CN114229760B - High-altitude operation vehicle and control method thereof - Google Patents
High-altitude operation vehicle and control method thereof Download PDFInfo
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- CN114229760B CN114229760B CN202210168977.9A CN202210168977A CN114229760B CN 114229760 B CN114229760 B CN 114229760B CN 202210168977 A CN202210168977 A CN 202210168977A CN 114229760 B CN114229760 B CN 114229760B
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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
- B66F11/044—Working platforms suspended from booms
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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
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- Forklifts And Lifting Vehicles (AREA)
Abstract
The invention relates to an aerial working truck and a control method thereof, the aerial working truck comprises a chassis, a ladder frame, support legs, a guide rail and a length calculation device, wherein the chassis comprises tires, the ladder frame is rotatably arranged on the chassis, an included angle alpha is formed between the ladder frame and the horizontal plane when the ladder frame is in a working state, the support legs are telescopically arranged on the chassis, and the aerial working truck is supported by the tires when the support legs are in a first retraction state; when the supporting legs are in the first extending state, the operation vehicle is supported by the supporting legs, the guide rail is telescopically arranged on the ladder frame, and when the guide rail is in the second retracting state, the guide rail is approximately flush with the tail part of the ladder frame; when the guide rail is in the second extending state, the guide rail extends towards the direction far away from the ladder frame relative to the ladder frame, and the length calculating device is configured to calculate the extending amount of the guide rail according to a first distance and an included angle, wherein the first distance is a target distance between one end of the guide rail close to the supporting surface of the support leg and the supporting surface of the support leg when the ladder frame is in the working state, the support leg is in the first extending state, and the guide rail is in the second extending state.
Description
Technical Field
The invention relates to the technical field of engineering machinery, in particular to an aerial working truck and a control method thereof.
Background
At present, aerial ladder fire trucks with the height of meters are all provided with a lifting pulley system, and the high-altitude rescue task from a working platform to the ground can be quickly completed through the lifting pulley. On coaster class aerial ladder fire engine, because the restriction of the height of ladder frame and afterbody length, the coaster motion needs increase ladder frame afterbody length through extending the guide rail to make the coaster move to the position that is close ground, increase the movement distance of coaster low altitude position, rescue the convenience that provides for the coaster.
It is noted that the information disclosed in this background section is only for enhancement of understanding of the general background of the invention and should not be taken as an acknowledgement or any form of suggestion that this information constitutes prior art already known to a person skilled in the art.
Disclosure of Invention
The embodiment of the invention provides an overhead working truck and a control method thereof, which can effectively control the height of a guide rail from the ground and facilitate people to move up and down a pulley on the guide rail.
According to one aspect of the present invention there is provided an aerial work platform comprising:
a chassis including a tire;
the ladder frame is rotatably arranged on the chassis, and when the ladder frame is in a working state, an included angle alpha is formed between the ladder frame and the horizontal plane;
the support legs are telescopically arranged on the chassis and have a first retraction state and a first extension state, and the high-altitude operation vehicle is supported by tires in the first retraction state; in the first extending state, the overhead working truck is supported by the supporting legs;
the guide rail is telescopically arranged on the ladder frame and has a second retraction state and a second extension state, and in the second retraction state, the guide rail is approximately flush with the tail part of the ladder frame; in the second extending state, the guide rail extends relative to the ladder frame in a direction away from the ladder frame; and
and the length calculating device is configured to calculate the extending amount L of the guide rail according to a first distance H1 and the included angle alpha, wherein the first distance H1 is a target distance between one end of the guide rail close to the supporting surface of the support leg and the supporting surface of the support leg when the ladder frame is in the working state, the support leg is in the first extending state and the guide rail is in the second extending state.
In some embodiments, the aerial lift truck further comprises a distance acquisition device configured to acquire a second distance H2 between an end of the rail near the support surface of the leg and the support surface of the leg when the ladder frame is in the working state, the leg is in the first extended state, and the rail is in the second retracted state, and the length calculation device is configured to calculate the extension L of the rail from the first distance H1, the included angle α, and the second distance H2.
