CN112357854A - Lifting control device, aerial work platform and lifting control method - Google Patents
Lifting control device, aerial work platform and lifting control method Download PDFInfo
- Publication number
- CN112357854A CN112357854A CN202011406141.5A CN202011406141A CN112357854A CN 112357854 A CN112357854 A CN 112357854A CN 202011406141 A CN202011406141 A CN 202011406141A CN 112357854 A CN112357854 A CN 112357854A
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- lifting
- connecting shaft
- angle
- control device
- movement
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66F—HOISTING, LIFTING, HAULING OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD
- B66F11/00—Lifting devices specially adapted for particular uses not otherwise provided for
- B66F11/04—Lifting devices specially adapted for particular uses not otherwise provided for for movable platforms or cabins, e.g. on vehicles, permitting workmen to place themselves in any desired position for carrying out required operations
- B66F11/042—Lifting devices specially adapted for particular uses not otherwise provided for for movable platforms or cabins, e.g. on vehicles, permitting workmen to place themselves in any desired position for carrying out required operations actuated by lazy-tongs mechanisms or articulated levers
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66F—HOISTING, LIFTING, HAULING OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD
- B66F17/00—Safety devices, e.g. for limiting or indicating lifting force
- B66F17/006—Safety devices, e.g. for limiting or indicating lifting force for working platforms
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- Engineering & Computer Science (AREA)
- Structural Engineering (AREA)
- Life Sciences & Earth Sciences (AREA)
- Geology (AREA)
- Mechanical Engineering (AREA)
- Forklifts And Lifting Vehicles (AREA)
Abstract
The invention discloses a lifting control device, which comprises a lifting mechanism, a connecting shaft, an angle detection assembly and a controller, wherein the lifting mechanism comprises a fork frame and a lifting driving piece, and the lifting driving piece can drive the fork frame to lift or descend; the connecting shaft is arranged at the bottom of the hoisting mechanism, and can rotate when the hoisting mechanism is hoisted or descended; the angle detection assembly is arranged at the end part of the connecting shaft and can detect the rotating angle of the connecting shaft; the controller is used for receiving an angle corresponding signal detected by the angle detection assembly, controlling the lifting driving piece to drive the fork shearing frame to move correspondingly according to the angle corresponding signal, reasonably dividing the whole movement process of the lifting mechanism into three sections of preset angle areas, corresponding to three different movement states of the lifting mechanism respectively, and automatically controlling and planning the movement speed of the lifting mechanism, so that the movement speed of the lifting mechanism reaches the most comfortable and safe state, and potential safety hazards which may be generated are eliminated.
Description
Technical Field
The invention relates to the technical field of aerial work equipment, in particular to a lifting control device, an aerial work platform and a lifting control method.
Background
At present, the self-propelled aerial work platform is mainly applied to the building industry, warehouse, venue maintenance and the like, and mainly comprises a chassis, a scissor fork, a work platform, a hydraulic system, an electrical system and the like.
When the existing self-propelled aerial work platform works, an operator stands on the work platform to lift and walk, the lifting speed of the aerial work platform is controlled by one set of independent system, the lifting speed can only be controlled by the experience or the intention of the operator, when the aerial work platform is lifted to a certain height, the lifting speed is controlled by the control system and the structure, the potential safety hazard exists due to the fact that the lifting speed is too high due to insufficient experience, and the lifting speed needs to be controlled by the control system and the structure.
Disclosure of Invention
The invention aims to provide a lifting control device, an aerial work platform and a lifting control method, and aims to solve the technical problem that potential safety hazards are caused due to the fact that an operator randomly controls the lifting speed of a working platform according to experience or will in the prior art.
