CN113233394B - Scissor-fork type aerial work platform control method and system - Google Patents
Scissor-fork type aerial work platform control method and system Download PDFInfo
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- CN113233394B CN113233394B CN202110611737.7A CN202110611737A CN113233394B CN 113233394 B CN113233394 B CN 113233394B CN 202110611737 A CN202110611737 A CN 202110611737A CN 113233394 B CN113233394 B CN 113233394B
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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
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06F—ELECTRIC DIGITAL DATA PROCESSING
- G06F30/00—Computer-aided design [CAD]
- G06F30/10—Geometric CAD
- G06F30/17—Mechanical parametric or variational design
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06F—ELECTRIC DIGITAL DATA PROCESSING
- G06F30/00—Computer-aided design [CAD]
- G06F30/20—Design optimisation, verification or simulation
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02K—DYNAMO-ELECTRIC MACHINES
- H02K7/00—Arrangements for handling mechanical energy structurally associated with dynamo-electric machines, e.g. structural association with mechanical driving motors or auxiliary dynamo-electric machines
- H02K7/06—Means for converting reciprocating motion into rotary motion or vice versa
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P23/00—Arrangements or methods for the control of AC motors characterised by a control method other than vector control
- H02P23/14—Estimation or adaptation of motor parameters, e.g. rotor time constant, flux, speed, current or voltage
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P25/00—Arrangements or methods for the control of AC motors characterised by the kind of AC motor or by structural details
- H02P25/02—Arrangements or methods for the control of AC motors characterised by the kind of AC motor or by structural details characterised by the kind of motor
- H02P25/032—Reciprocating, oscillating or vibrating motors
Abstract
The invention relates to a scissor-type aerial work platform control method and a scissor-type aerial work platform control system. When the opening degree of the handle is fixed, the operation platform can move up and down at a stable target speed, wherein the operation platform is obtained by a fuzzy control algorithm without being obtained by real-time analysis through a nonlinear kinematics formula, so that the operation efficiency of the controller is effectively improved, the control method can ensure that the operation platform runs at the stable target speed in the lifting process, and the accurate and stable control of the speed is achieved.
Description
Technical Field
The invention relates to the field of aerial work equipment, in particular to a scissor-type aerial work platform control method and a scissor-type aerial work platform control system.
Background
The scissor-type aerial work platform is mainly used for aerial work and widely applied to modern production life, and the whole system mainly comprises a lifting system, a walking system, a steering system and a power source system. The staff utilizes the two-way motion of the handle on the operator to control the flexible of linear actuator, and then drives and cuts the fork mechanism and realize the lifting or descending control to work platform, and the aperture of accessible handle usually controls the flexible speed of linear actuator, realizes the speed governing control to work platform. However, the extension and retraction speed of the linear actuator is in a nonlinear relationship with the operating speed of the work platform, and the kinematic formula between the linear actuator and the work platform comprises a trigonometric function of the angle of the scissor arm. When the opening degree of the handle is fixed, if the operation platform is ensured to operate at a stable target speed, the linear speed of the linear actuating mechanism needs to be calculated quickly by the controller in real time, and the linear actuating mechanism needs to respond to the speed requirement quickly to carry out real-time closed-loop control on the speed of the operation platform.
The current power source system is an electro-hydraulic driving system, and the actuating part of the lifting system is a hydraulic cylinder. The speed of the hydraulic cylinder is controlled by adjusting the hydraulic flow or the opening of the valve port, and the response adjustment speed of the hydraulic system is low, so that the hydraulic cylinder is difficult to achieve the quick response to the target speed even if the controller can calculate the flow value or the opening of the valve port in real time, and the accurate speed regulation of the operation platform is difficult to achieve.
In the electromotion of the scissor-fork type aerial work platform, an electric linear motion executive component such as an electric push rod replaces a hydraulic cylinder, and in the control of the electric linear motion executive component, the linear motion speed of the electric push rod is linearly controlled by controlling the rotating speed of a driving motor, so that a scissor-fork mechanism is driven to realize the lifting or descending control of the work platform. Because the response speed of the electric push rod is high, the stable control of the operation platform can be realized by adjusting the rotating speed of the motor in real time. However, in the lifting/lowering control, if the operation platform is guaranteed to move at a constant speed, the target rotation speed of the motor can be obtained in real time only by analyzing the nonlinear kinematic formulas of the rotation speed of the motor, the stretching speed of the electric push rod and the moving speed of the operation platform in real time, and the operation efficiency is low.
