Stable control and adjustment method for ramp rotation action of aerial work platform and rotation device

Abstract

The invention discloses an aerial work platform ramp rotation action stability control and adjustment method and a rotation device, and relates to the technical field of aerial work, and the method comprises the steps that a first horizontal tilt angle sensor detects a first angle value K; a second horizontal tilt angle sensor detects a second angle value L; when the first angle value K belongs to the interval of (0, 180 degrees), judging whether the second angle value L belongs to the interval of (K, K + 180 degrees), or when the first angle value K belongs to the interval of (180 degrees, 360 degrees), judging whether the second angle value L belongs to the interval of (K, 360 degrees) union (0, K-180 degrees), if so, judging whether the electric signal of the rotary handle is left, and if not, judging whether the electric signal of the rotary handle is right; if yes, the acceleration of the electric rotary motor is controlled to be executed according to a descending section curve W of the climbing driving force curve, and if not, the acceleration of the electric rotary motor is controlled to be executed according to an ascending section curve Q of the climbing driving force curve. The method can improve the problems of platform impact and shaking when the high-altitude platform is operated to rotate on the slope.

Description

Technical Field

[0001] The present invention relates to the technical field of aerial work, and more specifically to a method for controlling and regulating the smooth ramp rotation of an aerial work platform and a rotation device. Background Art

[0002] In the prior art, aerial work platforms usually rotate the turntable during use, and most of them use a pump motor to drive the hydraulic motor to drive the rotating turntable to perform a rotation action to obtain a larger operating range and working range. When the aerial platform is located on a slope, the center of gravity of the whole machine is low. At this time, the rotating turntable is prone to shaking when it rotates upward. The main reason is that the hydraulic motor is driven by the hydraulic system. When the whole machine is in an extreme area, due to the characteristics of the hydraulic oil, the output torque of the hydraulic motor cannot be kept constant. The torque cannot increase when the rotating turntable moves upward, and the torque cannot decrease when the rotating turntable moves downward, resulting in poor operating experience and operating stability of the whole machine on the slope. At the same time, when the hydraulic motor is started and stopped, because the corresponding speed and torque distribution logic are not set for it, the start-stop impact of the hydraulic motor when performing the boarding action is large, affecting the operating experience and stability of the whole machine.

[0003] In summary, how to improve the impact and shaking problems of the platform when the aerial platform is rotated on a slope and effectively improve the operating comfort and safety and stability of the aerial platform is an urgent problem to be solved by technical personnel in this field. Summary of the invention

[0004] In view of this, the purpose of the present invention is to provide a method for smoothly controlling and adjusting the ramp rotation movement of an aerial work platform and a rotation device. By applying the method for smoothly controlling and adjusting the ramp rotation movement of an aerial work platform provided by the present invention to the aerial work platform, the impact and shaking problems of the platform when the aerial platform is rotated on a slope can be improved, thereby effectively improving the operating comfort, safety and stability of the aerial platform.

[0005] In order to achieve the above object, the present invention provides the following technical solutions:

[0006] A method for smoothly controlling and adjusting the ramp rotation action of an aerial work platform, comprising:

[0007] The first horizontal inclination sensor detects and outputs a first angle value K of the frame assembly relative to the ground; the second horizontal inclination sensor detects and outputs a second angle value L of the electric rotary motor relative to the ground;

[0008] When the first angle value K belongs to the interval (0, 180°), determine whether the second angle value L belongs to the interval (K, K+180°); or when the first angle value K belongs to the interval (180°, 360°), determine whether the second angle value L belongs to the interval (K, 360°)∪(0, K-180°); if so, determine whether the electric signal of the rotary handle is left; if so, it means that the boom rotates clockwise, and the acceleration of the electric rotary motor is controlled according to the descending curve W of the climbing driving force curve; if not, it means that the boom rotates counterclockwise, and the acceleration of the electric rotary motor is controlled according to the ascending curve Q of the climbing driving force curve;

[0009] If not, it is determined whether the electric signal of the rotary handle is right. If so, it means that the boom rotates counterclockwise, and the acceleration of the electric rotary motor is controlled to be executed according to the descending curve W. If not, it means that the boom rotates clockwise, and the acceleration of the electric rotary motor is controlled to be executed according to the ascending curve Q.

