Aerial work platform wall surface following control system

Abstract

The utility model relates to the field of engineering machinery, in particular to an aerial work platform wall face following control system which comprises a rotary table and a rotary table electric control box. The sensor unit is used for collecting wall surface operation data; the main control unit is used for outputting control quantity according to the wall surface operation data acquired by the sensor unit; the functional valve terminal is used for driving the aerial work platform to execute functional actions according to the control quantity output by the main control unit; the main control unit is integrated on the rotary table electric control box, the functional valve terminal and the rotary table electric control box are installed on a rotary table, and the sensor unit and the functional valve terminal are both connected with the main control unit. The wall surface following control of the equipment is realized, the operation is simple in use, the stability of the product quality is ensured, the safety risk is reduced to the minimum, the requirement on the level of an operator is reduced, and the working efficiency of the equipment is improved.

Description

Technical Field

[0001] The utility model relates to the field of engineering machinery, in particular to a wall following control system for an aerial work platform. Background Art

[0002] Aerial work platforms are special equipment used for installation, maintenance, cleaning, rescue and other operations, such as ladder fire trucks, straight-arm aerial work platforms, curved-arm aerial work platforms, scissor-type aerial work platforms, vehicle-mounted aerial work platforms, etc. During aerial work, it is necessary to operate the work platform to transport workers or work tools, materials, etc. to the work location or area. In particular, the aerial work platform needs to move back and forth vertically or horizontally along the wall or exterior wall.

[0003] During the installation, maintenance, cleaning, rescue and other operations of the aerial work platform, the work platform needs to move back and forth vertically or horizontally along the wall or exterior wall, which is currently mainly achieved by operators. Specifically, it is necessary to operate multiple functional actions of the aerial work platform in conjunction to make the work platform move back and forth slowly. Due to the complex operation, the equipment runs unsteadily, there are great safety risks, and the work efficiency is seriously reduced. Utility Model Content

[0004] In response to the problems raised in the background technology, the utility model proposes a wall following control system for an aerial work platform, which can realize the reciprocating translation of the work platform along the wall or the exterior wall in the vertical or horizontal direction. The control system has low requirements on the operator's experience, the equipment runs fast and smoothly, the safety risks can be minimized, and the working efficiency of the equipment is improved.

[0005] The utility model provides the following technical solution: a wall following control system for an aerial work platform, comprising:

[0006] Turntable and turntable electric control box;

[0007] A sensor unit for collecting wall operation data;

[0008] A main control unit for outputting a control amount according to the wall operation data collected by the sensor unit;

[0009] A functional valve island for driving the aerial work platform to perform functional actions according to the control amount output by the main control unit;

[0010] The main control unit is integrated into the turntable electric control box, the functional valve island and the turntable electric control box are installed on the turntable, and the sensor unit and the functional valve island are both connected to the main control unit.

[0011] Preferably, the sensor unit comprises a turntable rotary encoder installed at the rotation position of the turntable, and the turntable rotary encoder is connected to the main control unit.

[0012] Preferably, the aerial work platform wall following control system further includes:

[0013] A main boom movably connected to the turntable;

[0014] The sensor unit further comprises a boom length sensor and a boom angle sensor installed at the tail of the main boom, and the boom length sensor and the boom angle sensor are connected to the main control unit.

[0015] Preferably, the aerial work platform wall following control system further includes:

[0016] A secondary boom movably connected to the main boom and a working platform fixedly connected to the secondary boom;

[0017] The sensor unit further comprises a platform swing angle sensor installed between the auxiliary boom and the working platform, and the platform swing angle sensor is connected to the main control unit.

[0018] Preferably, the aerial work platform wall following control system further includes:

[0019] A radar sensor scanning auxiliary mechanism installed on the outside of the working platform;

[0020] The sensor unit includes a radar sensor mounted on the radar sensor scanning auxiliary mechanism, and the radar sensor is connected to the main control unit.

[0021] Preferably, the aerial work platform wall following control system further includes:

[0022] A platform electric control box installed on the working platform, and a boom luffing handle and a turntable slewing handle integrated in the platform electric control box.