In order to achieve the above object, according to a first aspect of the present invention, there is provided a lifting control apparatus, including:
the lifting mechanism comprises a fork frame and a lifting driving piece, the lifting driving piece is arranged on the fork frame, and the lifting driving piece can drive the fork frame to lift or descend;
the connecting shaft is arranged at the bottom of the hoisting mechanism, and can rotate when the hoisting mechanism is hoisted or descended;
the angle detection assembly is arranged at the end part of the connecting shaft and can detect the rotating angle of the connecting shaft; and
and the controller is used for receiving the angle corresponding signal detected by the angle detection assembly and controlling the lifting driving piece to drive the fork shearing frame to move correspondingly according to the angle corresponding signal.
As one of preferable solutions, the angle detecting unit includes:
the connecting shaft block is arranged at the end part of the connecting shaft;
the fixing plate is positioned on the outer side of the connecting shaft block; and
the angle sensor is arranged on the fixing plate and connected with the connecting shaft block.
As one preferable scheme, a half-moon-shaped groove is formed in the outer side of the coupling block, a half-moon-shaped shaft is arranged on the inner side of the angle sensor, and the angle sensor and the coupling block are connected through the half-moon-shaped shaft inserted in the half-moon-shaped groove.
Preferably, the fixing plate is provided with a through hole for the semicircular shaft to pass through.
As one of the preferable schemes, the lifting control device further comprises a limiting assembly, the limiting assembly is located at the bottom of the lifting mechanism, and the limiting assembly can be triggered in the rotating process of the connecting shaft.
As one of the preferred schemes, the limiting component comprises:
the limit switch is positioned at the bottom of the hoisting mechanism;
the protruding portion is arranged on the outer circumferential surface of the connecting shaft, and the protruding portion can trigger the limit switch along with the rotating process of the connecting shaft.
As one preferable scheme, the lifting control device further comprises:
the protection seat is located the bottom of hoisting mechanism, just, limit switch set up in the protection seat, the top of protection seat is provided with the breach to dodge the protruding portion passes.
In a second aspect, the present invention provides an aerial work platform, including:
a base;
in the lifting control device according to any one of the above technical solutions, the lifting control device is disposed on the base;
and the working platform is arranged at the top of the lifting control device.
As one of the preferable schemes, the aerial work platform further comprises:
the safety cover, the safety cover set up in on the base, just, the safety cover is used for the protection angle sensor.
In a third aspect, the present invention provides a lifting control method, including the following steps:
acquiring an angle corresponding signal;
controlling the executing element to perform corresponding movement according to a preset angle area to which the angle corresponding signal belongs, wherein in the process of lifting or descending the executing element, the movement state corresponding to the preset angle area sequentially comprises an accelerated movement area, a uniform movement area and a decelerated movement area;
and in the lifting or descending process of the executing element, if the limit switch is triggered, the executing element is controlled to stop moving.
To sum up, the technical scheme of the lifting control device, the aerial work platform and the lifting control method at least has the following beneficial effects or advantages: the invention rotates along with the hoisting mechanism in the process of lifting or descending through the connecting shaft, detects the rotating angle of the connecting shaft through the angle detection assembly arranged at the end part of the connecting shaft, converts different angles into corresponding angle corresponding signals, then sends the angle corresponding signals to the controller, and controls the hoisting mechanism to move correspondingly according to the preset angle area to which the angle corresponding signals belong by the controller, wherein in the process of lifting or descending the hoisting mechanism, the controller controls the hoisting mechanism to sequentially carry out accelerated motion, uniform motion and decelerated motion, automatically controls and plans the motion speed of the hoisting mechanism, effectively solves the technical problem that potential safety hazards occur due to the fact that the lifting speed is too high because an operator randomly controls the lifting speed of a working platform according to experience or will in the prior art, and further realizes the reasonable division of the whole motion process of the hoisting mechanism into three sections of preset angle areas, the movement speed of the hoisting mechanism is automatically controlled and planned corresponding to three different movement states of the hoisting mechanism respectively, so that the movement speed of the hoisting mechanism reaches the most comfortable and safe state, and potential safety hazards which may be generated are eliminated.
In order to make the present invention and other objects, advantages, features and functions more comprehensible, preferred embodiments accompanied with figures are described in detail below.
