Overturn-preventing hydraulic stable supporting leg of high-altitude curtain wall maintenance platform and adjusting method of overturning-preventing hydraulic stable supporting leg

Abstract

The invention relates to the technical field of high-altitude operation equipment, in particular to an anti-overturning hydraulic stable supporting leg of a high-altitude curtain wall maintenance platform and an adjusting method thereof.The anti-overturning hydraulic stable supporting leg comprises the maintenance platform, the maintenance platform is provided with four supporting leg mechanisms, and each supporting leg mechanism comprises a hydraulic cylinder and a supporting base; the supporting bases are fixedly connected to the bottom ends of the hydraulic cylinders, pressure sensors are arranged on the bottom sides of the four supporting bases, a tilt angle sensor is arranged on the bottom side of the center of the overhauling platform, a controller is arranged on the side wall of the overhauling platform, and the hydraulic cylinders, the tilt angle sensor and the pressure sensors are all electrically connected with the controller. And a supporting leg control unit is arranged in the controller. Through hydraulic driving, intelligent control and structure optimization, rapid leveling, automatic locking and real-time monitoring of the supporting legs are achieved, it is ensured that the platform is kept horizontal under the complex working condition, overturning accidents are effectively prevented through a real-time monitoring and automatic control mechanism, and the overall supporting legs are high in stability, high in adjusting efficiency and high in safety.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of high-altitude operation equipment, and particularly relates to a high-altitude curtain wall maintenance platform anti-overturning hydraulic stabilizing outrigger and a regulating method thereof. BACKGROUND

[0002] At present, the number of super high-rise buildings is increasing in China. When high-rise buildings appear in the form of double towers, the two towers are often connected by high-altitude connecting bridges. Moreover, the outer facade of high-rise buildings is often in the form of curtain walls to increase the aesthetic effect, and a high-altitude curtain wall maintenance platform is generally used for the maintenance and repair of the curtain wall at a later stage.

[0003] The high-altitude curtain wall maintenance platform needs to bear the wind load, the self weight of the equipment and the load of the operator during operation. The traditional outrigger structure has the following defects:

[0004] 1. Insufficient stability: the contact area of the outrigger with the ground is small, and the anti-overturning capacity is weak;

[0005] 2. Low regulating efficiency: manual regulation of the height of the outrigger is time-consuming and labor-intensive, and cannot quickly adapt to uneven ground;

[0006] 3. Poor safety: there is a lack of real-time monitoring and feedback mechanism, and the outrigger is easily overturned due to virtual connection or ground subsidence. SUMMARY

[0007] The present application provides a high-altitude curtain wall maintenance platform anti-overturning hydraulic stabilizing outrigger to solve the problems in the background art.

[0008] In order to achieve the above purpose, the present application adopts the following technical solutions:

[0009] A high-altitude curtain wall maintenance platform anti-overturning hydraulic stabilizing outrigger, comprising a maintenance platform, four outrigger mechanisms are arranged on the maintenance platform, each outrigger mechanism comprises a hydraulic cylinder and a supporting base, the supporting base is located on the lower side of the hydraulic cylinder and is connected with the output end of the hydraulic cylinder; a pressure sensor is arranged on the bottom side of each of the four supporting bases, and an inclination sensor is arranged on the central bottom side of the maintenance platform; a controller is further included, the hydraulic cylinder, the inclination sensor and the pressure sensor are connected with the controller, and the controller is used for adjusting the extension and retraction amount of each hydraulic cylinder to prevent the maintenance platform from overturning.

[0010] A regulating method of the high-altitude curtain wall maintenance platform anti-overturning hydraulic stabilizing outrigger is also disclosed, which specifically comprises the following steps:

[0011] In the first step, the pressure data of the bottoms of the four supporting bases are obtained by the pressure sensors, and at the same time, the X-axis inclination angle θ x and the Y-axis inclination angle θ y; Output the pressure data detected by the pressure sensor and the X-axis tilt angle and Y-axis tilt angle detected by the inclination sensor to the controller;

[0012] In the second step, the controller calculates the pressure deviation and the inclination deviation;

[0013] The third step is to calculate the target height adjustment of each leg based on the inclination deviation, and then introduce the pressure deviation to correct the target height adjustment to obtain the corrected adjustment:

[0014] In the fourth step, in order to prevent excessive adjustment of a single leg, dynamic weights are introduced to further adjust the correction adjustment amount to obtain the final adjustment amount of each hydraulic cylinder;

[0015] In the fifth step, the controller adjusts the corresponding hydraulic cylinder according to the final adjustment amount of each hydraulic cylinder until the X-axis tilt angle and the Y-axis tilt angle of the maintenance platform are both smaller than the safety angle, and then stops adjusting.

