A method of controlling a platform support leg of an aerial work platform and an aerial work platform system

Abstract

The application discloses a kind of high-altitude operation platform's outrigger control method and high-altitude operation platform system, the high-altitude operation platform includes frame, at least four outrigger structures and at least four hydraulic cylinders;Outrigger structure and hydraulic cylinder are mechanically connected with frame, and hydraulic cylinder drives outrigger structure to extend or contract;Outrigger control method includes: obtaining outrigger enable control instruction;According to outrigger enable control instruction, control hydraulic cylinder drives outrigger structure to extend, and current hydraulic value of real-time acquisition hydraulic cylinder and the current inclination of frame are obtained;According to current hydraulic value and current inclination, the oil flow of each hydraulic cylinder is controlled until current inclination is in preset range.The technical scheme of the application enables the high-altitude operation platform to realize automatic control and automatic leveling of outrigger, improves the outrigger control efficiency and control precision of high-altitude operation platform.

Description

Technical Field

[0001] This invention relates to the field of control technology, and in particular to a method for controlling the outriggers of an aerial work platform and an aerial work platform system. Background Technology

[0002] For telescopic boom aerial work platforms, in order to improve the stability of the vehicle on uneven roads and improve the safety of high-altitude operations, it is necessary to add extra outriggers to achieve leveling. Moreover, existing technical solutions mostly use manual operation of outrigger extension and retraction to achieve leveling.

[0003] Manual leveling heavily relies on the operator's personal skills and judgment. The leveling process is lengthy and repetitive, with poor accuracy. It cannot automatically level surfaces that are loose or uneven, making it unsuitable for complex terrain and posing a safety risk. Furthermore, manual operation requires additional control handles and other equipment, resulting in a complex system structure that hinders miniaturization and integration, and increases operator training costs. Therefore, achieving high-precision and efficient automatic leveling is a pressing technical challenge. Summary of the Invention

[0004] This invention provides a method for controlling the outriggers of an aerial work platform and an aerial work platform system, enabling the aerial work platform to achieve automatic control and leveling of the outriggers, thereby improving the outrigger control efficiency and accuracy of the aerial work platform.

[0005] In a first aspect, the present invention provides a method for controlling the outriggers of an aerial work platform, the aerial work platform comprising a frame, at least four outrigger structures and at least four hydraulic cylinders; the outrigger structures and the hydraulic cylinders are mechanically connected to the frame, and the hydraulic cylinders drive the outrigger structures to extend or retract; The outrigger control method includes: Obtain the outrigger enable control command; According to the outrigger enable control command, the hydraulic cylinder is controlled to extend the outrigger structure, and the current hydraulic pressure value of the hydraulic cylinder and the current tilt of the frame are obtained in real time. Based on the current hydraulic pressure value and the current tilt angle, the oil flow rate of each hydraulic cylinder is controlled until the current tilt angle is within a preset range.

[0006] Optionally, based on the current hydraulic pressure value and the current tilt angle, the oil inlet flow rate of each hydraulic cylinder is controlled, including: The ground contact state of the outrigger structure is determined based on the current hydraulic pressure value; When the ground contact state is a stable ground contact state, the oil flow rate of each hydraulic cylinder is controlled according to the current tilt angle until the current tilt angle is within a preset range.

[0007] Optionally, determining the ground contact state of the outrigger structure based on the current hydraulic pressure value includes: Determine whether the current hydraulic value is greater than or equal to the preset hydraulic value; If so, then the ground contact state of the outrigger structure is determined to be the stable ground contact state.

[0008] Optionally, controlling the oil flow rate of each hydraulic cylinder based on the current tilt angle includes: Based on the current tilt angle, and based on the first mapping relationship between the tilt angle and the theoretical extension / retraction amount of each of the outrigger structures, the adjustment / retraction amount of each outrigger structure is determined; The oil flow rate of the hydraulic cylinder is controlled by adjusting the extension and retraction amount.