[0010] Among them, the rising segment curve Q and the falling segment curve W both experience three stages of acceleration start, uniform speed operation and deceleration braking in sequence as time increases, and the absolute value of the speed change of the rising segment curve at the same time is equal to the absolute value of the speed change of the falling segment curve.

[0011] In one embodiment, the electric rotary motor in the descending curve W state sequentially experiences the stages of slow acceleration start, fast acceleration start, constant speed operation, fast deceleration braking, and slow deceleration braking as time increases.

[0012] In one embodiment, the relationship between the acceleration a and time t of the descending curve W in the acceleration start phase is a(t)=Mt 2 +Dt+F; the relationship between the acceleration a and time t of the descending curve W in the deceleration braking stage is a(t)=-Mt 2 +Dt+F, where M, D and F are constant coefficients.

[0013] In one embodiment, the electric rotary motor in the rising curve Q state sequentially experiences the stages of fast acceleration start, slow acceleration start, constant speed operation, slow deceleration braking, and fast deceleration braking as time increases.

[0014] In one embodiment, the relationship between the acceleration a and time t of the rising curve Q in the acceleration start phase is a(t)=-Nt 2 +Jt+P; the relationship between the acceleration a and time t of the descending curve W in the deceleration braking stage is a(t)=Nt 2 +Jt+P, where N, J and P are constant coefficients.

[0015] In one embodiment, the first horizontal inclination sensor detects and outputs a first angle value K of the frame assembly relative to the ground, including:

[0016] Reading the X value and Y value of the angle of the frame assembly relative to the ground detected by the first horizontal inclination sensor;

[0017] Determine the positive and negative values ​​of X and Y values ​​through the coordinate system;

[0018] Substitute the X value and the Y value into the inverse sine function K=arctan(X / Y), and use the positive and negative values ​​of the X value and the Y value as a judgment to obtain the first angle value K, and the definition domain of the K value is (0, 360°).

[0019] In one embodiment, the second horizontal inclination sensor detects and outputs a second angle value L of the electric rotary motor relative to the ground, including:

[0020] reading the X value and Y value of the electric rotary motor relative to the ground detected by the second horizontal inclination sensor;

[0021] Determine the positive and negative values ​​of X and Y values ​​through the coordinate system;

[0022] Substitute the X value and the Y value into the sine function to obtain the second angle value L.

[0023] A slewing device, applicable to any of the above-mentioned methods for smoothly controlling and adjusting the slewing action of the ramp of an aerial work platform, comprising:

[0024] Frame assembly;

[0025] An upper vehicle assembly, which is rotatably mounted on the vehicle frame assembly via a slewing bearing;

[0026] A first horizontal inclination sensor, which is arranged on the frame assembly and is used to detect a first angle value K of the frame assembly relative to the ground;

[0027] An electric swing motor connected to the upper vehicle assembly via a swing reducer;

[0028] A second horizontal inclination sensor, which is provided on the electric rotary motor and is used to detect a second angle value L of the electric rotary motor relative to the ground;

[0029] A control device, the first horizontal inclination sensor, the electric rotary motor and the second horizontal inclination sensor are all connected to the control device.

[0030] In one embodiment, it also includes an arm support disposed on the upper vehicle assembly and a turntable disposed at the end of the arm support.

[0031] In one embodiment, an angle detector for detecting a ramp angle A is further included. The relationship between the current I of the electric rotary motor and the ramp angle A is I(A)=TA 2 +A 0 , where T and A 0 are all constant coefficients.

[0032] When using the method for smoothly controlling and adjusting the ramp rotation of an aerial work platform provided by the present invention, the first horizontal inclination sensor can detect and output the first angle value K of the frame assembly relative to the ground, K∈(0, 360°), and the second horizontal inclination sensor can detect and output the second angle value L of the electric rotary motor relative to the ground, L∈(0, 360°), so as to judge the current position of the upper vehicle assembly when the action is started by the angle value. Among them, the arm and the turntable are connected to perform a rotational motion relative to the frame assembly, and the electric rotary motor is used to drive the turntable to rotate. By driving the electric rotary motor, the rotary reducer is driven to move, and the planetary gear system formed by the speed reduction and torque increase and the slewing bearing drives the upper vehicle assembly to rotate clockwise or counterclockwise around the center line of the frame assembly, so that the whole machine can obtain a larger working space and working range.

