A mast tilt insulating lifting work platform and a control method thereof

Abstract

The application discloses a mast backward tilting type insulation lifting operation platform and a control method thereof. The lifting operation platform comprises a vehicle platform assembly, a position sensor, a frame assembly provided with four vertical supporting legs, an inclination sensor arranged on the vehicle frame assembly and a mast assembly. The mast assembly is connected with the vehicle frame assembly through a rotary support. A telescopic oil cylinder drives the mast assembly to move up and down. The platform assembly is connected with the mast assembly through a curved arm assembly and moves up and down under the action of a curved arm luffing oil cylinder. The inclination sensor is arranged on the horizontal surface of the vehicle frame assembly and is used for detecting the longitudinal and transverse inclination angles of the vehicle frame. The operation platform adopts the mast backward tilting type structure, can effectively offset the overturning moment caused by the wind load and the manual operation force, can ensure that the center of gravity of the operation platform in the maximum operation amplitude rotation part is always within the overturning line, realizes 360 continuous rotation, and can improve the safety, stability, operation adaptability and operation efficiency.

Description

Technical Field

[0001] This invention relates to the field of engineering machinery technology, and in particular to a mast-tilting insulated lifting work platform and its control method. Background Technology

[0002] To ensure the reliable and stable operation of the power distribution network, in narrow streets and alleys, where utility poles are often erected at the edges, insulated aerial work platforms cannot have a large working range, and the area of ​​the slewing device is limited. Traditional folding boom, telescopic boom, and hybrid boom insulated aerial work platforms cannot enter narrow alleys, and even if they manage to enter, they cannot deploy outriggers for live-line work.

[0003] Mast-mounted aerial work platforms are vertical lifting structures and generally do not have outriggers. Their compact dimensions allow them to operate in narrow alleys. The outrigger-less design typically limits boom movement by detecting the vehicle's tilt angle, thus achieving anti-tipping and safety control. However, mast-mounted aerial work platforms also have certain drawbacks: First, as the platform height increases, the wind load and tilting moment caused by manual operation increase significantly. Increasing the working height requires a substantial increase in chassis weight to ensure operational stability. Second, limiting boom movement by detecting vehicle tilt has the following problems: A1) The allowable tilt angle setting parameter is relatively small, making it difficult to level the vehicle on unpaved surfaces, and may even prevent operation, resulting in significant site limitations; A2) Even slight changes in the vehicle's angle during operation can cause the tilt angle to exceed the set threshold, restricting operational movement and affecting work efficiency; A3) The tilt angle is not a direct factor in judging tilt performance, and the threshold setting cannot accurately reflect tilt feasibility, posing a certain risk of tipping over. Third, traditional aerial work platforms have large frame dimensions, and changes in the vehicle's angle during operation can cause structural displacement. This displacement can be detected by the detection switches on the vertical outriggers, thus determining whether the outriggers are loose, resulting in high safety. However, mast-type aerial work platforms have small frame dimensions and high frame rigidity. The structural displacement caused by changes in the vehicle's angle during operation is minimal and cannot be detected by the detection switches on the vertical outriggers. Consequently, it is impossible to determine whether the outriggers are loose, resulting in relatively poor operational safety. Summary of the Invention

[0004] Purpose of the invention: The purpose of this invention is to provide a mast-type tilting insulated lifting platform and its control method to solve the problem of low work efficiency and poor safety caused by the inability to detect structural displacement caused by changes in the vehicle body angle during operation, thereby improving the stability, safety and site adaptability of the mast-type lifting platform.

[0005] Technical solution: A mast-tilting insulated lifting platform includes a platform assembly, a position sensor, a frame assembly with four vertical outriggers, an angle sensor mounted on the frame assembly, and a mast assembly; the mast assembly is connected to the frame assembly via a slewing bearing; a telescopic cylinder drives the mast assembly to move up and down; the platform assembly is connected to the mast assembly via a boom assembly and moves up and down under the action of a boom luffing cylinder;

[0006] The tilt sensor is mounted on the horizontal surface of the frame assembly and is used to detect the longitudinal and lateral tilt angles of the frame.