[0009] Optionally, controlling the oil flow rate of the hydraulic cylinder according to the adjusted extension / retraction amount includes: Based on the adjusted extension / retraction amount and the second mapping relationship between the extension / retraction amount and the oil inlet amount, the oil inlet amount of the hydraulic cylinder is determined, and the hydraulic cylinder is controlled to operate with the oil inlet amount.

[0010] In a second aspect, the present invention provides an aerial work platform system, comprising: a frame, at least four outrigger structures, at least four hydraulic cylinders, and a control module; Both the outrigger structure and the hydraulic cylinder are mechanically connected to the vehicle frame, and the hydraulic cylinder drives the outrigger structure to extend or retract. The control module is used to execute the outrigger control method of the aerial work platform provided by the present invention.

[0011] Optionally, the aerial work platform system may also include: a control enable terminal; The control enable terminal is electrically connected to the control module, and the control enable terminal is used to provide the control module with a leg enable control command.

[0012] Optionally, the outrigger structure includes an outrigger, an upper linkage assembly, a lower linkage assembly, and an outrigger pad; the outrigger pad is mechanically connected to one end of the outrigger via welding; the first end of the upper linkage assembly is mechanically connected to the end of the outrigger away from the outrigger pad; the first end of the lower linkage assembly is mechanically connected to the upper middle section of the outrigger away from the outrigger pad; the second end of the upper linkage assembly is mechanically connected to a first point on the frame; and the second end of the lower linkage assembly is mechanically connected to a second point. During the deployment or retraction of the upper and lower linkage assemblies, the upper linkage assembly and the lower linkage assembly are parallel. The hydraulic cylinder includes a rodless end, a piston rod extension end, and a valve body; the rodless end of the hydraulic cylinder is mechanically connected to the vehicle frame, and the piston rod extension end is hinged to the first end of the lower connecting rod assembly; a pressure sensor is installed in the valve body.

[0013] Optionally, the outrigger welding includes an outrigger mounting ball head and an outrigger mounting base; The ball joint of the outrigger is connected to the foot mounting base via a spherical joint.

[0014] Optionally, a tilt sensor is provided on the vehicle frame.

[0015] The technical solution provided by this invention, after obtaining the outrigger enable control command, controls the hydraulic cylinders to extend the outrigger structure according to the outrigger enable control command, and obtains the current hydraulic value of the hydraulic cylinders and the current tilt of the frame in real time; according to the current hydraulic value and the current tilt, controls the oil flow of each hydraulic cylinder, thereby adjusting the extension amount of each outrigger structure, so that the current tilt of the frame is within a preset range, and the frame supported by all outrigger structures is in a horizontal state, enabling the aerial work platform to achieve automatic control and automatic leveling of the outriggers, improving the outrigger control efficiency and control accuracy of the aerial work platform. Attached Figure Description

[0016] Figure 1 This is a schematic diagram of the structure of the aerial work platform provided in an embodiment of the present invention; Figure 2 A flowchart illustrating a method for controlling the outriggers of an aerial work platform, provided as an embodiment of the present invention; Figure 3 A flowchart of another outrigger control method for an aerial work platform provided in an embodiment of the present invention; Figure 4 This is a partial top view of an aerial work platform system provided in an embodiment of the present invention; Figure 5 This is a schematic diagram of the control enable terminal provided in an embodiment of the present invention; Figure 6 This is a side view of the aerial work platform system provided in an embodiment of the present invention; Figure 7 This is a schematic diagram of the structure of a hydraulic cylinder provided in an embodiment of the present invention; Figure 8 This is a schematic diagram of a valve assembly provided in an embodiment of the present invention; Figure 9 This is a schematic diagram of a support leg structure provided in an embodiment of the present invention; Figure 10 This is a partial top view of another aerial work platform system provided in an embodiment of the present invention. Detailed Implementation

[0017] The present invention will now be described in further detail with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and not intended to limit it. Furthermore, it should be noted that, for ease of description, the accompanying drawings show only the parts relevant to the present invention, and not all of the structures.

[0018] Figure 1 This is a schematic diagram of the structure of the aerial work platform provided in an embodiment of the present invention, as shown below. Figure 1 As shown, the aerial work platform includes a frame 10, at least four outrigger structures 20 and at least four hydraulic cylinders 30; the outrigger structures 20 and the hydraulic cylinders 30 are mechanically connected to the frame 10, and the hydraulic cylinders 30 drive the outrigger structures 20 to extend or retract.