[0033] For example, if the first angle value K belongs to the interval (0, 180°), then it is determined whether the second angle value L belongs to the interval (K, K+180°); or when the first angle value K belongs to the interval (180°, 360°), then it is determined whether the second angle value L belongs to the interval (K, 360°)∪(0, K-180°). If it is in the above two situations, then it is determined whether the electric signal of the slewing handle is left. If the electric signal of the slewing handle is left, it means that the boom rotates clockwise and is in the downhill section of the working condition. At this time, the acceleration of the electric slewing motor is controlled according to the descending section curve W of the climbing driving force curve; if the electric signal of the slewing handle is right, it means that the boom rotates counterclockwise and is in the uphill section of the working condition. At this time, the acceleration of the electric slewing motor is controlled according to the ascending section curve Q of the climbing driving force curve.

[0034] If the range of the first angle value K and the second angle value L are not within the above two situations, then determine whether the slewing handle electrical signal is right. If the slewing handle electrical signal is right, it means that the boom is rotating counterclockwise and is in the downhill section of the working condition. At this time, the acceleration of the electric slewing motor is controlled according to the descending section curve W; if the slewing handle electrical signal is left, it means that the boom is rotating clockwise and is in the uphill section of the working condition. At this time, the acceleration of the electric slewing motor is controlled according to the ascending section curve Q.

[0035] Among them, the rising section curve Q of the climbing driving force curve and the falling section curve W of the climbing driving force curve successively experience the three stages of acceleration start, uniform speed operation and deceleration braking as time increases, and the absolute value of the speed change of the rising section curve at the same time is equal to the absolute value of the speed change of the falling section curve.

[0036] Take the descending curve W as an example: the first stage is the acceleration and starting stage, and the electric rotary motor is controlled to execute slow acceleration + fast acceleration commands in sequence during the acceleration and starting stage, wherein the slow acceleration operation can offset part of the inertial force of gravity in the direction of movement during startup, and the fast acceleration operation helps to reach the uniform speed operation stage of the second stage faster. The second stage is the uniform speed operation stage, and the third stage is the deceleration and braking stage. The electric rotary motor is controlled to execute fast deceleration + slow deceleration commands during the deceleration and braking stage, wherein the fast deceleration operation is used to speed up the speed of descent, and the slow deceleration operation can reduce the impact of the electric rotary motor's rotation stop action under the action of the downward component of gravity, thereby effectively reducing the shaking problem.

[0037] Take the rising curve Q as an example: the first stage is the acceleration start-up stage, by controlling the electric swing motor to execute fast acceleration + slow acceleration commands in sequence during the acceleration start-up stage, wherein the fast acceleration operation is to provide a larger acceleration to overcome gravity, and the slow acceleration operation helps to reach the second stage of uniform speed operation faster. The second stage is the uniform speed operation stage, and the third stage is the deceleration and braking stage. The electric swing motor is controlled to execute slow deceleration + fast deceleration commands during the deceleration and braking stage, wherein the fast deceleration operation is to prevent the reverse slope from causing rear impact.

[0038] In summary, by applying the method for smoothly controlling and adjusting the ramp rotation action of an aerial work platform provided by the present invention to an aerial work platform, the impact and shaking problems of the platform when the aerial platform rotates on a slope can be improved, thereby effectively improving the operating comfort, safety and stability of the aerial platform.

[0039] In addition, the present invention also provides a slewing device suitable for the above-mentioned aerial work platform ramp slewing action smooth control and adjustment method. BRIEF DESCRIPTION OF THE DRAWINGS

[0040] 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 embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on the provided drawings without paying creative work.

[0041] Figure 1 A schematic flow chart of a method for smoothly controlling and regulating the ramp rotation action of an aerial work platform provided by the present invention;

[0042] Figure 2 It is a schematic diagram of the structure where the slewing device is located on the left slope;

[0043] Figure 3 It is a schematic diagram of the structure where the slewing device is located on the right slope;

[0044] Figure 4 is a schematic diagram for defining the first angle value K;

[0045] Figure 5 This is a schematic diagram of the structure of the slewing device located on the left slope from another perspective;

[0046] Figure 6 for Figure 5 A top view of

[0047] Figure 7 It is a schematic diagram of the relationship between acceleration and time of the descending curve W of the climbing driving force curve;

[0048] Figure 8 It is a schematic diagram of the relationship between acceleration and time of the rising section curve Q of the climbing driving force curve;

[0049] Fig. 9 Schematic diagram of the relationship between the current I of the electric swing motor and the ramp angle A.

