Electric shear fork descending safety control method and device and electronic equipment

Abstract

The invention provides an electric shear fork descending safety control method and device and electronic equipment. The electric shear fork descending safety control method comprises the steps that in the electric shear fork descending process, when the pressure value of a pin shaft is smaller than a calibrated protection value, and the duration time exceeds first set time; or when the descending angle change value is smaller than the set change value, the current value of the lifting electric cylinder exceeds the calibrated set value, and the duration time exceeds the second set time; if so, stopping the descending action. Compared with the prior art, according to the electric shear fork descending safety control method and device and the electronic equipment, a multi-mode protection strategy is designed by detecting the change of the pressure value of the pin shaft and detecting the overload condition of the current of the lifting electric cylinder, and therefore the electric shear fork descending safety control method and device are safer and more reliable.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of engineering machinery, and in particular to an electric scissor descending safety control method and device and electronic equipment. BACKGROUND

[0002] The electric scissor (full-electric scissor aerial work platform) generally consists of a chassis, a scissor fork, a work platform, a lifting electric cylinder, an electric control unit, a walking motor and an electrical control system. The lifting electric cylinder drives the telescopic scissor fork to realize the lifting of the work platform. When the scissor is being overhauled and maintained, the support rod on the scissor fork needs to be supported in the middle of the fork to ensure that the scissor fork will not accidentally fall down, thereby protecting the life safety of the maintenance personnel and the operator. However, the lifting electric cylinder of the scissor is different from the hydraulic cylinder. The hydraulic cylinder scissor can be lowered by the overflow pressure of the hydraulic valve. The pressure after overflow will not exceed the maximum load bearing force of the scissor support rod. However, for the electric cylinder scissor, when the support rod on the scissor fork is supported in place, if the electric cylinder continues to descend, the pushing force of the electric cylinder at this time will far exceed the load bearing force of the scissor support rod. Therefore, it is necessary to protect the scissor fork by the electrical control system to prevent the support rod on the fork from being continuously pressed after being supported in place, thereby preventing the deformation and damage of the scissor support rod and causing safety accidents.

[0003] There are two existing schemes for descending safety control. Scheme one is that when the support rod on the scissor fork is supported in place, the emergency stop switch is pressed down by a manual way to cut off the power supply of the whole vehicle, thereby preventing the fork from continuing to descend. However, the manual way to trigger the emergency stop switch may be omitted or neglected, and the situation cannot be completely avoided. Scheme two is that the support rod detection switch is used to determine whether the support rod detection switch is triggered. If the support rod detection switch is triggered, the descending action of the vehicle is immediately cut off. When the in-place switch fails or is shielded, the safety of the fork cannot be guaranteed. The scheme has high reliability requirements for the support triggering mechanism of the support in place, and the failure rate is high, which cannot effectively guarantee the safety of the fork. SUMMARY

[0004] In view of the technical problems in the prior art, the present application provides a more safe and reliable electric scissor descending safety control method, device and electronic equipment.

[0005] An electric scissor descending safety control method, comprising: In the electric scissor descending process, When the pin shaft pressure value is less than the calibrated protection value and the duration exceeds the first set time; Or, when the angle change value of the lowering is less than the set change value, the current value of the lifting cylinder exceeds the set value, and the duration exceeds the second set time; Then stop the lowering action.

[0006] Preferably, the calibration protection value is obtained by platform empty load calibration, and the pin shaft pressure value at each angle value during the controlled lowering process is recorded.

[0007] Preferably, the protection current value I max =aI i , wherein a is an overload coefficient, I i is obtained by platform full load calibration, and the current value of the lifting cylinder at each angle value during the full load lowering process is recorded.

[0008] A safety control method for electric scissor lowering, comprising: Step 1: Perform platform empty load calibration to record the pin shaft pressure value at each angle value during the controlled lowering process as the calibration protection value; and perform platform full load calibration to record the current value of the lifting cylinder at each angle value during the full load lowering process; Step 2: If a lowering action is detected, the pin shaft pressure value is received, and it is determined whether the pin shaft pressure is less than the calibration protection value and the duration exceeds the first set time. If so, step 4 is executed. It is determined whether the current value of the lifting cylinder exceeds the calibration set value when the angle change value of the lowering is less than the set change value, and the duration exceeds the second set time. If so, step 4 is executed. Step 3: If the pin shaft pressure is not less than the calibration protection value, or the duration does not exceed the first set time; and the current value of the lifting cylinder does not exceed the calibration set value, or the duration does not exceed the second set time, the lowering action continues. Step 4: Enter the support rod protection state to limit the lowering of the entire machine.

