High-lifting mechanism control method, load control system and aerial work machine

Abstract

The application relates to the technical field of working machines, and discloses a lifting mechanism control method, a load hoisting control system and an aerial working machine. The method comprises the following steps: in a load hoisting mode, a current luffing angle of a lifting mechanism is acquired; according to a preset corresponding relationship between the current luffing angle and a set maximum load of the lifting mechanism, a set maximum load hoisting load of the lifting mechanism at the current luffing angle is determined; the set maximum load hoisting load is compared with an actual load hoisting load of the lifting mechanism; and when the actual load hoisting load exceeds a preset range of the set maximum load hoisting load, the lifting mechanism is controlled to be cut off from all actions except for the action of lowering a hoisted object. The method can greatly improve the safety of load hoisting operation.

Description

Technical Field

[0001] This application belongs to the field of work machinery technology, specifically relating to a lifting mechanism control method, a lifting control system, and aerial work machinery. Background Technology

[0002] Aerial work machinery (such as aerial work platforms and aerial ladder fire trucks) can be used for high-altitude operations, high-altitude firefighting, and high-altitude rescue. This type of equipment is typically equipped with a lifting mechanism (such as a boom system), enabling flexible operation at different heights. It is worth noting that in emergency situations, in addition to performing its core functions, the lifting mechanism can also undertake certain heavy lifting tasks, thereby further enhancing its comprehensive emergency response capabilities in complex rescue environments.

[0003] However, existing lifting mechanisms primarily rely on markings near the lifting lugs or manual judgment, lacking real-time, quantitative detection methods, which easily leads to overloading. Overloading can result in serious consequences such as vehicle rollovers and boom damage, compromising the safety of lifting operations. Summary of the Invention

[0004] The purpose of this application is to provide a control method for a lifting mechanism, a load-bearing control system, and aerial work machinery, aiming to solve the technical problem of safety risks existing in existing lifting mechanisms when lifting loads.

[0005] To achieve the above objectives, this application provides a lifting mechanism control method, comprising: In lifting mode, obtain the current luffing angle of the lifting mechanism; Based on the preset correspondence between the current luffing angle and the maximum load set by the lifting mechanism, the maximum lifting load set by the lifting mechanism at the current luffing angle is determined. Compare the set maximum lifting load with the actual lifting load of the lifting mechanism; When the actual lifting load exceeds the preset range of the maximum lifting load, the lifting mechanism is controlled to cut off all actions except for lowering the load.

[0006] In some embodiments, determining the maximum lifting load of the lifting mechanism at the current luffing angle based on a preset correspondence between the current luffing angle and the maximum load set by the lifting mechanism includes: Based on the preset correspondence diagram of "lifting mechanism luffing angle - lifting mechanism set load", determine the maximum set lifting load of the lifting mechanism at the current luffing angle.

[0007] In some embodiments, in the lifting mode, the lifting mechanism control method further includes: The telescopic response of the lifting mechanism is prohibited, and the movement speed of the lifting mechanism is limited.

[0008] In some embodiments, in the lifting mode, the lifting mechanism control method further includes: The maximum amplitude angle of the lifting mechanism is limited.

[0009] In some embodiments, the lifting mechanism control method further includes, before entering the lifting mode: Determine whether the lifting mechanism meets the working conditions of the upper structure; If not, then entering the lifting mode is prohibited; The working conditions of the upper structure include: the rotation angle of the lifting mechanism is outside 45 degrees, and the lifting mechanism is in a fully retracted state.

[0010] In some embodiments, the lifting mechanism control method further includes, before entering the lifting mode: Determine whether the lifting mechanism is carrying a load; If so, entering the lifting mode is prohibited, and the lifting mechanism is prohibited from raising or rotating.

[0011] In some embodiments, after the lifting mode ends, the lifting mechanism control method further includes: Determine if the hook is in the reset position; If not, then call the police.

[0012] A lifting control system, comprising: The lifting mechanism is capable of performing lifting, luffing, and slewing actions, and the lifting mechanism is equipped with a hook for lifting heavy objects; The weighing sensor module is used to obtain the actual lifting load of the lifting mechanism; A variable amplitude angle sensing module is used to obtain the current variable amplitude angle of the lifting mechanism; The controller is communicatively connected to the weighing sensor module and the amplitude angle sensor module and is used to execute the lifting mechanism control method according to any of the above embodiments.