Chinese patent CN107522149A discloses an electric control speed regulation system for pure electric aerial work platform, which can realize fine speed control for the control of the handle and switch of the potentiometer regardless of the position feedback sensor of the actuator during the starting, running and stopping processes of the actuator, reduce the impact, ensure the matching of the flow provided by the system under various working conditions and the flow required by the actuator, reduce the overflow loss of the system, improve the automation control level and system efficiency of the system, make the control accuracy of the system higher, have higher reliability, and ensure the safety of the operator. Chinese patent CN110642199A discloses a system and method for controlling an aerial work platform, the system includes an aerial work platform and a detection module, the aerial work platform includes a chassis, a work platform, a telescopic assembly and a control module, the telescopic assembly is mounted on the chassis, the work platform is mounted on the telescopic assembly, the telescopic assembly and the detection module are both electrically connected with the control module, the detection module is used for acquiring detection data and transmitting the detection data to the control module, and the control module is used for controlling the telescopic assembly according to the detection data to limit the maximum lifting height of the aerial work platform. The aerial work platform control system and the aerial work platform control method can effectively exert the resource allocation of the aerial work platform, make corresponding adjustment according to field conditions, limit the working height within a safe height range, eliminate potential safety hazards, and guarantee the safety of operators and the aerial work platform.
Disclosure of Invention
Aiming at the defects in the prior art, the invention provides a scissor-type aerial work platform control method and a scissor-type aerial work platform control system, when the opening degree of a handle is fixed, the work platform can lift and move at a stable target speed, wherein the work platform is obtained by a fuzzy control algorithm without real-time analysis and acquisition through a nonlinear kinematics formula, the operation efficiency of a controller is effectively improved, the control method can ensure that the work platform runs at the stable target speed in the lifting process, and the accurate and stable control of the speed is achieved.
On one hand, the invention provides a scissor type aerial work platform control method, which comprises the following steps:
step S1, performing kinematic calculation or model simulation on the scissor mechanism to obtain a data change curve f corresponding to the angle value theta of the scissor arm and the rotating speed value n of the driving motor in the lifting/descending process when the operation platform runs at a constant preset maximum speed Vmax;
step S2, acquiring an opening value K of the handle and an angle value theta of the scissor arm in real time in the lifting/descending process of the working platform, wherein K is defined as K ∈ [ -1,1], the opening value K is obtained by linear proportional conversion according to the physical position of the handle, when the handle is in a middle position, the working platform does not move, and K = 0; when the handle moves towards a designated direction, the operation platform descends, and k is a negative value; when the handle moves towards the other specified direction, the operation platform is lifted, and k is a positive value; theta is an acute angle included angle between the scissor arm and the horizontal direction;
step S3, presetting a maximum angle threshold value theta 1 and a minimum angle threshold value theta 2 of the scissor arm; in the lifting process of the operation platform, judging whether the angle value theta of the current scissor arm is larger than a maximum angle threshold value theta 1 or not, and if so, stopping lifting; if not, performing step S4 and step S5; in the descending process of the operation platform, judging whether the angle value theta of the current scissor arm is smaller than a minimum angle threshold value theta 2 or not, and if so, stopping descending; if not, performing step S4 and step S5;
step S4, acquiring a corresponding rotating speed value N of the driving motor from a curve f according to the angle value theta of the current scissor arm, acquiring a basic value N1 of a target rotating speed of the driving motor through a formula N1= k × N according to the opening value k of the current handle, acquiring an additional value N2 of the target rotating speed of the driving motor through a fuzzy control algorithm according to the difference value of the actual speed and the target speed of the current operation platform, and acquiring a rotating speed target value N = N1+ N2 of the driving motor;
in step S5, the rotational speed of the drive motor is adjusted to N.