[0009] Preferably, it further comprises: Step 5: Determine whether there is a lifting action. If so, exit the support rod protection state and cancel the lowering limit.

[0010] Preferably, the step 4 further comprises prompting the corresponding state code; and the step 5 further comprises disappearing the state code.

[0011] A safety control device for electric scissor lowering, comprising: A detection module for detecting the pin shaft pressure value, the angle change value, and the current value of the lifting cylinder during the electric scissor lowering process. The judgment module is used to determine whether the pin pressure is less than the calibrated protection value and the duration exceeds a first set time based on the detected pin pressure value, angle change value, and lifting cylinder current value; and to determine whether the lifting cylinder current value exceeds the calibrated setting value and the duration exceeds a second set time when the descent angle change value is less than the set change value. The execution module is used to stop the descent action when the pin pressure value is less than the calibrated protection value and the duration exceeds the first set time; or when the descent angle change value is less than the set change value, the current value of the lifting electric cylinder exceeds the calibrated set value, and the duration exceeds the second set time.

[0012] Preferably, the calibration protection value is the pin pressure value obtained by performing platform no-load calibration and recording it at each angle during controlled descent.

[0013] Preferably, the protection current value I max =aI i Where a is the overload factor, I i To perform full-load calibration of the platform, the current value of the lifting electric cylinder was recorded at each angle value during the full-load descent process.

[0014] An electronic device includes: a memory for storing a computer program; and a processor for implementing the method described above when executing the computer program.

[0015] Compared with existing technologies, the electric scissor lift descent safety control method, device and electronic equipment provided by the present invention have designed a multi-mode protection strategy by detecting changes in the pressure value of the detection pin shaft and detecting the overload condition of the lifting cylinder current, thereby making it safer and more reliable. Attached Figure Description

[0016] To more clearly illustrate the technical solutions in the embodiments of this application or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0017] Figure 1 This is a schematic diagram of the electric scissor lift used in the electric scissor lift descent safety control method provided in an embodiment of the present invention. Figure 2 for Figure 1 The diagram shows a flowchart of the safety control method for lowering an electric scissor lift. Figure 3 This is a schematic diagram of the structure of an electric scissor lift descent safety control device provided in one embodiment of the present invention.

[0018] In the figure, 1, walking trolley; 2, scissor fork frame; 3, working platform; 4, controller; 5, support rod; 6, lifting electric cylinder; 7, pin shaft sensor DETAILED DESCRIPTION In order for those skilled in the art to better understand the technical solutions in the present application, the technical solutions in the embodiments of the present application will be clearly and completely described below. Obviously, the described embodiments are only part of the embodiments of the present application, not all embodiments. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without creative labor fall within the scope of protection of the present application.

[0019] It should be noted that when an element is referred to as "fixed to" or "disposed on" another element, it can be directly on the other element or indirectly disposed on the other element; when an element is referred to as "connected to" another element, it can be directly connected to the other element or indirectly connected to the other element.

[0020] It should be understood that the structure, proportion, size, etc. shown in the drawings of the present specification are only used to cooperate with the content disclosed in the specification, so that those skilled in the art can understand and read, and are not used to limit the limiting conditions that can be implemented by the present application, so they do not have technical significance. Any modification of the structure, change of the proportion relationship or adjustment of the size, without affecting the effect and purpose that can be achieved by the present application, should still fall within the scope of the technical content disclosed by the present application.

[0021] As shown in Figure 1 , Figure 2 , the embodiment of the present application provides a safety control method for electric scissor descending. The electric scissor includes a walking trolley 1, a scissor fork frame 2, and a working platform 3. The walking trolley 1 is provided with a controller 4. The scissor fork frame 2 is provided with a support rod 5 and a lifting electric cylinder 6. The lifting electric cylinder 6 is used to drive the scissor fork frame 2 to rise or descend, and drive the working platform 3 to rise or descend. The lifting electric cylinder 6 is connected with a motor current sensor (not shown) for detecting the current value of the lifting electric cylinder 6. The scissor fork frame 2 is also provided with a pin shaft sensor 7 and an angle sensor (not shown) for detecting the pin shaft pressure value and the angle change of the scissor fork frame 2, respectively.