[0050] Figure 1-Figure 9 middle:

[0051] 1 is the upper vehicle assembly, 2 is the slewing bearing, 3 is the first horizontal inclination sensor, 4 is the slope, 5 is the frame assembly, 6 is the second horizontal inclination sensor, 7 is the slewing reducer, and 8 is the electric slewing motor. DETAILED DESCRIPTION

[0052] 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 ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0053] The core of the present invention is to provide a method for smoothly controlling and adjusting the ramp rotation of an aerial work platform. By applying the method for smoothly controlling and adjusting the ramp rotation of an aerial work platform provided by the present invention to an aerial work platform, the impact and shaking problems of the platform when the aerial platform is rotated on a slope can be improved, and the operating comfort, safety and stability of the aerial platform can be effectively improved. Another core of the present invention is to provide a rotating device suitable for the above-mentioned method for smoothly controlling and adjusting the ramp rotation of an aerial work platform.

[0054] This specific embodiment provides a method for smoothly controlling and adjusting the ramp rotation action of an aerial work platform. The specific process can be referred to Figure 1 ,include:

[0055] S1, the first horizontal inclination sensor 3 detects and outputs a first angle value K of the frame assembly 5 relative to the ground, and the second horizontal inclination sensor 6 detects and outputs a second angle value L of the electric rotary motor 8 relative to the ground;

[0056] S2. When the first angle value K belongs to the interval (0, 180°), determine whether the second angle value L belongs to the interval (K, K+180°); or when the first angle value K belongs to the interval (180°, 360°), determine whether the second angle value L belongs to the interval (K, 360°)∪(0, K-180°);

[0057] S3, if yes, determine whether the electric signal of the slewing handle is left, if yes, it means the boom is rotating clockwise, and the acceleration of the electric slewing motor 8 is controlled to be executed according to the descending curve W of the climbing driving force curve; if no, it means the boom is rotating counterclockwise, and the acceleration of the electric slewing motor 8 is controlled to be executed according to the ascending curve Q of the climbing driving force curve;

[0058] If not, it is determined whether the electric signal of the rotary handle is right. If so, it means that the boom rotates counterclockwise, and the acceleration of the electric rotary motor 8 is controlled to be executed according to the descending curve W. If not, it means that the boom rotates clockwise, and the acceleration of the electric rotary motor 8 is controlled to be executed according to the ascending curve Q.

[0059] Among them, the rising segment curve Q and the falling segment curve W both experience three stages of acceleration start, uniform speed operation and deceleration braking in sequence as time increases, and the absolute value of the speed change of the rising segment curve at the same time is equal to the absolute value of the speed change of the falling segment curve.

[0060] It should be noted that the present method uses an electric rotary motor 8 to directly control the rotary motion of the turntable, and determines the orientation of the vehicle assembly 1 relative to the ramp by detecting the relative angle between the ramp and the turntable. At the same time, by determining the rotary direction, different action programs are executed to adjust the action current in stages, so that the electric rotary motor 8 can maintain constant torque operation. This can solve the problem of smooth movement of the hydraulic drive affected by the external environment, and improve the platform impact and shaking problems when operating the aerial platform on the slope 4, effectively improving the operating comfort and safety and stability.

[0061] In one embodiment, the electric rotary motor 8 in the descending curve W state sequentially experiences the stages of slow acceleration start, fast acceleration start, constant speed operation, fast deceleration braking, and slow deceleration braking as time increases.

[0062] In one embodiment, the relationship between the acceleration a and the time t of the descending curve W in the acceleration start phase is a(t)=Mt 2 +Dt+F; The relationship between the acceleration a and time t of the descending curve W in the deceleration braking stage is a(t)=-Mt 2 +Dt+F, where M, D and F are constant coefficients.