[0019] When the aerial work platform is not in a high-altitude working state, the hydraulic cylinder 30 drives the outrigger structure 20 to retract, eliminating the need for the outrigger structure 20 to provide a higher working platform and support. When the aerial work platform is in a high-altitude working state, the hydraulic cylinder 30 drives the outrigger structure 20 to extend, providing a higher working platform and support, ensuring the safety and reliability of the aerial work platform during high-altitude operations.

[0020] It should be noted that existing technologies typically employ manual control to individually control the extension and retraction of each outrigger structure 20, which is complex to operate and requires numerous manual control handles. Therefore, to improve work efficiency and achieve automated control, this application provides an outrigger control method for an aerial work platform, as described below.

[0021] Figure 2 A flowchart illustrating a method for controlling the outriggers of an aerial work platform, as provided in an embodiment of the present invention, is shown below. Figure 2 As shown, the outrigger control method includes: S101, Obtain the outrigger enable control command.

[0022] The outrigger enable control command can be obtained through the control enable terminal or through the remote control terminal. The specific acquisition method can be set according to actual needs, and no specific limitation is made here.

[0023] S102. According to the outrigger enable control command, control the hydraulic cylinder to drive the outrigger structure to extend, and obtain the current hydraulic value of the hydraulic cylinder and the current tilt of the frame in real time.

[0024] Among them, the current hydraulic value of the hydraulic cylinder represents the pressure value of the hydraulic oil inside the hydraulic cylinder at the current moment, and the current tilt of the frame represents the angle between the frame and the horizontal reference plane at the current moment.

[0025] Specifically, after receiving the outrigger enable control command, the high-pressure work platform will supply hydraulic oil to the hydraulic cylinders according to the command, enabling the hydraulic cylinders to extend the outrigger structure. During the extension process, the current hydraulic pressure value of the hydraulic cylinders can be obtained in real time through pressure sensors and other devices, and the current tilt angle of the chassis can be obtained in real time through tilt sensors and other devices. The specific methods for obtaining the current hydraulic pressure value and the current tilt angle are not specifically limited here.

[0026] S103. Based on the current hydraulic value and the current tilt angle, control the oil flow rate of each hydraulic cylinder until the current tilt angle is within the preset range.

[0027] The extension or retraction of the hydraulic cylinder per unit time is related to the oil flow rate. A higher oil flow rate results in a greater extension or retraction per unit time, while a lower flow rate results in a smaller extension or retraction per unit time. The preset range can be set according to actual needs. In one optional embodiment, the preset range is -5° to 5°. In another optional embodiment, the preset range is -3° to 3°. In yet another optional embodiment, the preset range is -1° to 1°, but other ranges are also possible and are not specifically limited here.

[0028] Specifically, when the outriggers are not in contact with the ground, the hydraulic cylinders receive no resistance from the ground, resulting in a low hydraulic pressure. When the outriggers are in contact with the ground, the ground generates resistance in the opposite direction to the outriggers' extension, causing the hydraulic pressure in the cylinders to increase. Therefore, the current hydraulic pressure is compared with a preset value; if the current value is greater than or equal to the preset value, the outriggers are considered to be in stable contact with the ground. After each outrigger is in stable contact with the ground, the chassis may be in a horizontal or tilted state. Based on the current tilt of the chassis, the amount of hydraulic fluid applied to each cylinder is adjusted, thereby adjusting the extension of each outrigger to ensure the current tilt of the chassis is within a preset range, and the chassis, supported by all the outriggers, remains horizontal. In this way, the aerial work platform can achieve automatic control and leveling of the outriggers, improving the efficiency and accuracy of outrigger control.