[0023] Preferably, the aerial work platform wall following control system further includes:

[0024] A platform display for displaying and setting the distance between the working platform and the wall and an alarm, wherein the platform display is integrated in the platform electric control box.

[0025] Preferably, the aerial work platform wall following control system further comprises: a chassis, and the chassis is installed at the bottom of the turntable.

[0026] The utility model has the following beneficial effects:

[0027] The utility model proposes a wall following control system for an aerial work platform. Based on the existing configuration of the equipment, there is no need to increase the hardware configuration to realize the wall following control of the equipment. The operation is simple, the stability of product quality is guaranteed, the safety risk is minimized, the level requirement for the operator is reduced, and the working efficiency of the equipment is improved. BRIEF DESCRIPTION OF THE DRAWINGS

[0028] Figure 1 This is a framework diagram of a wall following control system for an aerial work platform of the utility model;

[0029] Figure 2 This is a schematic diagram of a radar sensor scanning auxiliary operation of an aerial work platform of the utility model;

[0030] Figure 3 This is a schematic diagram of an aerial work platform of the utility model moving horizontally along a wall in a vertical direction;

[0031] Figure 4 This is a schematic diagram of an aerial work platform according to the utility model that moves horizontally along a wall;

[0032] S10: boom amplitude adjustment handle; S20 turntable rotation handle; S30: scanning auxiliary mechanism; S40 platform display; S50: boom length sensor; S60: boom angle sensor; S70: turntable rotation encoder; S80 functional valve island; S90: platform swing angle sensor; S100: radar sensor; S110: main control unit. DETAILED DESCRIPTION

[0033] The following will be combined with the drawings in the embodiments of the utility model to clearly and completely describe the technical solutions in the embodiments of the utility model. Obviously, the described embodiments are only part of the embodiments of the utility model, not all of the embodiments. Based on the embodiments in the utility model, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the utility model.

[0034] See also Figure 1-2 In a preferred embodiment, a wall following control system for an aerial work platform comprises:

[0035] Turntable and turntable electric control box;

[0036] A sensor unit for collecting wall operation data;

[0037] A main control unit S110 for outputting a control amount according to the wall operation data collected by the sensor unit;

[0038] A functional valve island S80 for driving the aerial work platform to perform functional actions according to the control amount output by the main control unit S110;

[0039] The main control unit S110 is integrated into the turntable electric control box, the functional valve island S80 and the turntable electric control box are installed on the turntable, and the sensor unit and the functional valve island S80 are connected to the main control unit S110.

[0040] The improvement of the utility model is the improvement of the control system structure.

[0041] The main control unit that outputs the control amount according to the wall operation data collected by the sensor unit belongs to the prior art and is not improved by the present utility model;

[0042] Driving the aerial work platform to execute functional actions according to the control quantity output by the main control unit belongs to the prior art and is not improved by the present utility model.

[0043] In this embodiment, the sensor unit includes a turntable rotary encoder S70 installed at the rotation position of the turntable, and the turntable rotary encoder S70 is connected to the main control unit S110.

[0044] In this embodiment, the aerial work platform wall following control system further includes:

[0045] A main boom movably connected to the turntable;

[0046] The sensor unit further includes a boom length sensor S50 and a boom angle sensor S60 installed at the tail of the main boom, and the boom length sensor S50 and the boom angle sensor S60 are connected to the main control unit S110.

[0047] In this embodiment, the aerial work platform wall following control system further includes:

[0048] A secondary boom movably connected to the main boom and a working platform fixedly connected to the secondary boom;

[0049] The sensor unit further includes a platform swing angle sensor S90 installed between the auxiliary boom and the working platform, and the platform swing angle sensor S90 is connected to the main control unit S110.

[0050] In this embodiment, the aerial work platform wall following control system further includes:

[0051] A radar sensor S100 scanning auxiliary mechanism installed on the outside of the working platform;

[0052] The sensor unit includes a radar sensor S100 mounted on the radar sensor S100 scanning auxiliary mechanism, and the radar sensor S100 is connected to the main control unit S110.