Drawings
In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings needed to be used in the description of the embodiments will be briefly introduced below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art to obtain other drawings based on these drawings without creative efforts.
Fig. 1 is a schematic structural diagram of a lifting control device provided in an embodiment of the present invention;
FIG. 2 is an enlarged view of a portion of FIG. 1 at A in accordance with an embodiment of the present invention;
fig. 3 is a schematic partial structural view of a lifting control device according to an embodiment of the present invention;
fig. 4 is a schematic view of an angle division region state of a lifting control device provided in an embodiment of the present invention;
FIG. 5 is a block diagram illustrating a method for controlling lifting according to an embodiment of the present invention;
fig. 6 is a flowchart of a hoisting control method according to an embodiment of the present invention.
Description of reference numerals: 10. a working platform; 20. a hoisting mechanism; 21. a fork shearing frame; 22. a lifting drive member; 30. a base; 40. a connecting shaft; 50. an angle detection assembly; 51. an angle sensor; 52. a semi-circular shaft; 53. perforating; 54. a fixing plate; 55. a half-moon shaped groove; 56. a coupling block; 60. a limiting component; 61. a protective seat; 62. a limit switch; 63. a protrusion; 64. a notch; 70. a protective cover.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
Referring to fig. 1 to 4 together, an aerial work platform according to an embodiment of the present invention includes a base 30, a lifting control device and a work platform 10, wherein the lifting control device is disposed on the base 30, the work platform 10 is connected to a top of the lifting control device through a hinge, the lifting control device is configured to drive the work platform 10 to lift or descend, fences are disposed around the work platform 10 to prevent an operator from falling and falling on the work platform 10, and four traveling wheels arranged in a matrix are disposed under the base 30 to allow the aerial work platform to travel on the ground.
In one embodiment, the lifting control device comprises a lifting mechanism 20, a connecting shaft 40, an angle detection assembly 50 and a controller, wherein the lifting mechanism 20 comprises a fork frame 21 and a lifting driving member 22, the lifting driving member 22 is arranged on the fork frame 21, and the lifting driving member 22 can drive the fork frame 21 to lift or descend; the connecting shaft 40 is arranged at the bottom of the hoisting mechanism 20, and the connecting shaft 40 can rotate when the hoisting mechanism 20 is hoisted or descended; the angle detection assembly 50 is arranged at the end of the connecting shaft 40, and the angle detection assembly 50 can detect the rotating angle of the connecting shaft 40; the controller is used for receiving the angle corresponding signal detected by the angle detection assembly 50 and controlling the lifting driving member 22 to drive the fork frame 21 to move correspondingly according to the angle corresponding signal.
Wherein, the embodiment of the invention rotates along with the hoisting mechanism 20 through the connecting shaft 40 in the process of hoisting or descending, detects the rotating angle of the connecting shaft 40 through the angle detection assembly 50 arranged at the end part of the connecting shaft 40, converts different angles into corresponding angle corresponding signals, then sends the angle corresponding signals to the controller, and the controller controls the hoisting mechanism 20 to perform corresponding movement according to the preset angle area to which the angle corresponding signals belong, wherein, in the process of hoisting or descending the hoisting mechanism 20, the controller controls the hoisting mechanism 20 to perform acceleration movement, uniform movement and deceleration movement in sequence, automatically controls and plans the movement speed of the hoisting mechanism 20, thereby effectively solving the technical problem that the potential safety hazard is caused by the fact that an operator randomly controls the hoisting speed of the working platform 10 according to experience or will in the prior art, the whole movement process of the hoisting mechanism 20 is reasonably divided into three sections of preset angle areas, the movement speed of the hoisting mechanism 20 is automatically controlled and planned corresponding to three different movement states of the hoisting mechanism 20, the movement speed of the hoisting mechanism 20 is enabled to reach the most comfortable and safe state, and potential safety hazards which may be generated are eliminated.