[0007] The position sensor is used to determine whether the crank arm assembly is in the retracted state.

[0008] Furthermore, each vertical support leg is connected to the support leg cylinder via a pin sensor; the pin sensor is fixed by a limit card.

[0009] Furthermore, the pin sensor has a bidirectional pressure detection function. It can detect the magnitude and direction of the force on the outrigger cylinder in real time and accurately, and determine whether the outrigger is in a grounded state, a supported state, a loose state, or a retracted state in combination with the control logic.

[0010] Furthermore, the tilt sensor uses control logic to achieve anti-rollover function during driving, automatic vehicle leveling, and alarm function during operation.

[0011] Furthermore, the mast assembly is a rearward tilting type, wherein the center of gravity of the mast assembly is located on the opposite side of the slewing bearing center relative to the load center of the platform assembly.

[0012] A control method for a mast-tilting insulated lifting work platform, used to control any of the above-mentioned lifting work platforms to achieve operational stability and safety in narrow alleyways and tilted states, including:

[0013] 1) Driving status control logic

[0014] S11, when the position sensor detects that the articulated arm assembly is in the retracted state, and the pin sensor detects that the four outriggers are in the tension state, and the tension value is greater than or equal to the set threshold, it is determined that the platform assembly is in the retracted state, and at this time, driving action is allowed;

[0015] S12, when the tilt sensor detects that the longitudinal and lateral angle values ​​are greater than the set thresholds, it is determined that the lifting platform is in a state where it is prone to tipping over, and at this time the driving action is restricted;

[0016] 2) High-altitude operation control logic

[0017] S21, when the position sensor detects that the boom assembly is in the retracted state; the pin sensor's pressure value is greater than or equal to the set threshold; and the tilt sensor detects that the longitudinal and lateral angle values ​​are less than or equal to the set thresholds respectively, it is determined that the platform assembly is in the "ready state" for high-altitude operations, and high-altitude operations are allowed at this time.

[0018] S22, when the position sensor detects that the boom assembly is in a raised state, it is determined that the platform assembly is already in the process of high-altitude operation;

[0019] When the tilt sensor detects that the longitudinal and lateral angle values ​​are greater than the set thresholds, it determines that the lifting platform is in a state of easy tipping. At this time, the lifting platform will issue an audible and visual alarm signal or restrict high-altitude operation.

[0020] When the pressure value of the pin sensor is less than the set threshold, it is determined that the lifting platform is in a loose outrigger state. At this time, the lifting platform will issue an audible and visual alarm and restrict all movements.

[0021] Furthermore, when the lifting platform is in motion or operating at height, if it experiences restricted movement, the restriction can be forcibly shut off by operating the emergency switch, and the platform assembly will move in a safe direction.

[0022] Compared with the prior art, the significant advantages of this invention are as follows:

[0023] 1. The work platform of this invention adopts a mast tilting structure. The center of gravity of the mast assembly is located on the opposite side of the center of the slewing bearing relative to the center of the platform load. It is used as a counterweight with the platform load. This can effectively offset the overturning moment caused by wind load and manual operation force. It can also ensure that the center of gravity of the slewing part of the work platform is always within the overturning line when the working platform is tilted at the maximum working range (the vehicle body tilts towards the working surface) and the minimum working range (the vehicle body tilts towards the non-working surface). While achieving 360° continuous slewing, the stability of the whole vehicle can be guaranteed without adding undercarriage counterweight. This effectively reduces the overall vehicle weight and improves the safety, stability, adaptability and efficiency of the operation.

[0024] 2. The control method of the present invention uses a pin shaft sensor to detect the magnitude and direction of the force applied to each outrigger in real time, thereby determining whether the outrigger is in a grounded state, a firmly supported state, a loose state, or a retracted state. Combined with the control logic, this further improves the safety and convenience of operation. Attached Figure Description

[0025] Figure 1 This is a schematic diagram of the non-operation state of the lifting platform of the present invention, wherein (a) is the front view and (b) is the top view;

[0026] Figure 2This is a schematic diagram of the installation of the pin shaft sensor of the lifting operation platform of the present invention, wherein (a) is the main view and (b) is an enlarged view of the view in direction A in (a);

[0027] Figure 3 This is a diagram showing the lateral working state of the lifting platform after the chassis assembly of the present invention has been leveled.