[0013] In some embodiments, the hook is movably connected to the lifting mechanism and has a suspended state and a reset state. The suspended control system further includes a locking component for locking the hook in the reset state. The locking component is communicatively connected to the controller, which is further configured to determine whether the hook is in the suspended state or the reset state based on whether the hook is connected to the locking component.

[0014] A third aspect of this application provides an aerial work platform, which includes the work platform system described in any of the above embodiments.

[0015] Through the above technical solution, based on the preset correspondence between the current luffing angle of the lifting mechanism and the set maximum lifting load, the maximum allowable lifting load (lifting limit) at the current luffing angle is dynamically determined, achieving a precise quantitative assessment of the actual load-bearing capacity of the lifting mechanism under different operating postures. Furthermore, by comparing the real-time detected actual lifting load with the set maximum lifting load at the current luffing angle, and using a preset range as a judgment threshold, the identification of overload risk no longer relies on the operator's subjective experience but is based on objective data comparison, greatly improving the safety of lifting operations. When the actual lifting load is determined to exceed the preset range, all actions except for lowering the load are cut off. This effectively prevents the continued execution of actions that exacerbate the risk, such as lifting, luffing, and slewing, under overload conditions, eliminating overload operations and preserving the operating system's ability to reduce load under overload conditions. This avoids potential loss of control of the suspended load or damage to the lifting mechanism structure due to complete locking of actions.

[0016] Other features and advantages of the embodiments of this application will be described in detail in the following detailed description section. Attached Figure Description

[0017] The accompanying drawings are provided to further illustrate the embodiments of this application and form part of the specification. They are used together with the following detailed description to explain the embodiments of this application, but do not constitute a limitation on the embodiments of this application. For those skilled in the art, other drawings can be obtained based on the structures shown in these drawings without any inventive effort. In the drawings: Figure 1 This is a flowchart of a lifting mechanism control method in some embodiments of this application under the load-bearing mode; Figure 2 Here is a flowchart of the lifting mechanism control method in some embodiments of this application; Figure 3 This is a diagram showing the preset correspondence between "amplitude angle of the lifting mechanism and set load of the lifting mechanism" in some embodiments of this application. Figure 4 This application illustrates the dynamic relationship between the load-bearing capacity of the lifting mechanism model and the amplitude variation angle of the lifting mechanism in some embodiments. Figure 5 This is a schematic diagram of the structure of the lifting control system in some embodiments of this application; Figure 6 This is a structural schematic diagram of the hook in the suspended state in some embodiments of this application; Figure 7This is a schematic diagram of the hook in the reset state in some embodiments of this application.

[0018] Explanation of reference numerals in the attached figures 1. Lifting control system; 11. Ladder assembly; 12. Turntable; 13. Fixed base; 141. Hook; 142. Weight sensor; 15. Lifting rope; 143. Pin; 16. Locking assembly; 161. Position sensor; 162. Locking element; 163. Embedded locking space; 164. Opening; 17. First column; 18. Second column; 171. Seal; 181. Locking strip. Detailed Implementation

[0019] The specific embodiments of this application will be described in detail below with reference to the accompanying drawings. It should be understood that the specific embodiments described herein are for illustration and explanation only and are not intended to limit this application.

[0020] See Figure 1 and Figure 2 This application discloses a method for controlling a lifting mechanism, comprising: Step S10: In lifting mode, obtain the current luffing angle of the lifting mechanism; Step S20: Determine the maximum lifting load of the lifting mechanism at the current luffing angle based on the preset correspondence between the current luffing angle and the maximum load set by the lifting mechanism. Step S30: Compare the set maximum lifting load with the actual lifting load of the lifting mechanism; Step S41: When the actual lifting load exceeds the preset range of the maximum lifting load, control the lifting mechanism to cut off all actions except for lowering the load.

[0021] The lifting mechanism is mounted on a turntable and can rotate with the turntable. An angle sensor is installed at the hinge point between the lifting mechanism and the turntable. This sensor can detect the change in the angle between the lifting mechanism and the horizontal plane in real time, and convert the physical angle into an electrical signal and send it to the controller to obtain the current luffing angle of the lifting mechanism.