[0029] The technical solution provided by this invention, after obtaining the outrigger enable control command, controls the hydraulic cylinders to extend the outrigger structure according to the outrigger enable control command, and obtains the current hydraulic value of the hydraulic cylinders and the current tilt of the frame in real time; according to the current hydraulic value and the current tilt, controls the oil flow of each hydraulic cylinder, thereby adjusting the extension amount of each outrigger structure, so that the current tilt of the frame is within a preset range, and the frame supported by all outrigger structures is in a horizontal state, enabling the aerial work platform to achieve automatic control and automatic leveling of the outriggers, improving the outrigger control efficiency and control accuracy of the aerial work platform.

[0030] Based on the above embodiments, this application describes how to control the oil inlet flow rate of each hydraulic cylinder according to the current hydraulic value and the current tilt angle. Figure 3 A flowchart of another outrigger control method for an aerial work platform provided in an embodiment of the present invention is shown below. Figure 3 As shown, the outrigger control method includes: S201, Obtain the outrigger enable control command.

[0031] S202. According to the outrigger enable control command, control the hydraulic cylinder to drive the outrigger structure to extend, and obtain the current hydraulic value of the hydraulic cylinder and the current tilt of the frame in real time.

[0032] S203. Determine the ground contact state of the outrigger structure based on the current hydraulic pressure value.

[0033] Specifically, a preset hydraulic pressure value can be set. When the current hydraulic pressure value reaches the preset value, it indicates that the outrigger structure is in stable contact with the ground, and the outrigger structure's ground contact state is determined to be a stable ground contact state. When the current hydraulic pressure value does not reach the preset value, it indicates that the outrigger structure is not yet in stable contact with the ground, and the outrigger structure's ground contact state is determined to be a suspended state.

[0034] S204. When the ground contact state is a stable ground contact state, control the oil flow rate of each hydraulic cylinder according to the current tilt angle until the current tilt angle is within the preset range.

[0035] Specifically, when the ground contact state is a stable ground contact state, it means that the outrigger structure is in stable contact with the ground. At this time, based on the current tilt of the frame, the extension amount that each outrigger structure needs to be adjusted can be determined. Then, based on the extension amount, the oil flow rate of the hydraulic cylinder can be determined so that the hydraulic cylinder drives the outrigger structure that needs to be adjusted to extend, so that the current tilt is within the preset range, thereby improving the leveling reliability of the frame.

[0036] The technical solution of the present invention first determines the ground contact state of the outrigger structure based on the current hydraulic value. When the ground contact state is a stable ground contact state, the oil flow rate of each hydraulic cylinder is controlled according to the current tilt. After the hydraulic cylinder drives the outrigger structure that needs to be adjusted to extend, the current tilt is kept within a preset range, thereby improving the leveling reliability of the frame.

[0037] It should be noted that if the current tilt angle is still not within the preset range after adjusting the oil flow rate of each hydraulic cylinder, the oil flow rate will continue to be adjusted according to the current tilt angle to achieve automatic feedback control and improve the leveling accuracy of the aerial work platform.

[0038] Optionally, the ground contact state of the outrigger structure can be determined based on the current hydraulic value, including: determining whether the current hydraulic value is greater than or equal to a preset hydraulic value; if so, the ground contact state of the outrigger structure can be determined to be a stable ground contact state.

[0039] The preset hydraulic value can be a fixed value or a non-fixed value, and can be set according to relevant parameters such as the piston rod diameter and cylinder diameter of the hydraulic cylinder. No specific limitation is made here.

[0040] Specifically, if the current hydraulic value is greater than or equal to the preset hydraulic value, it means that the hydraulic cylinder receives resistance from the ground towards the frame side. At this time, the outrigger structure is in stable contact with the ground, and the ground contact state of the outrigger structure is determined to be a stable ground contact state.

[0041] Correspondingly, if the current hydraulic value is less than the preset hydraulic value, it means that the hydraulic cylinder has not received resistance from the ground towards the frame side. At this time, the outrigger structure has not yet made stable contact with the ground, and the ground contact state of the outrigger structure is determined to be the suspended state.

[0042] Optionally, the oil flow rate of each hydraulic cylinder is controlled according to the current tilt angle, including determining the adjustment extension amount of each outrigger structure based on the first mapping relationship between the tilt angle and the theoretical extension amount of each outrigger structure; and controlling the oil flow rate of the hydraulic cylinder according to the adjustment extension amount.