In some embodiments, the length calculating device calculates the extension L of the guide rail according to the first distance H1, the included angle α, and the second distance H2 by: l = (H2-H1)/sin α.
In some embodiments, the distance acquisition device comprises a first distance detection device, which is disposed at one end of the guide rail close to the supporting surface of the leg and is used for measuring the size of the second distance H2.
In some embodiments, the distance acquiring device comprises a second distance detecting device, the second distance detecting device is arranged on the chassis and is used for measuring the size of a third distance H3, the third distance H3 is the distance between the second distance detecting device and the supporting surface of the supporting leg, and the distance acquiring device is further configured to calculate the size of the second distance H2 according to the third distance H3.
In some embodiments, the distance obtaining device calculates the magnitude of the second distance H2 according to the third distance H3 by the following calculation formula: h2= H3+ H4-L0 × sin (α - β), wherein the fourth distance H4 is a distance between a hinge point between the chassis and the ladder frame and the second distance detection device, the fifth distance L0 is a distance between the hinge point between the chassis and the ladder frame and the first end point, the first end point is a bottom center of an end surface of the guide rail near the support surface of the leg, and the included angle β is an included angle between a connecting line between the hinge point between the chassis and the ladder frame and the first end point and the length direction of the ladder frame.
In some embodiments, the aerial lift device further comprises an angle measuring device for measuring the magnitude of the included angle α.
According to another aspect of the present invention, there is provided a control method of an aerial work platform, comprising:
providing a chassis, a ladder frame, support legs and guide rails, wherein the chassis comprises tires, the ladder frame is rotatably arranged on the chassis, and an included angle alpha is formed between the ladder frame and the horizontal plane when the ladder frame is in a working state; the support legs are telescopically arranged on the chassis and have a first retraction state and a first extension state, and in the first retraction state, the overhead working truck is supported by tires; in the first extending state, the overhead working truck is supported by the supporting legs; the guide rail is telescopically arranged on the ladder frame and has a second retraction state and a second extension state, and in the second retraction state, the guide rail is approximately flush with the tail part of the ladder frame; in the second extending state, the guide rail extends relative to the ladder frame in a direction away from the ladder frame;
calculating the extension L of the guide rail according to a first distance H1 and the included angle alpha, wherein the first distance H1 is a target distance between one end of the guide rail close to the supporting surface of the supporting leg and the supporting surface of the supporting leg when the ladder frame is in the working state, the supporting leg is in the first extension state and the guide rail is in the second extension state;
and enabling the guide rail to extend relative to the ladder frame according to the calculation result, wherein the extension amount is L.
In some embodiments, the operation of extending the guide rail with respect to the ladder frame according to the calculation result by an amount L includes:
and calculating the extension speed of the guide rail according to the calculated extension L, so that the guide rail extends relative to the ladder frame at the calculated speed, and the extension is L.
In some embodiments, before the operation of calculating the extension L of the guide rail according to the first distance H1 and the included angle α, the control method of the aerial work platform further comprises:
acquiring a second distance H2 between one end of the guide rail close to the supporting surface of the supporting leg and the supporting surface of the supporting leg when the ladder frame is in the working state, the supporting leg is in the first extending state and the guide rail is in the second retracting state;
and the operation of calculating the extension L of the guide rail from the first distance H1 and the included angle α comprises: and calculating the extending amount L of the guide rail according to the first distance H1, the included angle alpha and the second distance H2.
In some embodiments, the projection L of the guide rail is calculated from the first distance H1, the included angle α, and the second distance H2 according to the formula: l = (H2-H1)/sin α.
In some embodiments, obtaining the second distance H2 includes:
the magnitude of the second distance H2 is measured directly.
In some embodiments, obtaining the second distance H2 includes:
providing a second distance detection device arranged on the chassis;
and measuring the third distance H3 by using the second distance detection device, and calculating the second distance H2 according to the third distance H3, wherein the third distance H3 is the distance between the second distance detection device and the supporting surface of the supporting leg.