[0022] The smaller the luffing angle of the lifting mechanism, the longer the lever arm of the horizontal component, and the tilting moment and bending moment of the lifting mechanism both increase simultaneously, thus the smaller the load that can be safely lifted; conversely, the larger the luffing angle, the shorter the lever arm of the horizontal component, and the smaller the tilting moment and bending moment of the lifting mechanism, thus the larger the load that can be safely lifted.

[0023] Through steps S10 to S41, based on the preset correspondence between the current luffing angle of the lifting mechanism and the set maximum lifting load, the set maximum lifting load (i.e., the upper limit of the lifting load) allowed at the current luffing angle can be dynamically determined, thereby achieving a precise quantitative assessment of the actual load-bearing capacity of the lifting mechanism under different operating postures. Simultaneously, the real-time detected actual lifting load is compared with the set maximum lifting load at the current luffing angle, and a preset range is used as a judgment threshold. This ensures that the identification of overload risk no longer relies on the operator's subjective experience but is based on objective data comparison, thus significantly improving the safety of lifting operations. When the actual lifting load is determined to exceed the preset range, the system will cut off all actions except for lowering the load, effectively preventing the continued execution of lifting, luffing, and slewing operations that would exacerbate the risk under overload conditions, eliminating overload operations, while retaining the system's ability to reduce load during overload, avoiding loss of control of the suspended object or damage to the lifting mechanism structure due to complete locking of actions.

[0024] In one implementation, the preset range refers to the permissible variation range under the rated load. For example, when the luffing angle is 50°, the maximum lifting load (rated load) is set to 3 tons, and the preset range is 2.9 to 3.1 tons. When the actual lifting load exceeds 3.1 tons, the system controls the lifting mechanism to cut off all actions except for lowering the load; when the actual lifting load is less than 2.9 tons, the lifting action continues.

[0025] In one implementation, when the actual lifting load exceeds the preset range of the maximum lifting load, the hoisting mechanism can cut off all actions except for lowering the load, and can also output an alarm signal to an external controller. For example, the alarm signal can be sent to the control panel in the cab, reminding the operator to unload or re-lift the load through an audible and visual alarm, thus providing intuitive operational feedback.

[0026] In some implementations, see Figure 2 The control methods for the lifting mechanism also include: Step S42: When the actual lifting load does not exceed the preset range of the maximum lifting load, control the lifting mechanism to perform the lifting operation.

[0027] During the lifting operation, if the actual lifting load does not exceed the preset range of the maximum lifting load, the lifting mechanism can rotate, raise and lower normally, so that the heavy object can be lifted to the target position.

[0028] During the lifting process, in order to avoid overloading the lifting mechanism, it should be ensured that the actual lifting load does not exceed the preset range of the maximum lifting load, thereby improving the safety of the lifting operation.

[0029] In some implementations, the maximum lifting load of the lifting mechanism at the current luffing angle is determined based on a preset correspondence between the current luffing angle and the maximum load set by the lifting mechanism, including: Based on the preset correspondence diagram of "lifting mechanism luffing angle - lifting mechanism set load", determine the maximum set lifting load of the lifting mechanism at the current luffing angle.

[0030] See Figure 3 Based on the preset correspondence diagram of "lifting mechanism luffing angle - lifting mechanism set load", it was found that when the luffing angle of the lifting mechanism is in the range of [-12°~40°], the set maximum lifting load of the lifting mechanism is 2 tons; in the range of (40°~50°], the set maximum lifting load is 2.5 tons; in the range of (50°~60°], the set maximum lifting load is 3 tons; and in the range of (60°~75°], the set maximum lifting load is 4 tons. Thus, without complex calculations, the preset maximum lifting load of the lifting mechanism at any luffing angle can be quickly determined.

[0031] To verify the accuracy of the aforementioned pre-defined correspondence diagram, a lifting mechanism lifting model analysis was conducted.

[0032] It is understandable that the lifting mechanism's load-bearing model follows the mechanical principles of trigonometric functions, and its load-bearing capacity is dynamically related to the lifting mechanism's amplitude angle. The core calculation formula for this dynamic relationship is: F0 = A / (L × cosα); Where: F0 is the set maximum lifting load (kN), A is the design bending moment constant (kN·m), L is the fixed length from the lifting point of the lifting mechanism to the center of rotation (m), and α is the current luffing angle of the lifting mechanism (-12°~75°). By comparing and analyzing the formula calculation results with the preset correspondence diagram, the degree of agreement between the two can be evaluated. This allows for the rapid identification and correction of potential deviations in the preset relationship, thereby improving the accuracy and reliability of the set maximum lifting load obtained in actual luffing operations.

