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

Abstract

The present invention discloses a method for smoothly controlling and regulating the ramp rotation of an aerial work platform and a rotation device, relating to the field of aerial work technology. The method includes a first horizontal tilt sensor detecting a first angle value K; a second horizontal tilt sensor detecting a second angle value L; determining whether the second angle value L belongs to the interval (K, K+180°) when the first angle value K belongs to the interval (0, 180°), or determining whether the second angle value L belongs to the interval (K, 360°)∪(0, K-180°) when the first angle value K belongs to the interval (180°, 360°). If so, determining whether the rotation handle electrical signal is left. If so, controlling the electric rotation motor acceleration to execute according to the descending curve W of the climbing drive force curve; if not, controlling the electric rotation motor acceleration to execute according to the ascending curve Q of the climbing drive force curve. This method can improve the impact and vibration problems of the platform when operating the aerial work platform on a slope.

Description

Technical Field

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

[0002] In the prior art, aerial work platforms usually rotate a turntable during use, and most of them use a pump motor to drive a hydraulic motor to drive the turntable to perform a rotational 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 entire machine is low. At this time, the turntable is prone to shaking when it rotates upward. The main reason is that the hydraulic motor is driven by a hydraulic system. When the entire 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 turntable moves upward, and the torque cannot decrease when the turntable moves downward, resulting in poor operating experience and operational stability of the entire machine on the slope. At the same time, when the hydraulic motor is started and stopped, since the corresponding speed and torque distribution logic are not set for it, the start-stop impact of the hydraulic motor when performing the vehicle-mounting action is large, affecting the operating experience and the stability of the entire machine.

[0003] In summary, how to improve the platform impact and shaking problems when operating an aerial platform on a slope and effectively improve the operating comfort, 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 slope rotation movement of an aerial work platform and a rotation device. By applying the method for smoothly controlling and adjusting the slope rotation movement of an aerial work platform provided by the present invention on an 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 of an aerial work platform, comprising:

[0007] The first horizontal tilt sensor detects and outputs a first angle value K of the frame assembly relative to the ground; the second horizontal tilt 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°), 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 represents that the boom is rotating clockwise, and the acceleration of the electric rotary motor is controlled to be executed according to the descending curve W of the climbing drive force curve; if not, it represents that the boom is rotating counterclockwise, and the acceleration of the electric rotary motor is controlled to be executed according to the ascending curve Q of the climbing drive force curve;

[0009] If not, it is determined whether the rotary handle electrical signal is right. If so, it represents that the boom is rotating counterclockwise, and the acceleration of the electric rotary motor is controlled to be executed according to the descending curve W. If not, it represents that the boom is rotating 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 descending segment curve W both experience three stages of acceleration start, constant 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 descending 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 rapid acceleration start, slow acceleration start, constant speed operation, slow deceleration braking, and rapid 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 vehicle frame assembly relative to the ground, including:

[0016] reading an X value and a Y value of an 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 and Y values ​​into the inverse sine function K=arctan(X / Y), and use the positive and negative values ​​of the X and Y values ​​as a judgment to obtain the first angle value K. The 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 an aerial work platform on a ramp, 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, provided on the frame assembly, for detecting a first angle value K of the frame assembly relative to the ground;

[0027] an electric rotary motor connected to the upper vehicle assembly via a rotary 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 is provided, wherein the first horizontal tilt sensor, the electric rotary motor and the second horizontal tilt sensor are all connected to the control device.

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

[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 +A0, where T and A0 are constant coefficients.

[0032] When using the method for smoothly controlling and adjusting the slope rotation of an aerial work platform provided by the present invention, the first horizontal tilt sensor can detect and output a first angle value K of the frame assembly relative to the ground, K∈(0, 360°), and the second horizontal tilt sensor can detect and output a 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 movement is started by the angle value. Among them, the arm and the turntable are connected and rotate 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 rotary support 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°), 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 it is in the above two situations, it is determined whether the rotary handle electrical signal is left. If the rotary handle electrical signal is left, it means that the boom is rotating clockwise and is in the downhill section of the working condition. At this time, the acceleration of the electric rotary motor is controlled according to the descending section curve W of the climbing drive force curve; if the rotary handle electrical signal is right, it means that the boom is rotating counterclockwise and is in the uphill section of the working condition. At this time, the acceleration of the electric rotary motor is controlled according to the ascending section curve Q of the climbing drive force curve.

[0034] If the ranges of the first angle value K and the second angle value L are not within the above two situations, it is then determined whether the rotary handle electrical signal is right. If the rotary 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 rotary motor is controlled according to the descending section curve W; if the rotary 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 rotary motor is controlled according to the ascending section curve Q.