Alternatively, the method of obtaining the additional value n2 of the target rotation speed of the drive motor in step S4 is as follows: the plateau height H is obtained according to the formula H = m × L sin θ + H0, wherein: m is the number of layers of the scissor mechanism, L is the length of the scissor arm, and H0 is the height offset of the operation platform; carrying out discrete differentiation on the platform distance height H to obtain the current actual speed v1 of the working platform; obtaining a target speed v2 of the work platform according to a formula v2= k × Vmax; the input variable of the fuzzy control algorithm is the difference value e between v1 and v2 and the change rate e' of the difference value, and the output variable is the additional value n 2.
On the other hand, the invention also provides a scissor type aerial work platform control system for realizing the control method, the system comprises an angle sensor, an operator, a controller and an electric push rod assembly, the angle sensor is used for detecting the angle value theta, the operator is provided with a handle used for controlling the work platform to lift or descend, the electric push rod assembly comprises a driving motor and a driving lead screw, the controller is used for controlling the rotating speed and the direction of the driving motor, the angle sensor and the operator are respectively connected to the controller, and the controller is connected to the control input end of the driving motor.
Optionally, the angle sensor is installed on a scissor fork mechanism, the scissor fork mechanism includes m layers of scissor fork units arranged in a stacked manner, and the scissor fork unit includes a scissor fork arm capable of being turned over.
Optionally, the angle sensor is mounted on any of the scissor arms.
Compared with the prior art, the technical scheme of the invention has the following beneficial effects: according to the technical scheme, firstly, a curve f corresponding to the angle of the scissor arm and the change of the rotating speed of the driving motor is obtained through kinematic calculation or model simulation, in the lifting process of an operation platform, a basic value of the rotating speed of the driving motor is obtained through the data curve f according to the actually detected angle value and handle opening degree value of the scissor arm, and the additional value of the rotating speed of the driving motor is obtained through a fuzzy control algorithm, so that the target rotating speed value of the driving motor is output in real time; according to the technical scheme, when the opening of the handle is fixed, the operation platform can be ensured to operate at a stable target speed in the whole lifting process, the speed is accurately and stably controlled, and in the process, the non-linear kinematic formula in the traditional technology is not needed to be analyzed in real time, so that the operation efficiency of the controller can be greatly improved, and the working performance of the whole machine is further improved.
Drawings
FIG. 1 is a schematic structural view of a scissor-type aerial work platform of the present invention;
FIG. 2 is a control flow chart (lifting process) of the scissor-type aerial work platform of the present invention;
FIG. 3 is a schematic view of a scissor aerial work platform control system of the present invention;
fig. 4 is a schematic structural diagram of an electric push rod assembly in the scissor-type aerial work platform control system of the invention.
In the drawings: 1-an operation platform, 2-a scissor mechanism, 3-an electric push rod assembly and 4-a chassis;
31-drive motor, 32-drive lead screw.
Detailed Description
Exemplary embodiments of the present invention are described below with reference to the accompanying drawings, in which various details of embodiments of the invention are included to assist understanding, and which are to be considered as merely exemplary. Accordingly, those of ordinary skill in the art will recognize that various changes and modifications of the embodiments described herein can be made without departing from the scope and spirit of the invention. Also, descriptions of well-known functions and constructions are omitted in the following description for clarity and conciseness.
Example 1: in the technical scheme of the invention, as shown in the attached figure 2, the control method of the scissor-type aerial work platform comprises the following steps:
step S1, performing kinematic calculation or model simulation on the scissor mechanism 2 to obtain a data change curve f corresponding to the angle value theta of the scissor arm and the rotating speed value n of the driving motor 31 in the lifting/descending process when the operation platform 1 runs at a constant preset maximum speed Vmax;
the curve f in step S1 can be obtained by a method of kinematics calculation or model simulation in the prior art:
a kinematic calculation method: a rectangular coordinate system is established at a certain point of the scissor mechanism 2, a geometric relation of a scissor structure is utilized, an angle value theta is taken as an independent variable, coordinate expressions of all points of the mechanism are listed, formula derivation is carried out, and the relation between the extension speed of the lifting electric push rod and the lifting speed v of the platform is obtained. And further according to the proportional relation between the driving motor 31 and the extension speed of the push rod, a relational expression between the rotating speed n of the driving motor 31 and the lifting speed v of the platform is finally obtained. When the lifting speed of the platform is a constant value, a variation curve f of n and the angle theta can be obtained.