[0033] Using the above formula, we obtain the curve of F0 as a function of α. (See also...) Figure 4 Let F be the maximum lifting load when the lifting mechanism's amplitude angle is 0. Based on this variation curve, it is found that: When α ≥ 40°: F0 ≥ 1.25F; When α ≥ 50°: F0 ≥ 1.5F; When α ≥ 60°: F0 ≥ 2F.

[0034] Comparing the above results with those from the preset correspondence diagram, it was found that when the luffing mechanism's amplitude angle does not exceed 60°, the maximum load determined by the preset correspondence diagram is basically consistent with the calculation results of the core calculation formula of the lifting mechanism's lifting capacity model. Thus, in lifting mode, the lifting mechanism control method of this application enables the lifting mechanism to ensure the safety of lifting operations while fully utilizing its lifting potential within a large amplitude angle range, thereby maximizing the utilization of maximum lifting capacity under different amplitude angles.

[0035] In some implementations, see Figure 1 In the lifting mode, the control method for the hoisting mechanism also includes: The telescopic movement of the lifting mechanism is prohibited.

[0036] By prohibiting the extension and retraction of the lifting mechanism in the lifting mode, the dynamic changes in the center of gravity of the lifting mechanism and the lever arm length (i.e., L in the formula F0= A / (L × cosα)) caused by the extension and retraction are avoided, thus solving the problem of overload caused by sudden changes in the lever arm length (especially the reduction of the set maximum lifting load due to the extension of the boom).

[0037] In some implementations, see Figure 1 In the lifting mode, the control method for the hoisting mechanism also includes: The movement speed of the lifting mechanism is limited.

[0038] The movement speed of the lifting mechanism refers to the amplitude angular velocity and the rotational speed of the lifting mechanism.

[0039] When under load, rapid starting or braking will increase the actual load, causing it to exceed the actual weight of the object, which can easily lead to buckling of the lifting mechanism or overturning of the entire vehicle. By reducing the movement speed of the lifting mechanism, the inertial force and additional dynamic load generated by rapid movement can be reduced, thus preventing buckling of the lifting mechanism or overturning of the entire vehicle.

[0040] In addition, by reducing the movement speed of the lifting mechanism, the actual lifting load obtained in the lifting mode is more accurate, providing a more realistic and reliable data basis for overload judgment.

[0041] In some implementations, see Figure 1 In the lifting mode, the control method for the hoisting mechanism also includes: The maximum amplitude angle of the lifting mechanism is limited.

[0042] In this embodiment, refer to Figure 1 and Figure 2The lifting mechanism's lifting position is located at the very front of the bottom layer of the lifting mechanism. This position ensures that the load is close to the cab and outriggers at its maximum luffing angle, where the cab and outriggers typically lack anti-collision structures. By limiting the maximum luffing angle of the lifting mechanism, it ensures that the lifting mechanism always operates within a safe angle range when under load, reducing or even eliminating the risk of collisions between the load and the cab and outriggers.

[0043] It is worth mentioning that the amplitude angle limitation, the prohibition of the extension and retraction of the lifting mechanism, and the limitation of the movement speed of the lifting mechanism together constitute the triple active safety protection in the lifting mode, which significantly improves the safety and reliability of lifting operations.

[0044] In some implementations, see Figure 1 and Figure 2 Before entering the lifting mode, the control method for the hoisting mechanism also includes: Determine whether the lifting mechanism meets the working conditions of the upper structure; If yes, then entering the lifting mode is allowed; otherwise, entering the lifting mode is prohibited.

[0045] The working conditions of the upper structure include: the rotation angle of the lifting mechanism is more than 45 degrees and the lifting mechanism is in a fully retracted state.

[0046] The superstructure working state refers to the posture of the lifting mechanism before entering the lifting mode. It can be understood that after the lifting mechanism follows the vehicle to the designated location, it needs to rotate to form an angle with the direction of the vehicle's front. When the lifting mechanism's rotation angle is beyond 45° (i.e., the angle with the vehicle's axis is greater than 45°), the lifting operation area is located to the side or rear of the vehicle. In this posture, the outriggers' support span can fully exert their anti-overturning moment effect, improving overall vehicle stability. Simultaneously, the lifting mechanism remains in a fully retracted state, minimizing the lever arm length, thus minimizing the overturning moment of the load on the vehicle. Only when these two conditions for the superstructure working state are met can the lifting mode be entered, greatly reducing the risk of overloading or overturning upon start-up.