[0028] Figure 4 This is a lateral working state diagram of the lifting platform after the chassis assembly of the present invention is tilted, wherein (a) is the chassis assembly tilted toward the working surface, and (b) is the chassis assembly tilted toward the non-working surface.

[0029] Figure 5 This is the control logic diagram of the lifting operation platform of the present invention;

[0030] In the diagram: 1. Platform assembly; 2. Position sensor; 3. Frame assembly; 4. Tilt sensor; 5. Slewing bearing; 6. Articulated boom assembly; 7. Articulated boom luffing cylinder; 8. Mast assembly; 9. Telescopic cylinder; 10. Outrigger cylinder; 11. Pin sensor; 12. Limit card. Detailed Implementation

[0031] The present invention will now be described in further detail with reference to the accompanying drawings and specific embodiments.

[0032] like Figure 1 As shown, a mast-tilting insulated lifting platform includes a platform assembly 1, a position sensor 2, a frame assembly 3 with four vertical outriggers, a tilt sensor 4 mounted on the frame assembly 3, and a mast assembly 8. The mast assembly 8 is connected to the frame assembly 3 via a slewing bearing 5. Telescopic cylinders 9 are located on both sides of the mast assembly 8. The platform assembly 1 is connected to the mast assembly 8 via a boom assembly 6, which is connected to a boom luffing cylinder 7. The position sensor 2 is used to determine whether the boom assembly 6 is in the retracted state.

[0033] like Figure 2 As shown, each vertical outrigger is connected to the outrigger cylinder 10 via a pin sensor 11. The outrigger cylinder 10 extends and retracts without exceeding the outermost contour line of the vehicle body, thus not occupying more ground space during operation. The pin sensor 11 has a bidirectional pressure detection function, fixing its axial and rotational degrees of freedom via a limit card 12. This allows for not only real-time and accurate detection of the magnitude and direction of the force applied to the outrigger cylinder 10.

[0034] According to mechanical calculations, the weight G of the outrigger cylinder 10 can be obtained. 10 and kinetic friction F 10 ;

[0035] Set threshold A1 > G 10 +F 10When the tension of the pin sensor 10 is greater than or equal to the set threshold A1, the outrigger is determined to be in the retracted position.

[0036] Set threshold A2 > G 10 -F 10 When the pressure of pin sensor 10 is greater than or equal to the set threshold A2, the outriggers are judged to be on the ground. Outriggers not on the ground continue to extend, while those already on the ground stop extending, until all four outriggers are on the ground. At this time, the automatic leveling function is triggered. After the two outriggers on the tilted side extend for a certain period of time, it is judged whether the vehicle body is level. The principle of vehicle body leveling is as follows: the tilt angles in the front-to-back and left-to-right directions are adjusted to not exceed the allowable angle θ for high-altitude operations. work ;

[0037] According to mechanical calculations, the pressure values ​​of each outrigger of the lifting platform in the retracted state are R, respectively. A R B R C R D The minimum value among them is taken as the outrigger pressure value R. min And the minimum support reaction force F of the outrigger under high-altitude operation conditions can be calculated. R ;

[0038] F R <Set threshold A3<R min If the pressure of the pin sensor 10 is greater than or equal to the set threshold A3, the outrigger is judged to be in a stable condition. This judgment is one of the conditions for allowing high-altitude operations.

[0039] During high-altitude operations, set the threshold A4 > F. R If the pressure value of pin sensor 10 is less than or equal to the set threshold A4, it is determined that the outrigger is loose. This determination serves as a condition for restricting high-altitude operations.

[0040] The tilt sensor 4 is installed on the horizontal surface of the frame assembly 3. It can detect the longitudinal and lateral tilt angles of the frame. Through logic control, it can realize functions such as anti-rollover in driving mode, automatic leveling of the vehicle body, and alarm in operation status.