[0063] like Figure 7 As shown, the descending curve W of the climbing driving force curve includes three different stages, wherein the first stage is the acceleration start stage, and the electric rotary motor 8 is controlled to execute slow acceleration + fast acceleration commands (i.e. fast deceleration + slow deceleration) in sequence during the acceleration start stage, wherein the slow acceleration operation can offset part of the inertial force of gravity in the direction of movement during startup, and the fast acceleration operation helps to reach the uniform speed operation stage of the second stage more quickly, and the second stage is the uniform speed operation stage; the third stage is the deceleration and braking stage, and the electric rotary motor 8 is controlled to execute fast deceleration + slow deceleration commands during the deceleration and braking stage, wherein the fast deceleration operation is used to speed up the speed of speed descent, and the slow deceleration operation can reduce the impact of the rotation stop action of the electric rotary motor 8 under the action of the downward component of gravity, thereby effectively reducing the shaking problem.

[0064] In one embodiment, the electric rotary motor 8 in the rising curve Q state sequentially experiences the stages of fast acceleration start, slow acceleration start, constant speed operation, slow deceleration braking, and fast deceleration braking as time goes by.

[0065] In one embodiment, the relationship between the acceleration a and time t of the rising curve Q in the acceleration start phase is a(t)=-Nt 2 +Jt+P; the relationship between the acceleration a and time t of the descending curve W in the deceleration braking stage is a(t)=Nt 2 +Jt+P, where N, J and P are constant coefficients.

[0066] like Figure 8 As shown, the rising section curve Q of the climbing driving force curve includes three different stages, wherein the first stage is the acceleration start stage, by controlling the electric rotary motor 8 to execute the fast acceleration + slow acceleration command (i.e. fast acceleration + slow acceleration) in sequence during the acceleration start stage, wherein the fast acceleration operation is to provide a greater acceleration to overcome gravity, and the slow acceleration operation helps to reach the uniform speed operation stage of the second stage faster, the second stage is the uniform speed operation stage, and the third stage is the deceleration and braking stage, controlling the electric rotary motor 8 to execute the slow deceleration + fast deceleration command during the deceleration and braking stage, wherein the fast deceleration operation is to prevent the reverse slope from causing a rear impact.

[0067] It is necessary to add that Figure 7 and Figure 8In the curve diagram of the relationship between acceleration and time, the area represents the change in velocity. Figure 8 It can be seen that the absolute value of the speed change in the acceleration section of the rising curve Q is the same from 0 to a constant speed, and the deceleration section of the rising curve Q is the same from a constant speed to 0. Figure 7 It can be seen that the absolute value of the speed change in the acceleration section of the descending curve W, which accelerates from 0 to a uniform speed, and the deceleration section of the descending curve W, which decelerates from a uniform speed to 0, is the same.

[0068] In one embodiment, the first horizontal inclination sensor 3 detects and outputs a first angle value K of the frame assembly 5 relative to the ground, including:

[0069] Reading the angle X and Y values ​​of the frame assembly 5 relative to the ground detected by the first horizontal inclination sensor 3;

[0070] Determine the positive and negative values ​​of X and Y values ​​through the coordinate system;

[0071] Substitute the X value and the Y value into the inverse sine function K=arctan(X / Y), and use the positive and negative values ​​of the X value and the Y value as a judgment to obtain the first angle value K. The definition domain of the K value is (0, 360°), so that when the aerial work platform is located on the left slope 4 or the right slope 4, the first angle value K can be accurately detected and converted.

[0072] In one embodiment, the second horizontal inclination sensor 6 detects and outputs a second angle value L of the electric rotary motor 8 relative to the ground, including:

[0073] Reading the X value and Y value of the electric rotary motor 8 relative to the ground detected by the second horizontal inclination sensor 6;

[0074] Determine the positive and negative values ​​of X and Y values ​​through the coordinate system;

[0075] Substitute the X value and the Y value into the sine function to obtain the second angle value L to accurately measure the rotation angle of the electric rotary motor 8, and then combine it with the first angle value K to determine the current position of the upper assembly 1 when the action is started by the angle value.

[0076] In order to further illustrate the method for smoothly controlling and adjusting the ramp rotation action of an aerial work platform provided by the present invention, an example is given below.