[0047] Furthermore, in actual lifting operations, operators may attempt to lift loads before the lifting mechanism is fully retracted or at an inappropriate rotation angle due to emergency situations or lack of experience. By enforcing access conditions through program logic, unsafe or unsuitable initial states are masked, reducing reliance on operator experience and improving the safety and reliability of lifting operations.

[0048] In some implementations, the lifting mechanism control method further includes the following before entering the lifting mode: Determine if the lifting mechanism is carrying a load; If yes, then entering the lifting mode is prohibited, and the lifting mechanism is prohibited from raising or rotating; if no, then entering the lifting mode is permitted.

[0049] By pre-determining whether a load exists before entering the lifting mode, the operator can effectively avoid accidentally entering the lifting mode and attempting to perform variable-amplitude lifting or slewing when the lifting mechanism is already under an unknown load (e.g., due to the previous operation not being unloaded, or foreign objects being hooked). This would lead to a mismatch between the load status and the preset correspondence, and the failure of the overload judgment.

[0050] When under load, the operator first handles the current load (such as unloading to the ground or a safe location), and then enters the lifting mode and starts a new lifting operation after the lifting mechanism returns to an unloaded state, which improves the standardization and safety of the operation.

[0051] In one embodiment, a weight sensor integrated on the lifting lug determines that the lifting mechanism is under load when it detects a weight signal, and determines that it is unloaded when no weight signal is detected. Alternatively, a tension sensor can be installed on the lifting rope 15 to determine whether the lifting mechanism is under load or unloaded based on the sensed tension signal.

[0052] In one implementation, the lifting mechanism can only enter the lifting mode when it is in a state of "no load, fully retracted, and slewing angle outside 45°", and a "lifting mode permitted" signal can be simultaneously output to the external controller. It should be noted that if any of the conditions of "no load, fully retracted, or slewing angle outside 45°" are not met, entering the lifting mode is prohibited, and a "lifting mode prohibited" signal is output, along with a simultaneous alarm signal to the external controller. For example, the alarm signal can be sent to the control panel in the cab, using an audible and visual alarm to alert the operator and provide intuitive operational feedback.

[0053] In some implementations, see Figure 2 After the lifting mode ends, the control method for the hoisting mechanism also includes: Determine if the hook is in the reset position; If not, then call the police.

[0054] After the lifting operation ends, the lifting mechanism typically needs to be retracted to a driving position for relocation or return trip. If the hook remains suspended, it will swing with the vehicle during travel, potentially colliding with the cab, outriggers, vehicle guardrails, or surrounding structures. The hook is a rigid metal component; impacts to the cab or outriggers (neither of which have anti-collision structures) can cause severe structural damage. By automatically determining whether the hook has been retracted and resetting, and issuing an alarm if it is not retracted, operators are reminded to retract the hook before driving, enhancing human-machine interaction and making the lifting operation process more complete and standardized.

[0055] In one implementation, the hook may be identified as being in a reset state by means of visual recognition, multi-sensor sensing, or other methods.

[0056] See Figures 5 to 7 This application also provides a lifting control system 1, including a lifting mechanism, a weighing sensing module 142, a variable amplitude angle sensing module, and a controller.

[0057] The lifting mechanism includes a ladder assembly 11 and a turntable 12. The lifting mechanism is equipped with a hook 141 for lifting loads. The turntable 12 drives the ladder assembly 11 to rotate, enabling the lifting mechanism to perform lifting, luffing, and slewing movements on the lifted load. A weighing sensor module 142 is used to acquire the actual lifting load of the lifting mechanism; a luffing angle sensor module is used to acquire the current luffing angle of the ladder assembly 11; and a controller is communicatively connected to the weighing sensor module 142 and the luffing angle sensor module and is used to execute the lifting mechanism control method according to any of the above embodiments.