[0041] During driving, the tilt angle values ​​θ for the front, rear, left, and right sides of the vehicle are measured by tilt sensor 4. 前 θ 后 θ 左 θ 右 The minimum value among them is taken as the overturning angle value θ. min ;

[0042] Set threshold B1 = 0.8 × B2 (leaving a safety margin). If the measured angle θ of tilt sensor 4 is greater than or equal to the set threshold B1, it is determined that the vehicle body has a certain risk of overturning, and an alarm message is issued at this time.

[0043] Set threshold B2 < θ min If the measured angle θ of the tilt sensor 4 is greater than or equal to the set threshold B2, it is determined that there is a risk of the vehicle body overturning, and this determination is used as a condition to restrict driving.

[0044] During high-altitude operations, set the permissible angle θ for high-altitude operations. work Tilt alarm angle θ alm and the limiting angle θ lim (θ) alm =0.8×θ lim Leave a safety margin).

[0045] Set threshold B3 = θ work (θ) work <θ alm If the measured angle θ of the tilt sensor 4 is less than or equal to the set threshold B3, it is determined that the vehicle body has been leveled. This determination serves as the second condition for allowing high-altitude operations. If both the outriggers are firmly supported and the vehicle body is leveled, the high-altitude operation device on the vehicle is allowed to operate.

[0046] Set threshold B4 < θ alm If the measured angle θ of the tilt sensor 4 is greater than or equal to the set threshold B4, it is determined that there is a certain risk of the vehicle body overturning, and an alarm message is issued at this time.

[0047] Set threshold B5 < θ lim If the measured angle θ of the tilt sensor 4 is greater than or equal to the set threshold B5, it is determined that there is a risk of the vehicle body overturning. This determination serves as a condition for restricting high-altitude operations.

[0048] The mast assembly 8 is a rearward tilting type. Through mechanical calculations, the maximum working radius of the vehicle body assembly 3 in the horizontal state can be obtained as L1, and the design limit angle θ of the vehicle frame assembly 3 tilting towards the working surface can be obtained. lim The maximum working radius under these conditions is L2, and the design limit angle θ for the chassis assembly 3 to tilt towards the non-working surface is... lim The minimum operating range in this state is L min The operational stability under the three working conditions is as follows:

[0049] like Figure 3 As shown, the chassis assembly 3 is in a horizontal state with its maximum operating radius L1. The overturning moment M is calculated by the combined action of the platform assembly 1, boom assembly 6, mast assembly 8, and platform load. T1 Wind load moment M W1 Inertial load and manual operating torque M H1 The stabilizing torque M of the non-rotating part of the vehicle S1 It adopts a backward-sloping mast structure, with a tipping moment M. T1 A negative value can be used as a stabilizing torque; the total platform overturning moment M1 = M W1 +MH1 Platform total stabilizing torque M1 , =M T1 +M S1 Then the platform stability coefficient K1=M1 , / M1=(M T1 +M S1 ) / (M W1 +M H1 This can effectively improve the stability of mast-type lifting work platforms with small length and width dimensions.

[0050] like Figure 4 As shown in (a), the design limit angle θ for the chassis assembly 3 tilting towards the working surface is... lim Under the condition of maximum operating radius L2, let the overturning moment M be the combined effect of platform assembly 1, boom assembly 6, mast assembly 8, and platform load. T2 Wind load moment M W2 Inertial load and manual operating torque M H2 The stabilizing torque M of the non-rotating part of the vehicle S2 It adopts a backward-sloping mast structure, with a tipping moment M. T2 Effectively reduced, the total platform overturning moment M2=M T2 +M W2 +M H2 Total platform stability torque M2 , =M S2 Then the platform stability coefficient K2=M2 , / M2=M S2 / (M T2 +M W2 +M H2 This technology can effectively overcome the risk of tipping over caused by the tilting of mast-type lifting work platforms, reduce restrictions on work movements, and improve work efficiency.