[0035] Among them, the rising segment curve Q of the climbing driving force curve and the falling segment curve W of the climbing driving force curve both experience three stages of acceleration start, constant 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.

[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 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 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 vibration problem.

[0037] Take the rising curve Q as an example: the first stage is the acceleration start-up stage, by controlling the electric rotary 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 greater 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 rotary 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 a rear impact.

[0038] In summary, by applying the method for smoothly controlling and adjusting the ramp rotation of an aerial work platform provided by the present invention on an 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.

[0039] In addition, the present invention also provides a slewing device suitable for the above-mentioned method for smoothly controlling and adjusting the slewing action of the ramp of the aerial work platform. 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 following briefly introduces the drawings required for use in the embodiments or the description of the prior art. Obviously, the drawings described below are merely embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on the provided drawings without paying any creative work.

[0041] Figure 1 This is a flow chart of the method for smoothly controlling and adjusting the ramp rotation movement of an aerial work platform provided by the present invention;

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

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

[0044] Figure 4 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 Schematic diagram of the relationship between acceleration and time for the descending segment curve W of the climbing driving force curve;

[0048] Figure 8 Schematic diagram of the relationship between acceleration and time for the rising segment curve Q of the climbing driving force curve;

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

[0050] Figures 1-9 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 clearly and completely describe the technical solutions in the embodiments of the present invention in conjunction with the accompanying drawings. 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 making creative efforts are within the scope of protection of the present invention.

[0053] The core of this invention is to provide a method for smoothly controlling and adjusting the ramp rotation of an aerial work platform. By applying this method to an aerial work platform, the impact and vibration problems caused by the platform's rotation on a slope can be alleviated, effectively improving the operating comfort, safety, and stability of the aerial platform. Another core of this invention is to provide a slewing device suitable for use with this method.

[0054] This specific embodiment provides a method for smoothly controlling and adjusting the ramp rotation of an aerial work platform. 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 is within the interval (0, 180°), determine whether the second angle value L is within the interval (K, K+180°); or when the first angle value K is within the interval (180°, 360°), determine whether the second angle value L is within the interval (K, 360°)∪(0, K-180°);

[0057] S3. If so, determine whether the electric signal of the rotary handle is left. If so, it means the boom is rotating 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 the boom is rotating 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;

[0058] If not, determine whether the rotary handle electrical signal is right. If so, it means 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 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.

[0059] Among them, the rising segment curve Q and the falling segment curve W both experience three stages of acceleration start, constant 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 this method uses an electric rotary motor 8 to directly control the rotation movement of the turntable. By detecting the relative angle between the ramp and the turntable, the orientation of the vehicle assembly 1 relative to the ramp is determined. At the same time, by determining the rotation direction, different action programs are executed to adjust the action current in stages, so that the electric rotary motor 8 maintains constant torque operation. This can solve the problem of smooth movement of the hydraulic drive affected by the external environment, and at the same time improve the platform impact and shaking problems when operating the high-altitude 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 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 in the deceleration braking stage of the descending curve W 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 starting 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 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 more quickly, and the second stage is the uniform speed operation stage; the third stage is the deceleration braking stage, and the electric rotary motor 8 is controlled to execute fast deceleration + slow deceleration commands during the deceleration 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 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 rapid acceleration start, slow acceleration start, constant speed operation, slow deceleration braking, and rapid deceleration braking as time increases.

[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, among which 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 more quickly. The second stage is the uniform speed operation stage, and the third stage is the deceleration braking stage, controlling the electric rotary motor 8 to execute the slow deceleration + fast deceleration command during the deceleration braking stage, wherein the fast deceleration operation is to prevent the reverse sliding from causing a rear impact.

[0067] It should be noted that Figure 7 and Figure 8 In the curve 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 as that in the deceleration section of the rising curve Q, which is from a uniform speed to 0. Figure 7It 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 X and Y values ​​of the angle 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 domain of the K value is (0, 360°), so that the first angle value K can be accurately detected and converted when the aerial work platform is located on the left slope 4 or the right slope 4.

[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 and Y values ​​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. Combined with the first angle value K, the current position of the upper assembly 1 when the action is started is judged by the angle value.

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

[0077] refer to Figure 4 and Figure 5 For example, when the aerial work platform is on the left side of slope 4 and rotating counterclockwise, K is in the interval (0, 180°), and the second angle value L is in the interval (K, K+180°). Since the aerial work platform is in the uphill section of the operating condition, the acceleration of the electric swing motor 8 is controlled according to the ascending curve Q. However, in the intervals outside this range, which are in the downhill section of the operating condition, the acceleration of the electric swing motor 8 is controlled according to the descending curve W. Furthermore, the situation where the aerial work platform is on the left side of slope 4 and rotating clockwise is the opposite.