In some embodiments, the magnitude of the second distance H2 is calculated from the third distance H3 by the formula: h2= H3+ H4-L0 × sin (α - β), where the fourth distance H4 is a distance between a hinge point between the chassis and the ladder frame and the second distance detection device, the fifth distance L0 is a distance between a hinge point between the chassis and the ladder frame and the first end point, the first end point is located on an intersection line between a tail end face of the ladder frame and a side face of the ladder frame for mounting the guide rail, and the included angle β is an included angle between a connecting line between the hinge point between the chassis and the ladder frame and the first end point and the length direction of the ladder frame.
Based on the technical scheme, the length calculating device in the embodiment of the invention can calculate the extension amount L of the guide rail according to the first distance H1 and the included angle alpha, so that the calculated extension amount L of the guide rail is not only related to the rotation angle alpha relative to the chassis when the ladder frame is in a working state, but also related to the target distance H1 between the guide rail and the supporting surface of the supporting leg after the guide rail is extended, the actual distance between the guide rail and the supporting surface of the supporting leg is ensured to be the target distance after the guide rail is extended according to the calculated extension amount L, the difficulty that a person gets on or off a pulley on the guide rail due to the fact that the actual distance between the guide rail and the supporting surface of the supporting leg is too large is avoided, and the getting-on or getting-off efficiency of the person is effectively improved.
Drawings
The accompanying drawings, which are included to provide a further understanding of the invention and are incorporated in and constitute a part of this application, illustrate embodiment(s) of the invention and together with the description serve to explain the invention without limiting the invention.
Fig. 1 is a schematic structural diagram of one embodiment of the aerial work platform of the invention.
Fig. 2 is a partial structural schematic view of one embodiment of the aerial work platform of the invention.
Fig. 3 is a schematic structural diagram of another embodiment of the aerial work platform of the invention.
Fig. 4 is a control flow chart of one embodiment of the aerial cage of the present invention.
In the figure: 1. a chassis; 11. a tire; 12. mounting a platform; 13. a rotating platform; 2. a ladder frame; 3. a support leg; 4. a guide rail; 5. a pulley; 6. an operation platform; 7. a first distance detection device; 8. and a second distance detection means.
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. It is to be understood that the described embodiments are merely a few embodiments of the invention, and not all embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments of the present invention without making any creative effort, shall fall within the protection scope of the present invention.
In the description of the present invention, it is to be understood that the terms "central," "lateral," "longitudinal," "front," "rear," "left," "right," "upper," "lower," "vertical," "horizontal," "top," "bottom," "inner," "outer," and the like are used in the orientation or positional relationship indicated in the drawings for convenience in describing the invention and for simplicity in description, and are not intended 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 considered limiting of the scope of the invention.
Referring to fig. 1, 2 and 3, in some embodiments of the present invention, the aerial work platform comprises a chassis 1, a ladder frame 2, legs 3, a guide rail 4 and a length calculating device, wherein the chassis 1 comprises tires 11, the ladder frame 2 is rotatably mounted on the chassis 1, the ladder frame 2 has an included angle α with the horizontal when the ladder frame 2 is in a working state, the legs 3 are telescopically arranged on the chassis 1, and the legs 3 have a first retracted state and a first extended state, and in the first retracted state, the aerial work platform is supported by the tires 11; in the first extending state, the overhead working truck is supported by the supporting legs 3, the guide rail 4 is telescopically arranged on the ladder frame 2, the guide rail 4 has a second retracting state and a second extending state, and in the second retracting state, the guide rail 4 is approximately flush with the tail part of the ladder frame 2; in the second projecting state, the guide rail 4 projects with respect to the ladder frame 2 in a direction away from the ladder frame 2, and the length calculating means is configured to calculate the projecting amount L of the guide rail 4 based on a first distance H1 and the included angle α, the first distance H1 being a target distance between an end of the guide rail 4 close to the support surface of the leg 3 and the support surface of the leg 3 when the ladder frame 2 is in the operating state, the leg 3 is in the first projecting state, and the guide rail 4 is in the second projecting state.