[0077] refer to Figure 4 and Figure 5, take the aerial work platform on the left slope 4, counterclockwise rotation as an example, at this time K belongs to the (0, 180°) interval, the second angle value L belongs to the (K, K+180°) interval, the aerial work platform is in the uphill section of the working condition, then the acceleration of the electric rotary motor 8 is controlled according to the ascending section curve Q, and the interval other than this area is in the downhill section of the working condition, then the acceleration of the electric rotary motor 8 is controlled according to the descending section curve W. In addition, the aerial work platform is located on the left slope 4, and the clockwise rotation action is the opposite.

[0078] In the left slope condition, if the second angle value L belongs to the interval (K, K+180), the electric signal of the swing handle is a right signal, that is, the upper assembly 1 moves counterclockwise, and it is in the uphill section of the condition, so the acceleration of the electric swing motor 8 is controlled to be executed according to the ascending section curve Q. If the electric signal of the swing handle is a left signal, that is, the upper assembly 1 moves clockwise, and it is in the downhill section of the condition, then the acceleration of the electric swing motor 8 is controlled to be executed according to the descending section curve W.

[0079] Through the above logic judgment, see the execution logic program box for details. Figure 1 , execute two uphill and downhill control logic programs for different judgment results. The aerial work platform is divided into three stages when starting and stopping in uphill and downhill conditions. By controlling the current I of the electric rotary motor 8 to change the speed and torque, the rotary action is started, uniformly accelerated, and stopped according to the predetermined curve. For details, see Figure 7 and Figure 8 The starting current I of the electric swing motor 8 is adaptively adjusted according to the size of the ramp angle A, such as Fig. 9 As shown, the larger the ramp angle A is, the larger the starting current I is, so as to ensure the starting torque when the electric swing motor 8 performs the swing action.

[0080] The present application detects the relative position relationship between the upper assembly 1 and the turntable, determines the orientation of the upper assembly 1 relative to the ramp, and at the same time determines the rotation direction of the turntable, executes different action programs to grade the action current of the electric rotary motor 8 to achieve smooth rotation. In addition, when the aerial work platform is located on the left or right slope 4 and tilts, in addition to executing different action programs to grade the action current of the electric rotary motor 8 to achieve smooth rotation, this method can also be used to adjust the flow of the swing cylinder balance valve to achieve smooth platform movement.

[0081] by Figure 6 The working condition shown is taken as an example for explanation, wherein the second angle value L is used to output the second angle value L of the electric rotary motor 8 relative to the ground, and the electric rotary motor 8 is used to drive the boom to rotate, that is, the second angle value L represents the angle of the boom relative to the ground. Figure 6The first angle value K belongs to the interval (0, 180°), and the second angle value L does not belong to the interval (K, 180°), and Figure 6 The arm is facing right, that is, the swing handle signal is right. Combined with the method of "when the first angle value K belongs to the interval (0, 180°), determine whether the second angle value L belongs to the interval (K, K+180°), or when the first angle value K belongs to the interval (180°, 360°), determine whether the second angle value L belongs to the interval (K, 360°) ∪ (0, K-180°), if not, determine whether the swing handle electrical signal is right, if so, it means that the arm is rotating counterclockwise, and the acceleration of the electric swing motor 8 is controlled according to the descending curve W", so Figure 6 The boom is to the right and is in the downhill section of the working condition. At this time, the acceleration of the electric swing motor 8 needs to be controlled according to the descending curve W to reduce the impact of the electric swing motor 8's rotation stop action under the action of the downward component of gravity during the downhill process, thereby reducing the shaking problem.

[0082] In addition to the above-mentioned aerial work platform ramp rotation smooth control adjustment method, the present invention also provides a rotation device suitable for the aerial work platform ramp rotation smooth control adjustment method disclosed in the above-mentioned embodiment, please refer to Figure 2 , Figure 3 , Figure 5 and Figure 6 , the rotary device comprises:

[0083] Frame assembly 5;

[0084] The upper vehicle assembly 1 is rotatably mounted on the vehicle frame assembly 5 via a slewing bearing 2;

[0085] A first horizontal inclination sensor 3, which is arranged on the frame assembly 5 and is used to detect a first angle value K of the frame assembly 5 relative to the ground;

[0086] An electric swing motor 8 connected to the upper vehicle assembly 1 via a swing reducer 7;

[0087] A second horizontal inclination sensor 6, which is arranged on the electric rotary motor 8 and is used to detect a second angle value L of the electric rotary motor 8 relative to the ground;

[0088] The control device, the first horizontal inclination sensor 3, the electric rotary motor 8 and the second horizontal inclination sensor 6 are all connected to the control device.