The model simulation method comprises the following steps: the physical structure and the transmission system of the scissors mechanism 2 are physically modeled by using modeling simulation software such as Amesim, Proe and the like, the platform is controlled to operate at a constant speed v by performing kinematic simulation on the physical model, and a variation curve f of the operating rotating speed n and the angle value theta of the driving motor 31 can be obtained from a simulation result.
Step S2, acquiring an opening value K of the handle and an angle value theta of the scissor arm in real time in the lifting/descending process of the working platform 1, wherein K is defined as K ∈ [ -1,1], the opening value K is obtained by linear proportional conversion according to the physical position of the handle, when the handle is in a middle position, the working platform 1 does not move, and K = 0; when the handle moves towards a designated direction, the operation platform 1 descends, and k is a negative value; when the handle moves towards the other specified direction, the operation platform 1 is lifted, and k is a positive value; theta is an acute angle included angle between the scissor arm and the horizontal direction;
step S3, presetting a maximum angle threshold value theta 1 and a minimum angle threshold value theta 2 of the scissor arm; in the lifting process of the working platform 1, judging whether the angle value theta of the current scissor arm is larger than a maximum angle threshold value theta 1 or not, and if so, stopping lifting; if not, performing step S4 and step S5; in the descending process of the operation platform 1, judging whether the angle value theta of the current scissor arm is smaller than a minimum angle threshold value theta 2 or not, and if so, stopping descending; if not, performing step S4 and step S5;
step S4, obtaining a corresponding rotation speed value N of the driving motor 31 from the curve f according to the angle value θ of the current scissor arm, obtaining a basic value N1 of the target rotation speed of the driving motor 31 according to the opening value k of the current handle by a formula N1= k × N, obtaining an additional value N2 of the target rotation speed of the driving motor 31 by a fuzzy control algorithm according to the difference between the actual speed and the target speed of the current working platform 1, and obtaining a rotation speed target value N = N1+ N2 of the driving motor 31;
in step S5, the rotation speed of the drive motor 31 is adjusted to N.
More specifically, the method of obtaining the additional value n2 of the target rotation speed of the drive motor 31 in step S4 is as follows: the plateau height H is obtained according to the formula H = m × L sin θ + H0, wherein: m is the number of layers of the scissor mechanism 2, L is the length of the scissor arm, theta is the acute angle included angle between the scissor arm and the horizontal direction, H0 is the height offset of the working platform 1, and as shown in figure 1, the value of m is 4; discrete differentiation is carried out on the platform distance height H to obtain the current actual speed v1 of the working platform 1; obtaining a target speed v2 of the work platform 1 according to the formula v2= k × Vmax; the input variable of the fuzzy control algorithm is a difference value e between v1 and v2 and a change rate e' of the difference value, and the output variable is the additional value n2, wherein a fuzzy subset of the difference value e is defined as { -0.2, -0.1,0,0.1,0.2}, and the corresponding linguistic variable is { vs, s, z, b, vb }. The fuzzy subset of the rate of change e' is defined as { -2, -1,0,1,2} and the corresponding linguistic variable is { vs, s, z, b, vb }. The fuzzy subset of the additional speed value n2 is defined as { -100, -50,0,50,100} and the corresponding linguistic variable is { vs, s, z, b, vb }. The established fuzzy control rules are shown in the following table.
The value N2 is obtained, and the target rotation speed value N of the drive motor 31 is obtained according to the above formula N = N1+ N2.
Example 2: the invention provides a control system for implementing the control method, as shown in fig. 3, comprising an angle sensor, an operator, a controller, an electric push rod assembly 3 and a power supply, wherein the work platform 1 is mounted on a chassis 4 through a scissor mechanism 2, the electric push rod assembly 3 is mounted on the scissor mechanism 2, the angle sensor is used for detecting the angle value theta, the operator is provided with a handle for controlling the work platform 1 to lift or lower, the handle has a middle position and two different directions towards two sides, the two different directions towards the two sides respectively represent the work platform 1 to lift and lower, the different opening degrees of the handle represent different moving speeds for controlling the work platform 1, the electric push rod assembly 3 comprises a driving motor 31 and a driving screw 32 (see fig. 4), the controller is used for controlling the rotating speed and the direction of the driving motor 31, the angle sensor reaches the operation ware is connected to respectively the controller, the controller is connected to driving motor 31's control input end, angle sensor installs on cutting fork mechanism 2, cut fork mechanism 2 and cut the fork unit including the m layer of range upon range of setting, including the cutting fork arm that can overturn in cutting the fork unit, can see out from figure 1, at the in-process that operation platform 1 goes up and down to move, arbitrary moment, the acute angle contained angle between each cutting fork arm and the horizontal direction all equals, so when actual implementation, angle sensor can select to install on arbitrary cutting fork arm, and the testing result all is the same, can not influence final computational result.