[0051] like Figure 4 As shown in (b), the frame assembly 3 is tilted towards the non-working surface at the design limit angle θ. lim In the state of minimum working range L min Let M be the overturning moment caused by the combined action of platform assembly 1, boom assembly 6, mast assembly 8, and platform load. T3 Wind load moment M W3 Inertial load and manual operating torque M H3 The stabilizing torque M of the non-rotating part of the vehicle S3 It adopts a backward-sloping mast structure, with a tipping moment M. T3 A negative value can be used as a stabilizing torque; the total platform overturning moment M3 = M W3 +M H3 Then the platform stability coefficient K3 = M3 , / M3=(M T3 +M S3 ) / (M W3 +M H3 This technology can effectively overcome the risk of tipping over caused by the tilting of mast-type lifting work platforms, reduce restrictions on work movements, and improve work efficiency.

[0052] The mast assembly 8 is driven by the telescopic cylinder 9, enabling it to move up and down.

[0053] Platform assembly 1 is connected to mast assembly 8 via boom assembly 6, enabling it to move up and down; it can also move up and down under the action of boom luffing cylinder 7.

[0054] To better adapt to narrow alleyways (such as...) Figure 3 As shown) and in tilted state (such as Figure 4 To address the operational stability and safety at extreme positions, this invention also provides a control method for a lifting work platform, including the following control logic (as shown). Figure 5 (as shown)

[0055] (a) Driving status

[0056] W1: Position sensor 2 detects that the boom assembly 6 is in the fully retracted state, and the tensile force value of pin sensor 11 is greater than or equal to the set threshold A1. It is determined that the lifting platform is in the retracted state. At this time, driving is allowed.

[0057] W2: During driving, if the longitudinal and lateral angle values ​​of the tilt sensor 4 are ≤ the set threshold B1 respectively, driving is considered safe and normal driving is permitted.

[0058] W3: During driving, if the longitudinal and lateral angle values ​​of the tilt sensor 4 are greater than the set threshold B1, it is determined that there is a certain safety risk, and an audible and visual alarm will be issued; if the longitudinal and lateral angle values ​​of the tilt sensor 4 are greater than the set threshold B2, it is determined that there is a significant safety risk, and driving actions will be restricted.

[0059] W4: Pressing the Force Resume button will release the movement restriction, allowing the vehicle to move in a safe direction.

[0060] (ii) High-altitude work status

[0061] X1: When the outriggers are operated, the outrigger cylinder 10 moves downward. The pressure value of the pin sensor 11 is greater than or equal to the set threshold A2. It is determined that the outrigger cylinder 10 has landed. The vehicle body is leveled in both the longitudinal and lateral directions until the measured value of the tilt sensor 4 is less than or equal to the set threshold B3 (at this point, it is still impossible to determine that the vehicle body has left the ground).

[0062] X2: Repeat the automatic leveling function of the outriggers until the pressure value of the pin sensor 11 is greater than or equal to the set threshold A3. It can be determined that the vehicle body has left the ground and high-altitude operation is allowed at this time.

[0063] X3: Position sensor 2 detects that the boom assembly 6 has left its support frame, indicating that it has entered the high-altitude operation state;

[0064] X4: The longitudinal and lateral angle values ​​of the tilt sensor 4 are ≤ set threshold B4 respectively, and the pressure value of the pin sensor 11 is ≥ set threshold A4. It is judged that the safety factor is high and there is no operational risk.

[0065] X5: If the longitudinal and lateral angle values ​​of the tilt sensor 4 are both greater than the set threshold B4, it is determined that there is a certain safety risk, and an audible and visual alarm will be issued. If the longitudinal and lateral angle values ​​of the tilt sensor 4 are both greater than the set threshold B5, it is determined that there is a significant safety risk, and high-altitude work will be restricted.

[0066] X6: If the pressure value of the pin sensor 11 is less than the set threshold A4, it is determined that there is a significant safety risk, and high-altitude operations are restricted at this time.

[0067] When in driving or high-altitude operation mode, the movement restriction can be lifted by operating the forced recovery button, and the boom assembly 6 can be lowered and the mast assembly 8 can be retracted to move in a safe direction to send personnel back to the ground.