Specifically, the angle detection assembly 50 includes a coupling block 56, a fixing plate 54, and an angle sensor 51, wherein the coupling block 56 is provided at an end of the connecting shaft 40; the fixing plate 54 is located outside the coupling block 56; the angle sensor 51 is arranged on the fixing plate 54, the angle sensor 51 is connected with the connecting shaft block 56, the connecting shaft 40 is rotatably mounted on the base 30, the connecting shaft 40 rotates along with the fork shearing frame 21 of the hoisting mechanism 20 in the hoisting or descending process, the angle sensor 51 can measure the rotating angle of the connecting shaft and convert the rotating angle into a corresponding analog electric signal to be sent to the controller, the controller receives the analog electric signal corresponding to the rotating angle and controls the movement of an executing element according to different analog electric signals, and the executing element comprises the hoisting mechanism 20 and the working platform 10.
Referring to fig. 4, as the lifting mechanism 20 is lifted, the lower scissors arm of the scissors bracket 21 rotates around the axis of the connecting shaft 40 to pass through position A, B, C, D in sequence, where position a is a closing position of the scissors of the lifting mechanism 20, i.e. a lifting initial position, B, C is a certain position during lifting, D is a lifting stopping position of the lifting mechanism 20, a is an initial position, AB is an accelerating movement region, BC is a uniform movement region, and CD is a decelerating movement region, and during the lifting mechanism 20 is lowered, D is an initial point, CD is an accelerating movement region, BC is a uniform movement region, AB is a decelerating movement region, and finally the lifting mechanism 20 falls to position a. The position A, B, C, D can be calibrated by software to make the lifting or descending speed reach the most comfortable and safe area, and can also realize the subdivision of the angle state area by angle according to the actual requirement so as to correspond to three different motion states of the lifting mechanism 20.
Further, a half-moon-shaped groove 55 is formed in the outer side of the connecting shaft block 56, a half-moon-shaped shaft 52 is arranged on the inner side of the angle sensor 51, the angle sensor 51 and the connecting shaft block 56 are connected through the half-moon-shaped shaft 52 inserted in the half-moon-shaped groove 55, the half-moon-shaped groove 55 plays a role in positioning the half-moon-shaped shaft 52 in the circumferential direction, and in the process that the connecting shaft block 56 rotates along with the connecting shaft 40, the phenomenon that the relative rotation between the half-moon-shaped shaft 52 and the half-moon-shaped groove 55 causes the rotation angle of the connecting shaft 40 measured by the angle sensor 51 to be inaccurate is.
Wherein, the fixing plate 54 is provided with a through hole 53 for the semi-circular shaft 52 to pass through, the semi-lunar groove 55, the through hole 53 and the semi-circular shaft 52 are correspondingly arranged, and the semi-circular shaft 52 passes through the through hole 53 and is inserted in the semi-lunar groove 55.
In one embodiment, the lifting control device further includes a limiting assembly 60, the limiting assembly 60 is located at the bottom of the lifting mechanism 20, and the limiting assembly 60 can be triggered during the rotation of the connecting shaft 40.
Specifically, the limit assembly 60 includes a limit switch 62 and a tab 63, wherein the limit switch 62 is located at the bottom of the hoist mechanism 20; the protrusion 63 is disposed on the outer circumferential surface of the connecting shaft 40, and the protrusion 63 may trigger the limit switch 62 during rotation with the connecting shaft 40.
Further, the lifting control device further comprises a protection seat 61, the protection seat 61 is located at the bottom of the lifting mechanism 20, the limit switch 62 is arranged in the protection seat 61, a gap 64 is formed in the top of the protection seat 61 to prevent the protrusion 63 from passing through, in the process that the protrusion 63 rotates along with the connecting shaft 40, the protrusion 63 passes through the gap 64 of the protection seat 61 and triggers the limit switch 62, the limit switch 62 sends the trigger signal to the controller, and the controller controls the execution element to stop moving.
In one embodiment, the aerial work platform further includes a protection cover 70, the protection cover 70 is disposed on the base 30, and the protection cover 70 is used for protecting the angle sensor 51 from being damaged or collided.