As shown in fig. 1 and 3, the aerial platform further comprises a trolley 5 and a working platform 6, and the chassis 1 comprises tires 11, a mounting platform 12 and a rotating platform 13. The high-altitude operation vehicle has a transportation state and a working state, when in the transportation state, the supporting legs 3 enter a first retraction state, the tires 11 land, the high-altitude operation vehicle is supported on the ground through the tires 11, an included angle between the ladder frame 2 and the chassis 1 is 0, and the ladder frame 2 is horizontally placed on the chassis 1; in the working state, the support legs 3 enter a first extending state, after the support legs 3 extend, the tires 11 lift off the ground, the aerial work platform is supported on the ground through the support legs 3, and the ladder frame 2 and the horizontal plane have an included angle α, that is, relative to the transportation state, the ladder frame 2 rotates in the vertical plane relative to the chassis 1, and the rotation angle is α (although the ladder frame 2 can also rotate in the horizontal plane relative to the chassis 1 through the arrangement of the rotating platform 13, so as to achieve the purpose of receiving and sending people or objects at different positions in the circumferential direction in the horizontal plane, the research purpose herein is mainly related to the rotation of the ladder frame 2 relative to the chassis 1 in the vertical plane, therefore, under the premise that no special description is made, the rotation angle mentioned herein refers to the rotation angle of the ladder frame 2 relative to the chassis 1 in the vertical plane, that is the size of the included angle between the ladder frame 2 and the horizontal plane), ladder frame 2 rises a take the altitude for chassis 1 is ascending, and the distance between the afterbody of ladder frame 2 and the ground is great this moment, then, sets up to stretch out in the guide rail 4 of 2 afterbodies of ladder frame, can shorten the distance between ladder frame 2 and the ground. After the guide rail 4 extends out, the pulley 5 moves to the guide rail 4 firstly, then moves to the ladder frame 2 along the guide rail 4, moves to the head part of the ladder frame 2 along the ladder frame 2, and conveys people or objects on the pulley 5 to the operation platform 6; the trolley 5 can also carry people or objects on the work platform 6 to the ground along the reverse path.
By accurately calculating the extension amount L of the guide rail 4, the height (i.e., the size of the first distance H1) from the ground after the guide rail 4 extends out can be effectively controlled, the height increases the difficulty of people for getting on and off the trolley 5 on the guide rail 4, and the height may cause the guide rail 4 and the trolley 5 to interfere with the ground to affect the safety of the guide rail 4 and the trolley 5.
The inventor researches and discovers that when the overhead working truck is in a working state, the rotating angle of the ladder frame 2 relative to the chassis 1 can be freely adjusted according to actual conditions and working condition requirements, and the extending length of the supporting leg 3 can also be freely adjusted according to actual conditions and working condition requirements, so that when the extending amount L of the guide rail 4 is calculated, if only the rotating angle of the ladder frame 2 relative to the chassis 1 is taken as an independent variable during calculation, but the height of the guide rail 4 extending to the ground is not taken as an independent variable during calculation, the problem that the height of the guide rail 4 extending to the ground is larger due to the large extending length of the supporting leg 3 or the height of the guide rail 4 extending to the ground is smaller due to the small extending length of the supporting leg 3 can occur, namely the height of the guide rail 4 extending to the ground can not be kept consistent.
In the embodiment of the aerial work platform provided by the invention, the length calculating device can calculate the extension amount L of the guide rail according to the first distance H1 and the included angle alpha simultaneously, so that the calculated extension amount L of the guide rail is related to not only the rotation angle of the ladder frame 2 relative to the chassis 1 when in the working state, but also the target distance between the guide rail 4 and the supporting surface of the supporting leg 3 after extension, thereby ensuring that the actual distance between the guide rail 4 and the supporting surface of the supporting leg 3 is the target distance after the guide rail extends according to the calculated extension amount L, avoiding increasing the difficulty of people for getting on and off the trolley 5 on the guide rail 4 due to the fact that the actual distance between the guide rail 4 and the supporting surface of the supporting leg 3 is too large, or avoiding influencing the use safety and stability of the guide rail 4 and the trolley 5 due to the fact that the actual distance between the guide rail 4 and the supporting surface of the supporting leg 3 is too small to cause the interference between the guide rail 4 and the trolley 5 and the ground, the efficiency of personnel getting on or off the bus can be effectively improved. When the overhead working truck is used as a fire fighting truck, the rescue efficiency can be effectively improved, and the personal and property safety is protected.