In the above embodiment, the detection of the opening degree of the handle is generally performed by incorporating a position sensor in a commonly used handle member, and the handle outputs different voltage values when the handle is at different positions, and the voltage values are linearly proportional to the positions, for example, 0.5v is output at the leftmost end, 2.5v is output at the middle position, and 4.5v is output at the rightmost end. The operator is connected with the output voltage end of the handle through an analog voltage sampling port, the physical position of the handle can be calculated by detecting the output voltage of the handle, and the physical position is converted into the opening degree of the handle. In addition to the voltage output, there are handle members (current, numerical value, etc.) that output their position state in other forms.
The other mode is that the handle only has two positions of a middle position and two ends. The operator uses two digital sampling ports to be respectively connected with two ends of the handle, and when the handle is positioned at a certain position at two ends, the corresponding digital sampling port can acquire a high level (or a low level, which is related to actual circuit connection). If neither of the two sampling ports has collected a high level (or a low level), it represents that it is currently in the middle position.
For the design of the handle, the other mode is that the handle only has two positions of a middle position and two ends, namely k =0 is defined respectively, and the working platform 1 does not move; k = -1, the work platform 1 descends; k =1, the work platform 1 is moved upwards, i.e. the operator is raised or lowered by a switching signal, in which case the work platform 1 can only be raised or lowered at maximum speed and cannot be adjusted; the control method for the target rotation speed of the drive motor 31 in this design mode is the same as that described above, and will not be described here again.
Fig. 2 shows a control flow diagram of the lifting process of the work platform 1, and the control flow steps of the lowering process are identical to those of fig. 2, except that: in the descending process, the real-time detected acute angle theta between the scissor arm and the horizontal direction needs to be compared with a minimum angle threshold theta 2, and if theta is smaller than theta 2, the descending is stopped, namely the target rotating speed of the driving motor 31 is 0; if θ is not less than θ 2, performing the steps S4 and S5; the work platform 1 is lowered at a steady speed.
After the controller obtains the target rotation speed value N of the driving motor 31, the rotation speed of the driving motor 31 is directly adjusted to N, so that the rotation speed of the driving motor 31 is controlled in real time, and the work platform 1 can complete the lifting operation at a stable speed.
Compared with the prior art, the scissor-type aerial work platform control method and the scissor-type aerial work platform control system have the advantages that:
according to the embodiment, firstly, a curve f corresponding to the angle of the scissor arm and the change of the rotating speed of the driving motor is obtained through kinematic calculation or model simulation, in the lifting process of the operation platform, a basic value of the rotating speed of the driving motor is obtained through the data curve f according to the actually detected angle value and handle opening degree value of the scissor arm, and the additional value of the rotating speed of the driving motor is obtained through a fuzzy control algorithm, so that the target rotating speed value of the driving motor is output in real time; according to the technical scheme, when the opening of the handle is fixed, the operation platform can be ensured to operate at a stable target speed in the whole lifting process, the speed is accurately and stably controlled, and in the process, the non-linear kinematic formula in the traditional technology is not needed to be analyzed in real time, so that the operation efficiency of the controller can be greatly improved, and the working performance of the whole machine is further improved.
The above detailed description should not be construed as limiting the scope of the invention. Those skilled in the art will appreciate that various modifications, combinations, sub-combinations, and substitutions can occur, depending on design requirements and other factors. Any modification, equivalent replacement, and improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.