[0058] By acquiring the current luffing angle and based on the preset correspondence between the current luffing angle of the ladder assembly 11 and the set maximum lifting load, the maximum allowable lifting load at the current luffing angle is dynamically determined, enabling a precise quantitative assessment of the actual load-bearing capacity of the lifting mechanism under different operating postures. Furthermore, by comparing the real-time detected actual lifting load with the set maximum lifting load at the current luffing angle and using a preset range as a judgment threshold, the identification of overload risk no longer relies on the operator's subjective experience but is based on objective data comparison, greatly improving the safety of lifting operations.

[0059] In some implementations, see Figures 5 to 7 The hook 141 is movably connected to the ladder frame assembly 11 and has a suspended state and a reset state. The suspended control system 1 also includes a locking assembly 16, which is used to lock the hook 141 in the reset state. The locking assembly 16 is communicatively connected to the controller, which is also used to determine whether the hook 141 is in the suspended state or the reset state based on the actual suspended load obtained by the weighing sensor module 142.

[0060] In one embodiment, the weighing sensing module 142 may be a weight sensor 142.

[0061] In one embodiment, the lifting mechanism further includes a fixed base 13 that engages with the hook 141. This fixed base 13 is located at the front of the bottom layer of the ladder assembly 11. The weight sensor 142 is hinged to the fixed base 13 via a pin 143, and the hook 141 is fixedly connected to the weighing end of the weight sensor 142; alternatively, the hook 141 and the weighing end of the weight sensor 142 can be detachably connected via bolts, snap-fit ​​mechanisms, or other means. The weight sensor 142 can rotate around the pin 143, thereby causing the hook 141 to switch between a suspended state and a reset state.

[0062] See Figure 6 When under load, hook 141 is suspended; see reference Figure 7 In the reset state, the hook 141 is horizontally resting against the fixed seat 13.

[0063] In some implementations, see Figure 6 and Figure 7 The locking assembly 16 includes a position sensor 161 and a locking element 162. The locking element 162 is used to lock the hook 141 in the reset state; the position sensor 161 is communicatively connected to the controller, which is also used to determine whether the hook 141 is in the loaded state or the reset state.

[0064] In one embodiment, a locking member 162 is disposed on a fixed base 13 and spaced apart from a weight sensor 142. The locking member 162 includes a first post 17 and a second post 18 spaced apart and connected to the fixed base 13. A hook 141 is annular, and the gap between the first post 17 and the second post 18 forms an embedded locking space 163 for the hook 141. See also... Figure 6 Below the embedded locking space 163, there is an opening 164 through which the hook 141 can pass. A sealing strip 171 is rotatably connected to the first column 17, which is used to close the opening 164 when the hook 141 is in the reset state.

[0065] In one embodiment, the pin 143 is an electric pin, and the seal 171 is an electric seal, both of which are communicatively connected to the controller. Thus, upon entering the lifting mode, the controller controls the seal 171 to rotate to open the opening 164, and then controls the pin 143 to rotate, switching the hook 141 to the lifting state; upon exiting the lifting mode, the controller controls the pin 143 to rotate, switching the hook 141 to the reset state, and then controls the seal 171 to rotate to close the opening 164.

[0066] In one embodiment, a slot may be provided on the seal 171, and a locking strip 181 that mates with the slot may be provided on the second column 18. The locking strip 181 may be a mechanically driven type, such as an elastic locking strip or a magnetic locking strip, or it may be an electric locking strip connected in communication with a controller. When the seal 171 closes the opening 164, the locking strip 181 engages with the slot, thereby fixing the position of the seal 171 and securing the hook 141 after retraction, improving the reliability of the locking mechanism. Upon entering the lifting mode, the locking strip 181 separates from the slot, and the seal 171 rotates to open the opening 164, releasing the hook 141.

[0067] In some implementations, the controller is also used to determine whether the hook 141 is in a suspended state or a reset state based on whether the hook 141 is connected to the locking assembly 16.

[0068] In this embodiment, refer to Figure 6 and Figure 7 The position sensor 161 is mounted on the fixed base 13 and located within the embedded locking space 163. By detecting whether the hook 141 is retracted into the embedded locking space 163, it is determined whether the hook 141 is connected to the locking member 162, thereby determining whether the hook 141 is in a suspended state or a reset state.

[0069] This application also provides an aerial work platform, including the work machinery system of any of the above embodiments. Since the aerial work platform adopts all the technical solutions of the work machinery system in the above embodiments, it has at least all the beneficial effects of the above work machinery system, which will not be described in detail here.

[0070] Aerial work machinery includes fire trucks with elevated lifting mechanisms and aerial work platforms.

