lifting and transporting platform according to claim 1, characterized in that: Before executing step S1, first execute the following steps: S0, threshold correction, detect the height h of the lifting plate relative to the base at this time, the increase or decrease of threshold A1, threshold A2 and threshold B1 are inversely proportional to the increase or decrease of the height h.

7. A self-balancing method for a self-balancing hydraulic lifting and transporting platform according to claim 1, characterized in that: When the inclination angle of the base is less than the threshold value B1, the telescopic speed of the front lifting cylinder and the rear lifting cylinder is X_1. When the inclination angle of the base is greater than the threshold value B1, the telescopic speed of the front lifting cylinder and the rear lifting cylinder is X_2, and X_1 is greater than X_2.

8. A self-balancing method for a self-balancing hydraulic lifting and transporting platform according to claim 7, characterized in that: When the front support cylinder or the rear support cylinder is extended and retracted synchronously with the front lifting cylinder or the rear lifting cylinder, the extension and retraction speed of the front support cylinder and the rear support cylinder is Y, Y is not greater than X_2, and the increase or decrease of Y is inversely proportional to the increase or decrease of the height h.

9. A self-balancing method for a self-balancing hydraulic lifting and transporting platform according to claim 1, characterized in that: The lifting self-balancing includes the following steps: SA, front support cylinder and rear support cylinder synchronously extend the setting amount L1; SB, determine whether the base is level, if the base is level, go to step SC, if the base is not level, go to step SD; The SC, front lift cylinder and rear lift cylinder extend and retract synchronously to make the lift plate reach the set height; SD. According to the tilt state of the base, the front support cylinder or the rear support cylinder is extended or retracted. The synchronous extension setting amount of the front support cylinder and the rear support cylinder is greater than L1 and less than L2, and the process goes to step SB.

10. A self-balancing hydraulic lifting and transporting platform, using a self-balancing method of a self-balancing hydraulic lifting and transporting platform as described in any one of claims 1 to 9, characterized in that: include: a base, which moves along the ground; A lifting plate is located on the upper side of the base; A front lifting cylinder and a rear lifting cylinder, which are used to drive the lifting plate to move up and down and are respectively located at the front and rear ends of the base, and the front lifting cylinder and the rear lifting cylinder both extend upward; The front support cylinder and the rear support cylinder are used to adjust the inclination state of the base and are respectively located at the front and rear ends of the base; the front support cylinder and the rear support cylinder both extend downward; An inclination detection assembly, comprising a first inclination detection unit and a second inclination detection unit, wherein the first inclination detection unit and the second inclination detection unit are respectively used to detect the inclinations of the base and the lifting plate; The height detection unit is used to detect the height position of the lifting plate.

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