[0043] The first mapping relationship can be a table of correspondence between inclination and theoretical stretching, which can be obtained through experiments or experience.

[0044] Specifically, when the first mapping relationship is a curve of inclination versus theoretical extension / retraction, after obtaining the current inclination, the theoretical extension / retraction on the curve corresponding to the current inclination can be determined directly by referring to the curve of inclination versus theoretical extension / retraction, and this theoretical extension / retraction can be used as the adjustment extension / retraction amount. Alternatively, when the first mapping relationship is a table of correspondence between inclination and theoretical extension / retraction, after obtaining the current inclination, the theoretical extension / retraction corresponding to the current inclination can be directly looked up in the table, and this theoretical extension / retraction amount can be determined as the adjustment extension / retraction amount. The method for determining the oil inlet flow rate of the hydraulic cylinder can be either to substitute the adjustment extension / retraction amount into the setting calculation formula for calculation, or other methods can be used, which can be set according to actual needs.

[0045] It should be noted that if no human intervention is involved during the entire outrigger adjustment process, the adjustment of the extension amount should be the same as the adjustment of the retraction amount. If support personnel are present around the aerial work platform during the entire outrigger adjustment process, the adjustment of the extension amount can be either the adjustment of the retraction amount or the adjustment of the contraction amount. When the adjustment of the extension amount is the adjustment of the contraction amount, the outrigger structure is in a suspended state after adjustment, and cannot provide stable support for the frame. Support personnel can install support components between the outrigger structure and the ground to improve the support stability of the outrigger structure.

[0046] Optionally, the oil inlet flow of the hydraulic cylinder is controlled according to the adjusted extension amount, including determining the oil inlet quantity of the hydraulic cylinder based on the second mapping relationship between the extension amount and the oil inlet quantity, and controlling the hydraulic cylinder to work with the oil inlet quantity.

[0047] The second mapping relationship can be a correspondence table between the expansion / contraction amount and the oil inlet amount, which can be obtained through experiments or experience.

[0048] Specifically, when the second mapping relationship is a curve of extension / retraction amount versus oil inlet amount, after obtaining the adjusted extension / retraction amount, the oil inlet amount on the curve corresponding to the adjusted extension / retraction amount can be directly determined as the oil inlet amount of the hydraulic cylinder. Alternatively, when the second mapping relationship is a table of correspondence between extension / retraction amount and oil inlet amount, after obtaining the adjusted extension / retraction amount, the oil inlet amount corresponding to the adjusted extension / retraction amount can be directly looked up in the table and determined as the oil inlet amount of the hydraulic cylinder. The control method of the hydraulic cylinder operating based on the oil inlet amount allows adjustment of the opening of the proportional valve connected to the hydraulic cylinder; the larger the oil inlet amount, the larger the PWM duty cycle of the proportional valve.

[0049] It should be noted that a larger adjustment range indicates a larger displacement of the outrigger structure, which allows for a larger oil supply and improves the adjustment efficiency. Conversely, a smaller adjustment range indicates a smaller displacement of the outrigger structure, which allows for a smaller oil supply, reducing the adjustment efficiency but increasing the adjustment precision.

[0050] Based on the same inventive concept, the present invention also provides a high-altitude work platform system. Figure 4 This is a partial top view schematic diagram of an aerial work platform system provided in an embodiment of the present invention, as shown below. Figure 4 As shown, the aerial work platform system includes a frame 10, at least four outrigger structures 20, at least four hydraulic cylinders 30, and a control module 40; the outrigger structures 20 and the hydraulic cylinders 30 are mechanically connected to the frame 10, and the hydraulic cylinders 30 drive the outrigger structures 20 to extend or retract.

[0051] The control module 40 is used to execute the outrigger control method of the aerial work platform provided in any embodiment of the present invention, which can achieve the beneficial effects of the outrigger control method provided in the embodiment of the present invention. The similarities can be referred to the above description of the outrigger control method provided in the embodiment of the present invention, and will not be repeated here.