[0053] In this embodiment, the aerial work platform wall following control system further includes:

[0054] A platform electric control box installed on the working platform, and a boom luffing handle and a turntable slewing handle integrated in the platform electric control box.

[0055] In this embodiment, the aerial work platform wall following control system further includes:

[0056] A platform display S40 is used to display and set the distance between the working platform and the wall and an alarm. The platform display S40 is integrated in the platform electric control box.

[0057] In this embodiment, the aerial work platform wall following control system further includes: a chassis, which is installed at the bottom of the turntable.

[0058] In a preferred embodiment, Figure 3 As shown, when the main control unit S110 receives the input signal of the boom amplitude adjustment handle function action, the main control unit S110 outputs a signal to control the scanning auxiliary mechanism to move in the boom amplitude adjustment direction, i.e., the vertical direction, and the vertical scanning range of the radar sensor S100 is increased compared with the fixed scanning type, i.e., the monitoring area is increased, and the monitoring blind area is reduced; when the main control unit S110 receives the input signal of the turntable rotation handle function action, the main control unit S110 outputs a signal to control the scanning auxiliary mechanism to move in the turntable rotation direction, i.e., the horizontal direction, and the horizontal scanning range of the radar sensor S100 is increased compared with the fixed scanning type, i.e., the monitoring area is increased, and the monitoring blind area is reduced.

[0059] In a preferred embodiment, Figure 4As shown, the aerial work platform wall following control system, when the operator sets the vertical movement following distance along the wall on the platform display S40, operates the boom luffing handle to enter the wall and automatically follow, the main control unit S110 receives the boom luffing handle function action input signal, the radar sensor S100 scans in the vertical direction, and at the same time, the main control unit S110 receives the boom length sensor S50, the boom angle sensor S60, the turntable rotary encoder S70, and the platform swing angle sensor S90 input signals. The main control unit S110 solves the current change of the boom length sensor S50, the boom angle sensor S60, the turntable rotary encoder S70, and the platform swing angle sensor S90 according to the input handle signal change, outputs the control signal of each functional action linkage to the functional valve island S80, drives the execution of each functional action, always keeps the working platform relatively parallel to the wall, and the working platform can do reciprocating motion along the wall in the vertical direction.

[0060] In a preferred embodiment, the aerial work platform wall following control system, when the operator sets the horizontal movement following distance along the wall on the platform display S40, operates the turntable rotary handle to enter the wall and automatically follow, the main control unit S110 receives the turntable rotary handle function action input signal, the radar sensor S100 scans in the horizontal direction, and at the same time, the main control unit S110 receives the arm length sensor S50, the arm angle sensor S60, the turntable rotary encoder S70, and the platform swing angle sensor S90. The main control unit S110 solves the current change of the arm length sensor S50, the arm angle sensor S60, the turntable rotary encoder S70, and the platform swing angle sensor S90 according to the input handle signal change, outputs the control signal of each functional action linkage to the functional valve island S80, drives the execution of each functional action, always keeps the working platform relatively parallel to the wall, and the working platform can do reciprocating motion in the horizontal direction along the wall.

[0061] In a preferred embodiment, the working platform automatically follows the reciprocating motion along the wall, specifically including: the main control unit S110 solves the change of the current arm length sensor S50, arm angle sensor S60, turntable rotary encoder S70, and platform swing angle sensor S90 according to the input signals of the arm length sensor S50, arm angle sensor S60, turntable rotary encoder S70, and platform swing angle sensor S90, and the specific solution formula for the wall operation data of each joint movement direction, movement amplitude, speed and direction deviation is:

[0062] Δa=f(A0,B0,C0,D0,EX,EY,EZ); (1)

[0063] Δb=f(A0,B0,C0,D0,EX,EY,EZ); (2)

[0064] Δc= f(A0,B0,C0,D0,EX,EY,EZ); (3)

[0065] Δd=f(A0,B0,C0,D0,EX,EY,EZ); (4)

[0066] Wherein, Δa is the boom length offset, a positive value indicates that the boom is extended, and a negative value indicates that the boom is retracted; A0 is the initial value of the boom length;