[0089] It should be noted that the electric slewing motor 8 is fixed on the slewing reducer 7, the slewing reducer 7 is fixed to the upper vehicle assembly 1 through the slewing bearing 2, the fixed body of the slewing bearing 2 is connected to the chassis assembly, the rotating body of the slewing bearing 2 is fixed to the upper vehicle assembly 1, and the electric slewing motor 8 drives the slewing reducer 7 to engage with the slewing bearing 2 through gears, which is equivalent to adding an external force in between, so that the upper vehicle assembly 1 rotates in the rotating body.

[0090] In one embodiment, it also includes an arm mounted on the upper vehicle assembly 1 and a turntable mounted at the end of the arm. The arm and the turntable are connected together, and the turntable rotates under the action of the electric rotary motor 8, so that the arm and the turntable simultaneously perform a rotary motion relative to the vehicle frame assembly 5.

[0091] In one embodiment, an angle detector for detecting the ramp angle A is also included. The relationship between the current I of the electric rotary motor 8 and the ramp angle A is I(A)=TA 2 +A 0 , where T and A 0 are all constant coefficients, such as Fig. 9 As shown, the starting current I of the electric swing motor 8 is adaptively adjusted according to the size of the ramp angle A, that is, the larger the ramp angle A is, the larger the starting current I of the electric swing motor 8 is, so as to ensure the starting torque of the electric swing motor 8 for the swing action.

[0092] It should be noted that the first horizontal tilt angle sensor 3 and the second horizontal tilt angle sensor 6 mentioned in the present application document, wherein the first and the second are only used to distinguish the different positions, and there is no order of precedence.

[0093] In addition, it should be noted that the directions or positional relationships indicated by "left and right", "clockwise", "counterclockwise", etc. in this application are based on the directions or positional relationships shown in the accompanying drawings, and are only for the convenience of simplifying the description and facilitating understanding, and do not indicate or imply that the device or element referred to must have a specific direction, be constructed and operated in a specific direction, and therefore cannot be understood as a limitation on the present invention.

[0094] In this specification, each embodiment is described in a progressive manner, and each embodiment focuses on the differences from other embodiments. The same or similar parts between the embodiments can be referred to each other. Any combination of all embodiments provided by the present invention is within the protection scope of this invention and will not be described in detail here.

[0095] The above is a detailed introduction to the method for smoothly controlling and adjusting the ramp slewing action of the aerial work platform and the slewing device provided by the present invention. This article uses specific examples to illustrate the principles and implementation methods of the present invention. The description of the above embodiments is only used to help understand the method of the present invention and its core idea. It should be pointed out that for ordinary technicians in this technical field, without departing from the principles of the present invention, the present invention can also be improved and modified in a number of ways, and these improvements and modifications also fall within the scope of protection of the present invention.

Claims

1. A method for smoothly controlling and adjusting the ramp rotation of an aerial work platform, characterized in that: include: The first horizontal inclination sensor (3) detects and outputs a first angle value K of the frame assembly (5) relative to the ground, and the second horizontal inclination sensor (6) detects and outputs a second angle value L of the electric rotary motor (8) relative to the ground; When the first angle value K belongs to the interval (0, 180°), it is determined whether the second angle value L belongs to the interval (K, K+180°); or when the first angle value K belongs to the interval (180°, 360°), it is determined whether the second angle value L belongs to the interval (K, 360°)∪(0, K-180°); if so, it is determined whether the electric signal of the rotary handle is left; if so, it means that the boom rotates clockwise, and the acceleration of the electric rotary motor (8) is controlled to be executed according to the descending curve W of the climbing driving force curve; if not, it means that the boom rotates counterclockwise, and the acceleration of the electric rotary motor (8) is controlled to be executed according to the ascending curve Q of the climbing driving force curve; If not, determining whether the rotary handle electrical signal is right; if so, it means that the boom is rotating counterclockwise, and the acceleration of the electric rotary motor (8) is controlled to be executed according to the descending curve W; if not, it means that the boom is rotating clockwise, and the acceleration of the electric rotary motor (8) is controlled to be executed according to the ascending curve Q; Among them, the rising segment curve Q and the falling segment curve W both experience three stages of acceleration start, uniform speed operation and deceleration braking in sequence as time increases, and the absolute value of the speed change of the rising segment curve at the same time is equal to the absolute value of the speed change of the falling segment curve.