[0052] Optional, Figure 5 This is a schematic diagram of the control enable terminal provided in an embodiment of the present invention, such as... Figure 5 As shown, the aerial work platform system also includes a control enable terminal 50; the control enable terminal 50 and... Figure 4 The control module 40 is electrically connected, and the control enable terminal 50 is used to provide the support leg enable control command to the control module 40.

[0053] in, Figure 5 The control enable terminal 50 shown is a manual control handle. In other optional embodiments, the control enable terminal 50 can also be a command input terminal of a remote control terminal, which is not specifically limited here.

[0054] Specifically, when the user operates the control enable terminal 50 and moves the control enable terminal 50 to the enable position, the control enable terminal 50 provides the outrigger enable control command to the control module 40. After receiving the outrigger enable control command, the control module 40 executes the outrigger control method to realize automatic leveling of the outrigger structure, reduce the cost increase and operation complexity caused by manual operation, and improve the automation level of the aerial work system.

[0055] Optional, Figure 6 This is a side view of the aerial work platform system provided in an embodiment of the present invention. Figure 7 This is a schematic diagram of the structure of a hydraulic cylinder provided in an embodiment of the present invention, with reference to... Figure 6 and Figure 7The outrigger structure 20 includes an outrigger 21, an upper link assembly 22, a lower link assembly 23, and an outrigger pad 24. The outrigger pad 24 is mechanically connected to one end of the outrigger 21 via an outrigger welding 25. The first end of the upper link assembly 22 is mechanically connected to the end of the outrigger 21 away from the outrigger pad 24. The first end of the lower link assembly 23 is mechanically connected to the upper middle section of the outrigger 21 away from the outrigger pad 24. The second end of the upper link assembly 22 is mechanically connected to the first point q1 of the frame 10. The second end of the lower link assembly 23 is mechanically connected to the second point q2. During the deployment or retraction of the upper link assembly 22 and the lower link assembly 23, the upper link assembly 22 and the lower link assembly 23 are parallel. The hydraulic cylinder 30 includes a rodless end 31, a piston rod extension end 32, and a valve body 33; the rodless end 31 is mechanically connected to the frame 10, and the piston rod extension end 32 is hinged to the first end of the lower connecting rod assembly 23; a pressure sensor is installed inside the valve body 33.

[0056] The rodless end 31 of the hydraulic cylinder is located at the bottom of the cylinder barrel of the hydraulic cylinder 30, and is the end that does not extend from the piston rod, resulting in a larger oil inlet thrust. The piston rod extended end 32 is located at the end where the piston rod of the hydraulic cylinder 30 extends.

[0057] Specifically, one side of the hydraulic cylinder 30 is fixed to the frame 10, and the other side of the hydraulic cylinder 30 is fixed to the lower connecting rod assembly 23. The extension and retraction of the hydraulic cylinder 30 drives the lower connecting rod assembly 23 to move around the second point q3 as the fulcrum. The upper connecting rod assembly 22 moves parallel to the lower connecting rod assembly 23, thereby driving the outrigger 21 to rise or fall.

[0058] In an optional embodiment, the hydraulic cylinder 30 further includes a valve body 33, and a pressure sensor is located inside the valve body 33 for detecting the pressure value of the hydraulic oil flowing through the hydraulic cylinder 30. The pressure sensor is used to transmit the detected pressure value to the control module.

[0059] It should be noted that the valve body 33 includes an oil inlet 331 and an oil return port 332. The oil inlet 331 is connected to the cavity on the side where the rodless end 31 of the hydraulic cylinder is located, and the oil return port 332 is connected to the cavity on the side where the piston rod extension end 32 is located. Figure 8 This is a schematic diagram of a valve assembly provided in an embodiment of the present invention, as shown below. Figure 8As shown, the aerial work platform system also includes a valve assembly 70, which includes a proportional valve 71, four inlet switch valves 701, and four outlet switch valves 702. The inlet switch valves 701 are connected to the inlet port 331, and the outlet switch valves 702 are connected to the return port 332. The proportional valve 70 is used to regulate parameters such as the flow rate and pressure of the hydraulic oil entering the valve assembly 70. When the inlet switch valves 701 and the return switch valves 702 are open, the hydraulic oil in the valve assembly 70 can enter the hydraulic cylinder 30 through the inlet switch valves 701 and the inlet port 331, and the hydraulic oil in the hydraulic cylinder 30 can return to the valve assembly 70 through the return switch valves 702.