Referring to fig. 4, as the lifting mechanism 20 is lifted, the lower fork arm of the fork frame 21 rotates around the axis of the connecting shaft 40 from the position a, and the connecting shaft 40 and the connecting shaft block 56 rotate together with the lower fork arm and drive the semicircular shaft 52 of the angle sensor 51 to rotate, the angle sensor 51 detects the rotation angle, then converts different rotation angles into corresponding analog electrical signals and transmits the analog electrical signals to the controller, the controller controls the lifting mechanism 20 and the working platform 10 to perform corresponding movements according to a predetermined angle region to which the analog electrical signals corresponding to the angle belong, during the lifting process of the lifting mechanism 20, the lower fork arm of the fork frame 21 starts to rotate from the position a to lift, at this time, the lifting speed is accelerated, the lifting movement speed of the working platform 10 is accelerated, when the lower fork arm moves to the position B, the movement speed of the working platform 10 reaches the maximum, at this time, the lifting mechanism 20 drives the working platform 10 to move upward at a constant speed in the BC state region, when the lower inner scissor arm reaches the position C, the lifting mechanism 20 starts to drive the working platform 10 to move at a reduced speed, and when the lower inner scissor arm moves to the position D, the working platform 10 stops moving. In the lifting process, the controller continuously receives the angle corresponding signal of the angle sensor 51 and controls the actuator to perform corresponding movement, so that the working platform 10 achieves corresponding lifting speed, the limit switch 62 is triggered by the lower protruding part 63 at any position, and the controller controls the lifting mechanism 20 and the working platform 10 to stop moving.
Referring to fig. 4, as the lifting mechanism 20 descends, the lower scissor arm of the scissor rack 21 starts to rotate and descend from the position D, at this time, the descending speed is accelerated, the lifting mechanism 20 drives the working platform 10 to move faster, when the lower scissor arm moves to the position C, the working platform 10 reaches the maximum moving speed, at this time, the lower scissor arm continues to descend, in the BC state region, the lifting mechanism 20 drives the working platform 10 to perform uniform descending movement, when the lower inner scissor arm moves to the position B, the working platform 10 starts to perform deceleration movement, and when the lower inner scissor arm moves to the position a, the working platform 10 stops moving. In the descending process, the controller continuously receives an angle corresponding signal of the angle sensor 51 and controls the executing element to perform corresponding movement, so that the working platform 10 achieves corresponding descending speed, the protruding part 63 triggers the limit switch 62 at any position, the controller can control the lifting mechanism 20 and the working platform 10 to stop moving, the limit switch 62 can achieve double protection on the lifting mechanism 20, and therefore safe operation of the aerial work platform is achieved, and therefore the position D point is arranged at a position where the protruding part 63 just triggers the limit switch 62 or a position which is smaller than the rotating angle of the position.
In addition, referring to fig. 5 to 6, a lifting control method according to an embodiment of the present invention includes the following steps:
s10, acquiring an angle corresponding signal;
s20, controlling the executing element to perform corresponding movement according to a preset angle area to which the angle corresponding signal belongs, wherein in the lifting or descending process of the executing element, the movement state corresponding to the preset angle area sequentially comprises an accelerated movement area, a uniform movement area and a decelerated movement area;
and S30, in the lifting or descending process of the executing element, if the limit switch is triggered, the executing element is controlled to stop moving.
In the present invention, for a clearer description, the following explanation is made: the terms "longitudinal," "lateral," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," and the like, as used herein, are defined as orientations or positional relationships relative to one another as shown in the drawings, which are meant only to facilitate the description of the invention and to simplify the description, and are not meant to indicate or imply that the referenced device or element must have a particular orientation, be constructed and operated in a particular orientation, and are therefore not to be construed as limiting the present invention.
It is also noted that, unless expressly stated or limited otherwise, the terms "mounted," "connected," "secured," "disposed," and the like are intended to be inclusive and mean, for example, that they may be fixedly connected, detachably connected, or integrally formed; can be mechanically or electrically connected; either directly or indirectly through intervening media, either internally or in any other relationship. The specific meanings of the above terms in the present invention can be understood by those skilled in the art according to specific situations.