[0022] The safety control method for electric scissor descending includes: During the descending process of the electric scissor, when the pin shaft pressure value P is less than the calibrated protection value P i , and the duration exceeds the first set time; or, when the angle change value of the descending is less than the set change value, the current value of the lifting electric cylinder exceeds the calibrated set value, and the duration exceeds the second set time; Then stop the descending action.

[0023] Preferably, the calibration protection value is to carry out platform no-load calibration, and record the pin shaft pressure value at each angle value during the control descending process.

[0024] Preferably, the protection current value I max =aI i , wherein a is an overload coefficient, I i is to carry out platform full-load calibration, and record the lifting cylinder current value when each angle value descends during the full-load descending process.

[0025] Normally, the pin shaft sensor pressure value P will not be less than the calibration protection value P i , because the sensor detection speed is fast, this scheme can quickly and accurately judge the change of the pressure value, stop the descending action, which can effectively protect the pressure of the supporting rod and avoid the deformation of the supporting rod. Moreover, this scheme judges whether the supporting rod is extruded by the angle without change, and when the current output by the lifting cylinder exceeds the descending current under the full-load condition, it can be regarded as the case that the supporting rod bears too large load, and the descending action is stopped.

[0026] Specifically, in this embodiment, the electric scissor descending safety control method includes the following steps one to five.

[0027] Step one, carry out platform no-load calibration, record the pin shaft pressure value P i at each angle value during the control descending process through the angle sensor and the pin shaft sensor, as the calibration protection value; carry out platform full-load calibration, record the lifting cylinder current value I i when each angle value descends during the full-load descending process through the angle sensor and the motor current sensor.

[0028] Step two, if the descending action is detected, receive the pin shaft pressure value, judge whether the pin shaft pressure P is less than the calibration protection value P i , and the duration exceeds the first set time (such as 100 ms), if yes, execute step four; judge whether the lifting cylinder current value I n exceeds the calibration set value I max when the angle change value of the descending is less than the set change value, the calibration set value is the current value obtained by the platform full-load calibration multiplied by the overload coefficient (i.e. I max =aI i , and the duration exceeds the second set time (such as 100 ms), if yes, execute step four.

[0029] Step three, if the pin shaft pressure P is not less than the calibration protection value P ior the duration does not exceed the first set time; and, the current value I of the lifting cylinder n does not exceed the calibration set value I max or the duration does not exceed the second set time, the lowering action is continued.

[0030] Step four, entering the support rod protection state, limiting the whole machine to descend.

[0031] Step five, judging whether there is lifting action, if yes, exiting the support rod protection state and canceling the descent limitation.

[0032] In the embodiment, the step four further comprises: prompting the corresponding state code. Specifically, when the pin shaft sensor pressure value continuously is lower than the calibration protection value, the platform control box (PCU) can prompt the state code of "the fork support rod is in place"; when the current value of the lifting cylinder continuously is higher than the calibration set value, the platform control box (PCU) can prompt the state code of "the cylinder thrust is too large". The step five further comprises the state code disappearing.

[0033] As shown in Figure 3 the embodiment also provides an electric fork lowering safety control device, comprising: a detection module, used for detecting the pin shaft pressure value, the angle change value and the current value of the lifting cylinder during the electric fork lowering process; a judgment module, used for judging whether the pin shaft pressure is less than the calibration protection value and the duration exceeds the first set time according to the detection of the pin shaft pressure value, the angle change value and the current value of the lifting cylinder; and judging whether the current value of the lifting cylinder exceeds the calibration set value and the duration exceeds the second set time when the angle change value of the lowering is less than the set change value; an execution module, used for stopping the lowering action when the pin shaft pressure value is less than the calibration protection value and the duration exceeds the first set time; or when the angle change value of the lowering is less than the set change value and the current value of the lifting cylinder exceeds the calibration set value and the duration exceeds the second set time.

[0034] Preferably, the calibration protection value is obtained by performing platform empty load calibration and recording the pin shaft pressure value at each angle value during the controlled lowering process.

[0035] Preferably, the protection current value I max =aI i , wherein a is an overload coefficient, I i is obtained by performing platform full load calibration and recording the current value of the lifting cylinder at each angle value during the full load lowering process.

[0036] The embodiment also provides an electronic device, comprising a memory for storing a computer program, and a processor for implementing the method as described above when executing the computer program.