[0060] Figure 9 This is a schematic diagram of a support leg structure provided in an embodiment of the present invention, as shown below. Figure 9 As shown, the upper linkage assembly 22 in the outrigger structure 21 consists of two parallel and fixed upper single linkages 220, and the upper linkage assembly 23 consists of two parallel and fixed lower single linkages 230. The upper single linkages 220 and lower single linkages 230 have the same length. When the outrigger structure 20 is in the retracted state, the support 21 in the outrigger structure 20 forms a 90-degree angle with the chassis of the frame 10, which meets the overall transport width requirements without additional operation. This not only increases the overall transport width but also improves the stability and reliability of the entire machine. Furthermore, the consistent length of the upper and lower single linkages 220 and 230 ensures that the outrigger structure 20 has a symmetrical movement trajectory during deployment and retraction, guaranteeing the synchronization and consistency of the outrigger 21's movements and avoiding problems such as asynchrony or jamming caused by length differences.

[0061] Optional, continue to refer to Figure 9 The outrigger welding 25 includes an outrigger mounting ball head 251 and an outrigger mounting base 252; the outrigger mounting ball head 251 is in contact with the outrigger mounting base 252 through a spherical joint.

[0062] Specifically, compared to the direct connection between the outrigger 21 and the outrigger pad 24, the spherical joint of the outrigger mounting ball joint 251 is connected to the outrigger mounting base 252. This allows the outrigger weld 25 to rotate 15 degrees within a 360-degree angle range, enabling the outrigger 21 to achieve large-angle leveling under complex working conditions and improving the overall machine's adaptability to complex conditions. Simultaneously, the spherical joint provides surface contact, resulting in uniform stress distribution and improving the machine's impact resistance and overturning resistance. The outrigger mounting base 252 can be connected to the outrigger 21 via a pin for easy and quick disassembly.

[0063] It should be noted that the outrigger pad 24 is made of materials such as nylon, and its diameter ranges from 800mm to 1000mm. The bottom of the outrigger pad 24 has anti-slip grooves 241. Thus, when the outrigger structure 20 is in the extended, ground-supporting state, the outrigger structure 20 can contact the ground through the outrigger pad 24. Due to the large diameter of the outrigger pad 24, the contact area between the outrigger pad 24 and the ground is effectively increased, reducing the ground pressure and lowering the risk of collapse in uneven or muddy conditions. Furthermore, the anti-slip grooves 241 on the bottom of the outrigger pad 24 reduce the slippage rate of the outrigger pad 24 relative to the ground, improving the overall stability and safety of the machine.

[0064] Optional, Figure 10 This is a partial top view schematic diagram of another aerial work platform system provided in an embodiment of the present invention, as shown below. Figure 10 As shown, a tilt sensor 60 is installed on the frame 10.

[0065] The tilt sensor 60 is electrically connected to the control module 40.

[0066] Specifically, the exact location of the tilt sensor 60 on the frame 10 can be set according to actual needs. By directly fixing the tilt sensor 60 on the frame 10, the control module 40 can obtain the tilt angle of the frame 10 in real time through the tilt sensor 60 during the deployment of the outrigger structure 20, thereby adjusting the working parameters of the hydraulic cylinder 30 and improving the leveling reliability and response timeliness of the aerial work platform system.

[0067] Note that the above description is merely a preferred embodiment of the present invention and the technical principles employed. Those skilled in the art will understand that the present invention is not limited to the specific embodiments described herein, and various obvious changes, readjustments, combinations, and substitutions can be made without departing from the scope of protection of the present invention. Therefore, although the present invention has been described in detail through the above embodiments, the present invention is not limited to the above embodiments, and may include many other equivalent embodiments without departing from the concept of the present invention, the scope of which is determined by the scope of the appended claims.