[0068] In summary, the control method for the lifting work platform of the present invention can solve the problems of adaptability of the lifting work platform in narrow areas when deploying outriggers, the control of preventing rollover during vehicle tilting operations, and the detection of loose outriggers in high-rigidity frames; thus improving both work efficiency and work safety.

[0069] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention should be included within the protection scope of the present invention.

Claims

1. A mast-tilting insulated lifting platform, characterized in that, The system includes a platform assembly (1), a position sensor (2), a frame assembly (3) with four vertical outriggers, an tilt sensor (4) mounted on the frame assembly (3), and a mast assembly (8). The mast assembly (8) is connected to the frame assembly (3) via a slewing bearing (5). A telescopic cylinder (9) drives the mast assembly (8) to move up and down. The platform assembly (1) is connected to the mast assembly (8) via a boom assembly (6) and moves up and down under the action of a boom luffing cylinder (7). The tilt sensor (4) is mounted on the horizontal surface of the frame assembly to detect the longitudinal and lateral tilt angles of the frame. The position sensor (2) is used to determine whether the crank arm assembly (6) is in the retracted state.

2. The mast-tilting insulated lifting platform according to claim 1, characterized in that, Each vertical support leg is connected to the support leg cylinder (10) via a pin sensor (11); the pin sensor (11) is fixed by a limit card (12).

3. The mast-tilting insulated lifting platform according to claim 2, characterized in that, The pin sensor (11) has a bidirectional pressure detection function. It can detect the magnitude and direction of the force on the outrigger cylinder (10) in real time and accurately, and determine whether the outrigger is in the ground, supported, loose or retracted state in combination with the control logic.

4. The mast-tilting insulated lifting platform according to any one of claims 1-3, characterized in that, The tilt sensor (4) uses control logic to prevent rollover during driving, automatically level the vehicle body, and provide alarms for the working status.

5. The mast-tilting insulated lifting platform according to any one of claims 1-3, characterized in that, The mast assembly (8) is a rearward tilting type, wherein the center of gravity of the mast assembly is located on the opposite side of the center of the slewing bearing relative to the load center of the platform assembly.

6. A control method for a mast-tilting insulated lifting platform, used to control the lifting platform as described in any one of claims 1-5, to achieve operational stability and safety in narrow passages and under inclined conditions, characterized in that, include: 1) Driving status control logic S11, when the position sensor (2) detects that the crank arm assembly (6) is in the retracted state, and the pin sensor (11) detects that the four outriggers are in the tension state and the tension value is greater than or equal to the set threshold, it is determined that the platform assembly (1) is in the retracted state. At this time, driving action is allowed. S12, when the tilt sensor (4) detects that the longitudinal and lateral angle values ​​are greater than the set threshold, it is determined that the lifting platform is in a state where it is easy to tip over while driving, and at this time the driving action is restricted; 2) High-altitude operation control logic S21, when the position sensor (2) detects that the boom assembly (6) is in the retracted state; the pin sensor (11) bears a pressure value greater than or equal to the set threshold; the tilt sensor (4) detects that the longitudinal and lateral angle values ​​are less than or equal to the set thresholds respectively, it is determined that the platform assembly (1) is in the "ready state" for high-altitude operation, and high-altitude operation is allowed at this time; S22, when the position sensor (2) detects that the boom assembly (6) is in the raised state, it determines that the platform assembly (1) is already in the process of high-altitude operation; When the tilt sensor (4) detects that the longitudinal and lateral angle values ​​are greater than the set threshold, it is determined that the lifting platform is in a state of easy tipping. At this time, the lifting platform will issue an audible and visual alarm signal or restrict high-altitude operation. When the pressure value of the pin sensor (11) is less than the set threshold, it is determined that the lifting platform is in a loose outrigger state. At this time, the lifting platform will issue an audible and visual alarm and restrict all actions.

7. The control method for the mast-tilting insulated lifting work platform according to claim 6, characterized in that, When the lifting platform is in motion or working at height, if it experiences a restricted movement, the restricted movement can be forcibly shut off by operating the emergency switch, and the platform assembly (1) can be moved in a safe direction.

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