[0016] Preferably, in the second step, the pressure deviation is calculated, specifically: ΔP i =P i -P nom , where ΔP i is the pressure deviation; P i is the pressure at the bottom of the i-th support base, i∈[1,4]; P nom Rated pressure of the hydraulic cylinder.

[0017] Preferably, the second step is to calculate the inclination deviation, specifically: Δθ x =θ x -θ target-x , Δθ y =θ y -θ target-y ;

[0018] Where Δθ x is the X-axis angle deviation of the maintenance platform; Δθ y is the Y-axis angle deviation of the maintenance platform; θ x is the X-axis tilt angle of the maintenance platform; θ y is the Y-axis tilt angle of the maintenance platform; θ target-x is the X-axis target angle, θ target-y is the Y-axis target angle, θ target-x =θ target-y =0.

[0019] Preferably, the target height adjustment amount of each leg mechanism is calculated according to the X-axis angle deviation and the Y-axis angle deviation, specifically:

[0020] Δh i =k 1· Δθ x ·Lix +k 2· Δθ y ·L iy ;

[0021] wherein, L ix , L iy is the X, Y direction force arm length of the support base to the platform center of the ith support leg mechanism; k1, k2 are proportional coefficients, k1=k2=0.5; Δh i is the target height adjustment amount of the support leg mechanism.

[0022] Preferably, the pressure deviation correction target height adjustment amount is introduced, specifically:

[0023]

[0024] wherein, α is the pressure correction coefficient, P max is the maximum allowable pressure of the support leg.

[0025] Preferably, α is 0.2.

[0026] Preferably, the fourth step is to prevent a single support leg from being excessively adjusted, and a dynamic weight is introduced to calculate the final adjustment amount, specifically:

[0027] First, the dynamic weight is calculated

[0028] Then, the final adjustment amount is calculated

[0029] wherein, is the final height adjustment amount of the ith support leg mechanism; w i is the dynamic weight of the ith support leg mechanism.

[0030] Preferably, the safety angle in the fifth step is 0.5°.

[0031] Compared with the prior art, the beneficial effects of the present application are:

[0032] The present application realizes rapid leveling, automatic locking and real-time monitoring of the support leg through hydraulic drive, intelligent control and structural optimization, ensures that the platform remains horizontal under complex working conditions, effectively prevents overturning accidents through real-time monitoring and automatic control mechanism, has high overall support leg stability, high support leg adjustment efficiency and high safety.

[0033] The above description is only a summary of the technical solutions of the present application. In order to more clearly understand the technical means of the present application, and to implement the content of the description, the following will be described in detail with the preferred embodiments of the present application and the accompanying drawings. The specific embodiments of the present application are given in detail by the following examples and accompanying drawings. BRIEF DESCRIPTION OF DRAWINGS

[0034] The drawings described herein are used to provide a further understanding of the present invention and constitute a part of this application. The exemplary embodiments of the present invention and their descriptions are used to explain the present invention and do not constitute an improper limitation of the present invention. In the drawings:

[0035] Figure 1 This is a schematic diagram of the top structure of the anti-overturning hydraulic stabilizing legs of a high-altitude curtain wall maintenance platform proposed by the present invention;

[0036] Figure 2 This is a schematic diagram of the bottom structure of the anti-overturning hydraulic stabilizing legs of a high-altitude curtain wall maintenance platform proposed by the present invention.

[0037] In the accompanying drawings, the components represented by the reference numerals are as follows:

[0038] 1. Hydraulic cylinder; 2. Support base; 3. Controller; 4. Maintenance platform; 5. Inclination sensor; 6. Pressure sensor. DETAILED DESCRIPTION

[0039] The principles and features of the present invention are described below with reference to the accompanying drawings. The examples provided are intended only to illustrate the present invention and are not intended to limit the scope of the present invention. The following paragraphs describe the present invention in more detail by way of example with reference to the accompanying drawings. It should be noted that the drawings are all in a very simplified form and are not to exact scale, and are only used for the purpose of conveniently and clearly illustrating the embodiments of the present invention.

[0040] It should be noted that when a component is referred to as being "fixed to" another component, it may be directly on the other component or there may also be a central component. When a component is considered to be "connected to" another component, it may be directly connected to the other component or there may also be a central component. When a component is considered to be "set on" another component, it may be directly set on the other component or there may also be a central component. The terms "vertical", "horizontal", "left", "right" and similar expressions used herein are for illustrative purposes only.