Claims

1. A method for controlling the outriggers of an aerial work platform, characterized in that, The aerial work platform includes a frame, at least four outrigger structures, and at least four hydraulic cylinders; the outrigger structures and the hydraulic cylinders are mechanically connected to the frame, and the hydraulic cylinders drive the outrigger structures to extend or retract. The outrigger control method includes: Obtain the outrigger enable control command; According to the outrigger enable control command, the hydraulic cylinder is controlled to extend the outrigger structure, and the current hydraulic pressure value of the hydraulic cylinder and the current tilt of the frame are obtained in real time. Based on the current hydraulic pressure value and the current tilt angle, the oil flow rate of each hydraulic cylinder is controlled until the current tilt angle is within a preset range.

2. The outrigger control method according to claim 1, characterized in that, Based on the current hydraulic pressure value and the current tilt angle, control the oil inlet flow rate of each hydraulic cylinder, including: The ground contact state of the outrigger structure is determined based on the current hydraulic pressure value; When the ground contact state is a stable ground contact state, the oil flow rate of each hydraulic cylinder is controlled according to the current tilt angle until the current tilt angle is within a preset range.

3. The outrigger control method according to claim 2, characterized in that, Based on the current hydraulic pressure value, the ground contact state of the outrigger structure is determined, including: Determine whether the current hydraulic value is greater than or equal to the preset hydraulic value; If so, then the ground contact state of the outrigger structure is determined to be the stable ground contact state.

4. The outrigger control method according to claim 2, characterized in that, Based on the current tilt angle, control the oil flow rate of each hydraulic cylinder, including: Based on the current tilt angle, and based on the first mapping relationship between the tilt angle and the theoretical extension / retraction amount of each of the outrigger structures, the adjustment / retraction amount of each outrigger structure is determined; The oil flow rate of the hydraulic cylinder is controlled by adjusting the extension and retraction amount.

5. The outrigger control method according to claim 4, characterized in that, Controlling the oil flow rate of the hydraulic cylinder based on the adjusted extension / retraction amount includes: Based on the adjusted extension / retraction amount and the second mapping relationship between the extension / retraction amount and the oil inlet amount, the oil inlet amount of the hydraulic cylinder is determined, and the hydraulic cylinder is controlled to operate with the oil inlet amount.

6. An aerial work platform system, characterized in that, include: The chassis, at least four outrigger structures, at least four hydraulic cylinders, and a control module; Both the outrigger structure and the hydraulic cylinder are mechanically connected to the vehicle frame, and the hydraulic cylinder drives the outrigger structure to extend or retract. The control module is used to execute the outrigger control method of the aerial work platform according to any one of claims 1 to 5.

7. The aerial work platform system according to claim 6, characterized in that, Also includes: Control enable terminal; The control enable terminal is electrically connected to the control module, and the control enable terminal is used to provide the control module with a leg enable control command.

8. The aerial work platform system according to claim 6, characterized in that, The outrigger structure includes an outrigger, an upper linkage assembly, a lower linkage assembly, and an outrigger pad. The outrigger pad is mechanically connected to one end of the outrigger via welding. The first end of the upper linkage assembly is mechanically connected to the end of the outrigger facing away from the outrigger pad. The first end of the lower linkage assembly is mechanically connected to the upper middle section of the outrigger facing away from the outrigger pad. The second end of the upper linkage assembly is mechanically connected to a first point on the vehicle frame. The second end of the lower linkage assembly is mechanically connected to a second point. During the deployment or retraction of the upper and lower linkage assemblies, the upper linkage assembly and the lower linkage assembly are parallel. The hydraulic cylinder includes a rodless end, a piston rod extension end, and a valve body; the rodless end of the hydraulic cylinder is mechanically connected to the vehicle frame, and the piston rod extension end is hinged to the first end of the lower connecting rod assembly; a pressure sensor is installed in the valve body.

9. The aerial work platform system according to claim 8, characterized in that, The outrigger welding includes an outrigger mounting ball head and an outrigger mounting base; The ball joint of the outrigger is connected to the foot mounting base via a spherical joint.

10. The aerial work platform system according to claim 7, characterized in that, The vehicle frame is equipped with a tilt sensor.

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