Claims (5)
1. A control method of a scissor type aerial work platform is characterized by comprising the following steps:
step S1, performing kinematic calculation or model simulation on the scissor mechanism to obtain a data change curve f corresponding to the angle value theta of the scissor arm and the rotating speed value n of the driving motor in the lifting/descending process when the operation platform runs at a constant preset maximum speed Vmax;
step S2, acquiring an opening value K of the handle and an angle value theta of the scissor arm in real time in the lifting/descending process of the working platform, wherein K is defined as K ∈ [ -1,1], the opening value K is obtained by linear proportional conversion according to the physical position of the handle, when the handle is in a middle position, the working platform does not move, and K = 0; when the handle moves towards a designated direction, the operation platform descends, and k is a negative value; when the handle moves towards the other specified direction, the operation platform is lifted, and k is a positive value; theta is an acute angle included angle between the scissor arm and the horizontal direction;
step S3, presetting a maximum angle threshold value theta 1 and a minimum angle threshold value theta 2 of the scissor arm; in the lifting process of the operation platform, judging whether the angle value theta of the current scissor arm is larger than a maximum angle threshold value theta 1 or not, and if so, stopping lifting; if not, performing step S4 and step S5; in the descending process of the operation platform, judging whether the angle value theta of the current scissor arm is smaller than a minimum angle threshold value theta 2 or not, and if so, stopping descending; if not, performing step S4 and step S5;
step S4, acquiring a corresponding rotating speed value N of the driving motor from a curve f according to the angle value theta of the current scissor arm, acquiring a basic value N1 of a target rotating speed of the driving motor through a formula N1= k × N according to the opening value k of the current handle, acquiring an additional value N2 of the target rotating speed of the driving motor through a fuzzy control algorithm according to the difference value of the actual speed and the target speed of the current operation platform, and acquiring a rotating speed target value N = N1+ N2 of the driving motor;
in step S5, the rotational speed of the drive motor is adjusted to N.
2. The scissor-type aerial work platform control method as claimed in claim 1, wherein the additional value n2 of the target rotation speed of the driving motor in step S4 is obtained as follows: the plateau height H is obtained according to the formula H = m × L sin θ + H0, wherein: m is the number of layers of the scissor mechanism, L is the length of the scissor arm, and H0 is the height offset of the operation platform; carrying out discrete differentiation on the platform distance height H to obtain the current actual speed v1 of the working platform; obtaining a target speed v2 of the work platform according to a formula v2= k × Vmax; the input variable of the fuzzy control algorithm is the difference value e between v1 and v2 and the change rate e' of the difference value, and the output variable is the additional value n 2.
3. A system for realizing the scissor type aerial work platform control method according to any one of claims 1 and 2, wherein the system comprises an angle sensor, an operator, a controller and an electric push rod assembly, the angle sensor is used for detecting the angle value theta, the handle used for controlling the work platform to lift or lower is arranged on the operator, the electric push rod assembly comprises a driving motor and a driving lead screw, the controller is used for controlling the rotating speed and the direction of the driving motor, the angle sensor and the operator are respectively connected to the controller, and the controller is connected to the control input end of the driving motor.
4. The system of claim 3, wherein the angle sensor is mounted on a scissor mechanism comprising m layers of scissor units arranged in a stack, the scissor units including a reversible scissor arm.
5. The system of claim 4, wherein the angle sensor is mounted on any of the scissor arms.
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| CN109399506B (en) * | 2018-10-23 | 2020-10-27 | 芜湖智久机器人有限公司 | Detection system, detection method and processing method for intelligent forklift arm fault |
| CN109516420B (en) * | 2018-12-14 | 2020-08-21 | 中联重科股份有限公司 | Speed control device and control method and aerial work platform |
| CN110577175A (en) * | 2019-09-17 | 2019-12-17 | 北谷电子有限公司上海分公司 | Load detection system, load detection method and scissor-fork type aerial work platform |
| CN111302277B (en) * | 2020-03-18 | 2021-08-10 | 河海大学常州校区 | Scissor-fork type aerial work platform with movable hinge point |
| CN111943099A (en) * | 2020-09-22 | 2020-11-17 | 湖南杰希重工有限公司 | Energy-saving hydraulic system |
| CN112850595A (en) * | 2021-02-08 | 2021-05-28 | 江苏汇智高端工程机械创新中心有限公司 | Full-electric scissor-type aerial work platform |
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