[0041] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by those skilled in the art to which this invention pertains. The terms used in this specification of the present invention are for the purpose of describing specific embodiments only and are not intended to limit the present invention. The term "and / or" as used herein includes any and all combinations of one or more of the associated listed items.

[0042] See also Figures 1 and 2In an embodiment of the present invention, an anti-overturning hydraulic stabilization leg of a high-altitude curtain wall maintenance platform includes an maintenance platform 4, and four leg mechanisms are provided on the maintenance platform 4. Each leg mechanism includes a hydraulic cylinder 1 and a support base 2. The support base 2 is located at the lower side of the hydraulic cylinder 1 and is connected to the output end of the hydraulic cylinder 1; the bottom sides of the four support bases 2 are each provided with a pressure sensor 6, and the central bottom side of the maintenance platform 4 is provided with an inclination sensor 5; a controller 3 is also included, and the hydraulic cylinder 1, the inclination sensor 5, and the pressure sensor 6 are all connected to the controller 3. The controller 3 is used to adjust the extension and contraction amount of each hydraulic cylinder 1 to prevent the maintenance platform 4 from overturning.

[0043] A method for adjusting anti-overturning hydraulic stabilizing legs of a high-altitude curtain wall maintenance platform, specifically comprising:

[0044] The first step is to obtain the pressure data of the bottom of the four support bases 2 through the pressure sensor 6, and at the same time, obtain the X-axis tilt angle θ of the maintenance platform 4 through the inclination sensor 5 x , and the Y-axis tilt angle θ y The pressure data detected by the pressure sensor 6 and the X-axis tilt angle and Y-axis tilt angle detected by the inclination sensor 5 are output to the controller 3; the controller 3 can be set on the maintenance platform 4.

[0045] In the second step, the controller 3 calculates the pressure deviation and the inclination angle deviation, specifically:

[0046] ΔP i =P i -P nom , where ΔP i is the pressure deviation; P i is the pressure at the bottom of the i-th support base 2, i∈[1,4]; P nom Rated pressure of hydraulic cylinder 1.

[0047] Δθ x =θ x -θ target-x , Δθ y =θ y -θ target-y ;

[0048] Where Δθ x is the X-axis angle deviation of the maintenance platform 4; Δθ y is the Y-axis angle deviation of the maintenance platform 4; θ x is the X-axis tilt angle of the maintenance platform 4; θ y is the Y-axis inclination angle of the maintenance platform 4; θ target-x is the X-axis target angle, θ target-y is the Y-axis target angle, θ target-x =θ target-y =0.

[0049] The third step is to calculate the target height adjustment of each leg based on the inclination deviation:

[0050] Δh i =k 1· Δθ x ·L ix +k 2· Δθ y ·L iy ;

[0051] Among them, L ix , L iy is the length of the X and Y force arms from the support base 2 of the i-th leg mechanism to the center of the platform; k1 and k2 are proportional coefficients, k1 = k2 = 0.5; Δh i The target height adjustment for the outrigger mechanism.

[0052] Then introduce the pressure deviation to correct the target height adjustment amount to obtain the corrected adjustment amount:

[0053] Where α is the pressure correction coefficient, P max is the maximum allowable pressure of the support leg. In this embodiment, α is set to 0.2.

[0054] In the fourth step, to prevent excessive adjustment of a single leg, dynamic weights are introduced to calculate the final adjustment amount, specifically:

[0055] First calculate the dynamic weight

[0056] Then calculate the final adjustment

[0057] in, is the final height adjustment of the i-th leg mechanism; w i is the dynamic weight of the i-th leg mechanism;

[0058] In the fifth step, the controller adjusts the The calculation results are used to adjust the extension and contraction of the hydraulic cylinder on the i-th leg until the platform tilt angle θ x ,θ y When both are less than the safety angle of 0.5°, the adjustment is stopped to achieve dynamic leveling.

[0059] The above description is only a preferred embodiment of the present invention and does not limit the present invention in any form. Any ordinary technician in this industry can smoothly implement the present invention as shown in the drawings and described above. However, any equivalent changes, modifications and evolutions made by technicians familiar with this profession without departing from the scope of the technical solution of the present invention using the technical content disclosed above are all equivalent embodiments of the present invention. At the same time, any equivalent changes, modifications and evolutions made to the above embodiments based on the essential technology of the present invention are still within the scope of protection of the technical solution of the present invention.