[0078] In the left-side slope condition, if the second angle value L falls within the interval (K, K+180), the swing handle electrical signal is a right signal, indicating that the upper assembly 1 is moving counterclockwise, which is the uphill segment of the condition. Therefore, the acceleration of the electric swing motor 8 is controlled according to the ascending segment curve Q. If the swing handle electrical signal is a left signal, indicating that the upper assembly 1 is moving clockwise, which is the downhill segment of the condition, the acceleration of the electric swing motor 8 is controlled according to the descending segment 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, kept constant, and stopped according to the predetermined curve. For details, see Figure 7 and Figure 8 The starting current I of the electric rotary motor 8 is adaptively adjusted according to the size of the ramp angle A, such as Figure 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 rotary motor 8 performs the rotary action.

[0080] This application detects the relative position of the upper assembly 1 and the turntable to determine the orientation of the upper assembly 1 relative to the ramp. Simultaneously, by determining the turntable's rotational direction, different action programs are executed to grade the operating current of the electric slewing motor 8 to achieve smooth slewing motion. Furthermore, when the aerial work platform is positioned on the left or right side of a slope 4 and tilts, in addition to executing different action programs to grade the operating current of the electric slewing motor 8 to achieve smooth slewing motion, this method can also be used to adjust the flow rate 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. 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 6 The 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 boom 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 boom 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 slewing motor 8 needs to be controlled according to the descending curve W to reduce the impact of the electric slewing 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 method for smoothly controlling and adjusting the slope rotation of an aerial work platform, the present invention also provides a rotation device applicable to the above-mentioned method for smoothly controlling and adjusting the slope rotation of an aerial work platform 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 provided 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 rotary motor 8 connected to the upper vehicle assembly 1 via a rotary reducer 7;

[0087] a second horizontal inclination sensor 6 , which is provided 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 tilt angle sensor 3, the electric rotary motor 8 and the second horizontal tilt angle 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, and the rotating body of the slewing bearing 2 is fixed to the upper vehicle assembly 1. The electric slewing motor 8 drives the slewing reducer 7 and the slewing bearing 2 to engage through gears, which is equivalent to adding an external force between them, so that the upper vehicle assembly 1 rotates in the rotating body.

[0090] In one embodiment, the vehicle further comprises 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 rotate relative to the vehicle frame assembly 5.

[0091] In one embodiment, an angle detector for detecting the ramp angle A is further included. 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, such as Figure 9 As shown, the starting current I of the electric rotary 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 rotary motor 8 is, so as to ensure the starting torque of the electric rotary motor 8 for the rotary action.

[0092] It should be noted that the first horizontal tilt sensor 3 and the second horizontal tilt sensor 6 mentioned in this application document are only used to distinguish the difference in position 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] The various embodiments in this specification are described in a progressive manner, and each embodiment focuses on the differences from other embodiments. The same or similar parts between the various embodiments can be referenced to each other. Any combination of all the embodiments provided by the present invention is within the scope of protection 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 rotation of an aerial work platform and the rotation device provided by the present invention. Specific examples are used herein to illustrate the principles and implementation methods of the present invention. The description of the above embodiments is only intended to help understand the method and core concept of the present invention. It should be noted that for those skilled in the art, without departing from the principles of the present invention, several improvements and modifications can be made to the present invention, 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 tilt sensor (3) detects and outputs a first angle value K of the vehicle frame assembly (5) relative to the ground, and the second horizontal tilt 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 judged 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 judged whether the second angle value L belongs to the interval (K, 360°)∪(0, K-180°); if so, it is judged whether the electric signal of the rotary handle is left; if so, it represents 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 represents 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, it is determined whether the rotary handle electric signal is right. If so, it represents 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 represents 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. Among them, the rising segment curve Q and the descending segment curve W both experience three stages of acceleration start, constant 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 descending 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 tilt sensor (3); Determine the positive and negative values ​​of X and Y values ​​through the coordinate system; Substitute the X and Y values ​​into the inverse sine function K=arctan(X / Y), and use the positive and negative values ​​of the X and Y values ​​as a judgment to obtain the first angle value K. The 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 tilt 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, suitable for the method for smoothly controlling and adjusting 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) is rotatably mounted on the vehicle frame assembly (5) via a slewing bearing (2); a first horizontal inclination sensor (3), which is provided on the vehicle frame assembly (5) and is used to detect a first angle value K of the vehicle 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 tilt angle sensor (6), which is provided 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 tilt sensor (3), the electric rotary motor (8) and the second horizontal tilt 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 mounted on the upper vehicle assembly (1) and a turntable mounted at the end of the arm.

10. The rotary device according to claim 8, characterized in that: It also includes an angle detector for detecting the 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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