[0037] Compared with the prior art, the embodiment has the following advantages: 1. The change of the pressure value can be effectively detected through the pressure change of the pin shaft sensor, the pressure bearing condition of the support rod is detected, the output of the descending action is controlled through the program, the electric cylinder continues to descend is avoided, the safety of the support rod is protected, the control logic is simple, and the detection precision is high; 2. A multi-mode protection strategy is designed by detecting the change of the angle sensing value and the overload condition of the current of the lifting electric cylinder, and the safety and reliability are higher; 3. Without increasing other components of the whole vehicle, the safety function is simple to set, high in reliability, convenient to maintain, and low in cost; 4. The scheme not only plays a role in protecting the deformation of the scissor support rod, but also avoids the problem of high energy consumption caused by the continuous descending of the scissor support rod after reaching the position.

[0038] The above only describes the embodiments of the present application, and it should be pointed out that, for ordinary skilled persons in the art, improvements can be made without departing from the concept of the present application, but these all belong to the protection scope of the present application.

Claims

1. A method for controlling the descent of a power shear with a fork, characterized in that, Comprising: During the electric scissors descending process, When the pin shaft pressure value is less than the calibration protection value, and the duration exceeds the first set time; Or, when the angle change value of the descending is less than the set change value, the current value of the lifting cylinder exceeds the calibration set value, and the duration exceeds the second set time; Then stop the descending action.

2. The electric shear fork-down safety control method according to claim 1, characterized by, The calibration protection value is obtained by platform empty load calibration, and the pin shaft pressure value at each angle value in the controlled descending process is recorded.

3. The electric shear down safety control method according to claim 1, wherein The protection current value I max = aI i , wherein a is an overload factor, I i To calibrate the platform full load, the current value of the lifting cylinder at each angle value during the full load descent process is recorded.

4. An electric scissor descent safety control method, characterized by, Comprising: Step one, perform platform empty load calibration, record the pin shaft pressure value at each angle value in the controlled descending process as the calibration protection value; Perform platform full load calibration, and record the current value of the lifting cylinder when each angle value descends under full load; Step two, if the descending action is detected, the pin shaft pressure value is received, and it is judged whether the pin shaft pressure is less than the calibration protection value and the duration exceeds the first set time, if yes, step four is executed; it is judged whether the current value of the lifting cylinder exceeds the calibration set value when the angle change value of the descending is less than the set change value, the calibration set value being the current value obtained by platform full load calibration multiplied by the overload coefficient, and the duration exceeding the second set time, if yes, step four is executed; Step three, if the pin shaft pressure is not less than the calibration protection value, or the duration does not exceed the first set time; And, the current value of the lifting cylinder does not exceed the calibration set value, or the duration does not exceed the second set time, the descending action is continued; Step four, enter the support rod protection state, and limit the descending of the whole machine.

5. The electric shear down-fork descent safety control method according to claim 4, characterized by, Further comprising: Step five, judge whether there is a lifting action, if yes, exit the support rod protection state, and cancel the descending limit.

6. The electric shear down-fork descent safety control method according to claim 5, characterized by, The step four further comprises: prompting the corresponding state code; and the step five further comprises: the state code disappears.

7. An electric scissor lift descent safety control device, characterized by, Comprising: A detection module, configured to detect the pin shaft pressure value, the angle change value, and the current value of the lifting cylinder during the electric scissors descending process; A judgment module, configured to judge, according to the detected pin shaft pressure value, the angle change value, and the current value of the lifting cylinder, whether the pin shaft pressure is less than the calibration protection value and the duration exceeds the first set time; And, whether the current value of the lifting cylinder exceeds the calibration set value when the angle change value of the descending is less than the set change value and the duration exceeds the second set time; An execution module, configured to stop the descending action when the pin shaft pressure value is less than the calibration protection value and the duration exceeds the first set time; Or, when the angle change value of the descending is less than the set change value, the current value of the lifting cylinder exceeds the calibration set value, and the duration exceeds the second set time.

8. The electric shear downfalcon safety control device of claim 7, wherein, The calibration protection value is obtained by platform empty load calibration, and the pin shaft pressure value at each angle value in the controlled descending process is recorded.

9. The electric shear downfalcon safety control device of claim 7, wherein, The protection current value I max = aI i , wherein a is an overload factor, I i To calibrate the platform full load, the current value of the lifting cylinder at each angle value during the full load descent process is recorded.

10. An electronic device, comprising: Comprising: a memory, configured to store a computer program; A processor, configured to execute the computer program to implement the method in any one of claims 1 to 6.

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