Claims

1. An anti-overturning hydraulic stabilizing leg for a high-altitude curtain wall maintenance platform, comprising a maintenance platform (4), characterized in that: The maintenance platform (4) is provided with four outrigger mechanisms, each of which includes a hydraulic cylinder (1) and a support base (2), wherein the support base (2) is located on the lower side of the hydraulic cylinder (1) and is connected to the output end of the hydraulic cylinder (1); the bottom sides of the four support bases (2) are all provided with pressure sensors (6), and the central bottom side of the maintenance platform (4) is provided with an inclination sensor (5); and a controller (3) is also included, wherein the hydraulic cylinder (1), the inclination sensor (5), and the pressure sensor (6) are all connected to the controller (3), and the controller (3) is used to adjust the extension and contraction amount of each hydraulic cylinder (1) to prevent the maintenance platform (4) from overturning.

2. A method for adjusting the anti-overturning hydraulic stabilizing legs of a high-altitude curtain wall maintenance platform according to claim 1, characterized in that: Specifically include: The first step is to obtain the pressure data of the bottom of the four support bases (2) through the pressure sensor (6), and at the same time, obtain the X-axis tilt angle θ of the maintenance platform (4) through the inclination sensor (5) x , and the Y-axis tilt angle θ y Outputting the pressure data detected by the pressure sensor (6) and the X-axis tilt angle and Y-axis tilt angle detected by the tilt sensor (5) to the controller (3); In the second step, the controller (3) calculates the pressure deviation and the inclination deviation; The third step is to calculate the target height adjustment of each leg based on the inclination deviation, and then introduce the pressure deviation to correct the target height adjustment to obtain the corrected adjustment: In the fourth step, in order to prevent excessive adjustment of a single leg, dynamic weights are introduced to further adjust the correction adjustment amount to obtain the final adjustment amount of each hydraulic cylinder (1); In the fifth step, the controller adjusts the corresponding hydraulic cylinder (1) according to the final adjustment amount of each hydraulic cylinder (1) until the X-axis tilt angle and the Y-axis tilt angle of the maintenance platform (4) are both smaller than the safety angle, and then stops adjusting.

3. The method for adjusting the anti-overturning hydraulic stabilizing legs of the high-altitude curtain wall maintenance platform according to claim 2 is characterized in that: The second step is to calculate the pressure deviation, specifically: ΔP i =P i -P nom , where ΔP i is the pressure deviation; P i is the pressure at the bottom of the i-th support base (2), i∈[1,4]; P nom Rated pressure of the hydraulic cylinder (1).

4. The method for adjusting the anti-overturning hydraulic stabilizing legs of the high-altitude curtain wall maintenance platform according to claim 3 is characterized in that: The second step is to calculate the inclination deviation, specifically: Δθ x =θ x -θ target-x , Δθ y =θ y -θ target-y ; Where Δθ x is the X-axis angle deviation of the maintenance platform (4); Δθ y is the Y-axis angle deviation of the maintenance platform (4); θ x is the X-axis tilt angle of the maintenance platform (4); θ y is the Y-axis tilt angle of the maintenance platform (4); θ tar get-x is the X-axis target angle, θ tar get-y is the Y-axis target angle, θ tar get-x =θ target-y =0.

5. The method for adjusting the anti-overturning hydraulic stabilizing legs of the high-altitude curtain wall maintenance platform according to claim 4 is characterized in that: Calculate the target height adjustment of each leg mechanism based on the X-axis angle deviation and the Y-axis angle deviation, specifically: Dh i =k 1· Dth x ·L ix +k 2· Dth y ·L iy ; Among them, L ix , L iy is the length of the X and Y force arms from the support base (2) of the i-th leg mechanism to the center of the platform, i∈[1,4]; k1, k2 are proportional coefficients, k1=k2=0.5; Δh i The target height adjustment for the outrigger mechanism.

6. The method for adjusting the anti-overturning hydraulic stabilizing legs of the high-altitude curtain wall maintenance platform according to claim 5 is characterized in that: Introduce pressure deviation to correct the target height adjustment amount, specifically: Where α is the pressure correction coefficient, P max The maximum allowable pressure of the outrigger.

7. The method for adjusting the anti-overturning hydraulic stabilizing legs of the high-altitude curtain wall maintenance platform according to claim 6 is characterized in that: The value of α is 0.

2.

8. The method for adjusting the anti-overturning hydraulic stabilizing legs of the high-altitude curtain wall maintenance platform according to claim 7 is characterized in that: In the fourth step, to prevent excessive adjustment of a single leg, dynamic weights are introduced to calculate the final adjustment amount, specifically: First calculate the dynamic weight Then calculate the final adjustment in, is the final height adjustment of the i-th leg mechanism; w i is the dynamic weight of the i-th leg mechanism.

9. The method for adjusting the anti-overturning hydraulic stabilizing legs of the high-altitude curtain wall maintenance platform according to claim 8, characterized in that: The safety angle in step 5 is 0.5°.

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