[0067] Δb: is the boom angle offset, a positive value indicates that the boom is rising, and a negative value indicates that the boom is falling; B0: is the initial value of the boom angle;

[0068] Δc: is the turntable rotation offset, a positive value indicates the turntable rotates left, and a negative value indicates the turntable rotates right; C0: is the initial value of the turntable rotation;

[0069] Δd: is the platform swing angle offset, a positive value indicates the platform swings to the left, and a negative value indicates the platform swings to the right; D0: is the initial value of the platform swing angle;

[0070] EX, EY, EZ are the spatial deviation corrections for the current coordinate position. The specific formula is as follows:

[0071] EX=f(A,B,C,D); (5)

[0072] EY=f(A,B,C,D); (6)

[0073] EZ=f(A,B,C,D); (7)

[0074] Among them, A, B, C, and D are the real-time detection values ​​of the boom length sensor S50, the boom angle sensor S60, the turntable rotary encoder S70, and the platform swing angle sensor S90 respectively.

[0075] The main control unit S110 outputs the control signal of the linkage of various functional actions to the functional valve island S80 according to the changes of the current boom length sensor S50, boom angle sensor S60, turntable rotary encoder S70 and platform swing angle sensor S90, drives the execution of various functional actions, always keeps the working platform relatively parallel to the wall, and the working platform can reciprocate along the wall.

[0076] The above shows and describes the basic principles and main features of the utility model. The technicians in this industry should understand that the utility model is not limited by the above embodiments, and the above embodiments and descriptions are only for explaining the principles of the utility model. Without departing from the spirit and scope of the utility model, the utility model will have various changes and improvements, and these changes and improvements fall within the scope of the utility model to be protected.

Claims

1. A wall following control system for an aerial work platform, characterized in that: include: Turntable and turntable electric control box; A sensor unit for collecting wall operation data; A main control unit for outputting a control amount according to the wall operation data collected by the sensor unit; A functional valve island for driving the aerial work platform to perform functional actions according to the control amount output by the main control unit; The main control unit is integrated into the turntable electric control box, the functional valve island and the turntable electric control box are installed on the turntable, and the sensor unit and the functional valve island are both connected to the main control unit.

2. The wall following control system for an aerial work platform according to claim 1, characterized in that: The sensor unit includes a turntable rotary encoder installed at a rotation position of the turntable, and the turntable rotary encoder is connected to the main control unit.

3. The wall following control system for an aerial work platform according to claim 1, characterized in that: The aerial work platform wall following control system also includes: A main boom movably connected to the turntable; The sensor unit further comprises a boom length sensor and a boom angle sensor installed at the tail of the main boom, and the boom length sensor and the boom angle sensor are connected to the main control unit.

4. The wall following control system for an aerial work platform according to claim 3, characterized in that: The aerial work platform wall following control system also includes: A secondary boom movably connected to the main boom and a working platform fixedly connected to the secondary boom; The sensor unit further comprises a platform swing angle sensor installed between the auxiliary boom and the working platform, and the platform swing angle sensor is connected to the main control unit.

5. The wall following control system for an aerial work platform according to claim 4, characterized in that: The aerial work platform wall following control system also includes: A radar sensor scanning auxiliary mechanism installed on the outside of the working platform; The sensor unit includes a radar sensor mounted on the radar sensor scanning auxiliary mechanism, and the radar sensor is connected to the main control unit.

6. The wall following control system for an aerial work platform according to claim 4, characterized in that: The aerial work platform wall following control system also includes: A platform electric control box installed on the working platform, and a boom luffing handle and a turntable slewing handle integrated in the platform electric control box.

7. The wall following control system for an aerial work platform according to claim 6, characterized in that: The aerial work platform wall following control system also includes: A platform display for displaying and setting the distance between the working platform and the wall and an alarm, wherein the platform display is integrated in the platform electric control box.

8. The wall following control system for an aerial work platform according to claim 1, characterized in that: The aerial work platform wall following control system further includes: a chassis, which is installed at the bottom of the turntable.

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