2. The method for smoothly controlling and adjusting the ramp rotation of an aerial work platform according to claim 1 is characterized in that: The electric rotary motor (8) in the descending curve W state sequentially experiences the stages of slow acceleration start, fast acceleration start, constant speed operation, fast deceleration braking, and slow deceleration braking as time increases.

3. The method for smoothly controlling and adjusting the ramp rotation of an aerial work platform according to claim 2 is characterized in that: The relationship between the acceleration a and time t of the descending curve W in the acceleration start phase is a(t)=Mt 2 +Dt+F; the relationship between the acceleration a and time t of the descending curve W in the deceleration braking stage is a(t)=-Mt 2 +Dt+F, where M, D and F are constant coefficients.

4. The method for smoothly controlling and adjusting the ramp rotation of an aerial work platform according to any one of claims 1 to 3, characterized in that: The electric rotary motor (8) in the rising curve Q state sequentially experiences the stages of rapid acceleration start, slow acceleration start, constant speed operation, slow deceleration braking, and rapid deceleration braking as time increases.

5. The method for smoothly controlling and adjusting the ramp rotation of an aerial work platform according to claim 4 is characterized in that: The relationship between the acceleration a and time t of the rising curve Q in the acceleration start phase is a(t)=-Nt 2 +Jt+P; the relationship between the acceleration a and time t of the descending curve W in the deceleration braking stage is a(t)=Nt 2 +Jt+P, where N, J and P are constant coefficients.

6. The method for smoothly controlling and adjusting the ramp rotation of an aerial work platform according to any one of claims 1 to 3, characterized in that: The first horizontal inclination sensor (3) detects and outputs a first angle value K of the frame assembly (5) relative to the ground, including: Reading the X value and Y value of the angle of the frame assembly (5) relative to the ground detected by the first horizontal inclination sensor (3); Determine the positive and negative values ​​of X and Y values ​​through the coordinate system; Substitute the X value and the Y value into the inverse sine function K=arctan(X / Y), and use the positive and negative values ​​of the X value and the Y value as a judgment to obtain the first angle value K, and the definition domain of the K value is (0, 360°).

7. The method for smoothly controlling and adjusting the ramp rotation of an aerial work platform according to any one of claims 1 to 3, characterized in that: The second horizontal inclination sensor (6) detects and outputs a second angle value L of the electric rotary motor (8) relative to the ground, including: reading the X value and Y value of the electric rotary motor (8) relative to the ground detected by the second horizontal inclination sensor (6); Determine the positive and negative values ​​of X and Y values ​​through the coordinate system; Substitute the X value and the Y value into the sine function to obtain the second angle value L.

8. A slewing device, applicable to the method for smoothly controlling and regulating the slewing action of the ramp of an aerial work platform as described in any one of claims 1 to 7, characterized in that: include: Frame assembly (5); An upper vehicle assembly (1) which is rotatably mounted on the vehicle frame assembly (5) via a slewing bearing (2); A first horizontal inclination sensor (3), which is arranged on the frame assembly (5) and is used to detect a first angle value K of the frame assembly (5) relative to the ground; An electric rotary motor (8) connected to the upper vehicle assembly (1) via a rotary reducer (7); A second horizontal inclination sensor (6), which is arranged on the electric rotary motor (8) and is used to detect a second angle value L of the electric rotary motor (8) relative to the ground; A control device, wherein the first horizontal inclination sensor (3), the electric rotary motor (8) and the second horizontal inclination sensor (6) are all connected to the control device.

9. The rotary device according to claim 8, characterized in that: It also includes an arm support arranged on the upper vehicle assembly (1) and a turntable arranged at the end of the arm support.

10. The rotary device according to claim 8, characterized in that: It also includes an angle detector for detecting a ramp angle A. The relationship between the current I of the electric rotary motor (8) and the ramp angle A is I(A)=TA 2 +A0, where T and A0 are constant coefficients.

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