While the foregoing is directed to the preferred embodiment of the present invention, it will be understood by those skilled in the art that various changes and modifications may be made without departing from the spirit and scope of the invention.
Claims (10)
1. A lifting control device, comprising:
the lifting mechanism comprises a fork frame and a lifting driving piece, the lifting driving piece is arranged on the fork frame, and the lifting driving piece can drive the fork frame to lift or descend;
the connecting shaft is arranged at the bottom of the hoisting mechanism, and can rotate when the hoisting mechanism is hoisted or descended;
the angle detection assembly is arranged at the end part of the connecting shaft and can detect the rotating angle of the connecting shaft; and
and the controller is used for receiving the angle corresponding signal detected by the angle detection assembly and controlling the lifting driving piece to drive the fork shearing frame to move correspondingly according to the angle corresponding signal.
2. A lift control apparatus as claimed in claim 1, wherein the angle sensing assembly comprises:
the connecting shaft block is arranged at the end part of the connecting shaft;
the fixing plate is positioned on the outer side of the connecting shaft block; and
the angle sensor is arranged on the fixing plate and connected with the connecting shaft block.
3. The lifting control device as claimed in claim 2, wherein a half-moon-shaped groove is formed in an outer side of the coupling block, a half-moon-shaped shaft is formed in an inner side of the angle sensor, and the angle sensor and the coupling block are connected by inserting the half-moon-shaped shaft into the half-moon-shaped groove.
4. A lift control apparatus as claimed in claim 3, wherein the mounting plate is provided with apertures through which the semi-circular shaft passes.
5. The lifting control device as claimed in any one of claims 1 to 4, further comprising a limiting assembly located at the bottom of the lifting mechanism, wherein the limiting assembly is triggered during rotation of the connecting shaft.
6. A lift control apparatus as claimed in claim 5, wherein the restraint assembly comprises:
the limit switch is positioned at the bottom of the hoisting mechanism;
the protruding portion is arranged on the outer circumferential surface of the connecting shaft, and the protruding portion can trigger the limit switch along with the rotating process of the connecting shaft.
7. A lift control apparatus as claimed in claim 6, further comprising:
the protection seat is located the bottom of hoisting mechanism, just, limit switch set up in the protection seat, the top of protection seat is provided with the breach to dodge the protruding portion passes.
8. An aerial work platform, comprising:
a base;
a lift control as claimed in any one of claims 1 to 7, provided on the base;
and the working platform is arranged at the top of the lifting control device.
9. An aerial work platform as claimed in claim 8 further comprising:
the safety cover, the safety cover set up in on the base, just, the safety cover is used for the protection angle sensor.
10. A lifting control method is characterized by comprising the following steps:
acquiring an angle corresponding signal;
controlling the executing element to perform corresponding movement according to a preset angle area to which the angle corresponding signal belongs, wherein in the process of lifting or descending the executing element, the movement state corresponding to the preset angle area sequentially comprises an accelerated movement area, a uniform movement area and a decelerated movement area;
and in the lifting or descending process of the executing element, if the limit switch is triggered, the executing element is controlled to stop moving.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011406141.5A CN112357854A (en) | 2020-12-02 | 2020-12-02 | Lifting control device, aerial work platform and lifting control method |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011406141.5A CN112357854A (en) | 2020-12-02 | 2020-12-02 | Lifting control device, aerial work platform and lifting control method |
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| CN112357854A true CN112357854A (en) | 2021-02-12 |
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| CN202011406141.5A Pending CN112357854A (en) | 2020-12-02 | 2020-12-02 | Lifting control device, aerial work platform and lifting control method |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113135530A (en) * | 2021-05-11 | 2021-07-20 | 温岭市绿能机电有限公司 | High protection nature lift platform |
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Application publication date: 20210212 |
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| RJ01 | Rejection of invention patent application after publication |