[0071] In the description of this application, "multiple" means at least two, such as two, three, etc., unless otherwise expressly and specifically limited.

[0072] In this application, unless otherwise expressly specified and limited, the terms "installation," "connection," "linking," and "fixing," etc., should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral part; they can refer to a mechanical connection, an electrical connection, or a connection that allows communication between components; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication of two components or the interaction between two components, unless otherwise expressly limited. Those skilled in the art can understand the specific meaning of the above terms in this application based on the specific circumstances.

[0073] In the description of this specification, the references to terms such as "one embodiment," "some embodiments," "example," "specific example," or "some examples," etc., refer to specific features, structures, materials, or characteristics described in connection with that embodiment or example, which are included in at least one embodiment or example of this application. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples. Moreover, without contradiction, those skilled in the art can combine and integrate the different embodiments or examples described in this specification, as well as the features of different embodiments or examples.

[0074] Although embodiments of this application have been shown and described above, it is understood that the above embodiments are exemplary and should not be construed as limiting this application. Those skilled in the art can make changes, modifications, substitutions and variations to the above embodiments within the scope of this application.

Claims

1. A method for controlling a lifting mechanism, characterized in that, include: In lifting mode, obtain the current luffing angle of the lifting mechanism; Based on the preset correspondence between the current luffing angle and the maximum load set by the lifting mechanism, the maximum lifting load set by the lifting mechanism at the current luffing angle is determined. Compare the set maximum lifting load with the actual lifting load of the lifting mechanism; When the actual lifting load exceeds the preset range of the maximum lifting load, the lifting mechanism is controlled to cut off all actions except for lowering the load.

2. The lifting mechanism control method according to claim 1, characterized in that, The step of determining the maximum lifting load of the lifting mechanism at the current luffing angle based on the preset correspondence between the current luffing angle and the maximum load set by the lifting mechanism includes: Based on the preset correspondence diagram of "lifting mechanism luffing angle - lifting mechanism set load", determine the maximum set lifting load of the lifting mechanism at the current luffing angle.

3. The lifting mechanism control method according to claim 1, characterized in that, In the lifting mode, the lifting mechanism control method further includes: The telescopic response of the lifting mechanism is prohibited, and the movement speed of the lifting mechanism is limited.

4. The lifting mechanism control method according to claim 1, characterized in that, In the lifting mode, the lifting mechanism control method further includes: The maximum amplitude angle of the lifting mechanism is limited.

5. The lifting mechanism control method according to any one of claims 1 to 4, characterized in that, Before entering the lifting mode, the lifting mechanism control method further includes: Determine whether the lifting mechanism meets the working conditions of the upper structure; If not, then entering the lifting mode is prohibited; The working conditions of the upper structure include: the rotation angle of the lifting mechanism is outside 45 degrees, and the lifting mechanism is in a fully retracted state.

6. The lifting mechanism control method according to any one of claims 1 to 4, characterized in that, Before entering the lifting mode, the lifting mechanism control method further includes: Determine whether the lifting mechanism is carrying a load; If so, entering the lifting mode is prohibited, and the lifting mechanism is prohibited from raising or rotating.

7. The lifting mechanism control method according to any one of claims 1 to 4, characterized in that, After the lifting mode ends, the lifting mechanism control method further includes: Determine if the hook is in the reset position; If not, then call the police.

8. A lifting control system, characterized in that, include: The lifting mechanism is capable of performing lifting, luffing, and slewing actions, and the lifting mechanism is equipped with a hook for lifting heavy objects; The weighing sensor module is used to obtain the actual lifting load of the lifting mechanism; A variable amplitude angle sensing module is used to obtain the current variable amplitude angle of the lifting mechanism; The controller is communicatively connected to the weighing sensor module and the amplitude angle sensor module and is used to execute the lifting mechanism control method according to any one of claims 1 to 7.

9. The lifting control system according to claim 8, characterized in that, The hook is movably connected to the lifting mechanism and has a lifting state and a reset state. The lifting control system further includes a locking component, which is used to lock the hook in the reset state. The locking component is communicatively connected to the controller. The controller is also used to determine whether the hook is in the lifting state or the reset state based on the actual lifting load obtained by the weighing sensor module.

10. An aerial work platform, characterized in that, The aerial work platform includes the lifting control system described in claim 8 or 9.

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