Compared with the technical scheme that the extension length of the guide rail is a fixed value every time or only the rotation angle of the ladder frame is considered in the extension length of the guide rail, the embodiment of the invention simultaneously considers the rotation angle of the ladder frame and the distance between the extended guide rail and the ground, so that the consistency of the distance between the extended guide rail and the ground can be effectively ensured, the difficulty of people in getting on and off the pulley can be effectively reduced, and the safety of the guide rail can be improved.
In some embodiments, the aerial work platform further comprises a distance acquiring device configured to acquire a second distance H2 between an end of the rail 4 close to the support surface of the leg 3 and the support surface of the leg 3 when the ladder frame 2 is in the working state, the leg 3 is in the first extended state, and the rail 4 is in the second retracted state, and the length calculating device is configured to calculate the extension L of the rail 4 according to the first distance H1, the included angle α, and the second distance H2.
By providing the distance acquisition device, the size of the second distance H2 can be acquired, and the extending amount L of the guide rail 4 can be calculated according to the size of the second distance H2 and the sizes of the first distance H1 and the included angle α.
In some embodiments, the length calculating means calculates the extension L of the guide rail 4 from the first distance H1, the included angle α, and the second distance H2 by the formula: l = (H2-H1)/sin α.
In some embodiments, the distance acquiring means comprises a first distance detecting means 7, and the first distance detecting means 7 is disposed at one end of the guide rail 4 close to the supporting surface of the leg 3 and is used for measuring the magnitude of the second distance H2.
In this embodiment, the magnitude of the second distance H2 can be directly measured by the first distance detecting device 7 provided on the guide rail 4.
As shown in fig. 2, the first distance detecting device 7 is disposed at one end of the guide rail 4 close to the supporting surface of the outrigger 3, i.e., at the lowest end of the guide rail 4, so that the height measured from the ground is the second distance H2 between the end of the guide rail 4 close to the supporting surface of the outrigger 3 and the supporting surface of the outrigger 3. The technical scheme of directly measuring the second distance H2 can make the calculation simpler and quicker, and further effectively improve the control efficiency of the extension of the guide rail 4.
In other embodiments, the distance acquiring device comprises a second distance detecting device 8, the second distance detecting device 8 is disposed on the chassis 1 and is used for measuring the magnitude of a third distance H3, the third distance H3 is the distance between the second distance detecting device 8 and the supporting surface of the leg 3, and the distance acquiring device is further configured to calculate the magnitude of the second distance H2 according to the third distance H3.
In this embodiment, by providing the second distance detection means 8, the magnitude of the third distance H3 can be measured, and the magnitude of the second distance H2 can be calculated from the third distance H3. This embodiment uses an indirect method to obtain the second distance H2, which is suitable for the situation where it is inconvenient to install the distance detecting device on the guide rail 4. Moreover, the second distance detection device 8 is mounted on the chassis 1 fixed relative to the ground, so that the stability and reliability of the second distance detection device 8 can be improved, and the detection accuracy is improved.
In some embodiments, the distance obtaining device calculates the magnitude of the second distance H2 according to the third distance H3 by the following calculation formula: h2= H3+ H4-L0 × sin (α - β), where the fourth distance H4 is a distance between the hinge point between the chassis 1 and the ladder frame 2 and the second distance detection device 8, the fifth distance L0 is a distance between the hinge point between the chassis 1 and the ladder frame 2 and the first end point, the first end point is a center of a bottom edge of the end surface of the guide rail 4 near the support surface of the leg 3, and the included angle β is an included angle between a connecting line between the hinge point between the chassis 1 and the ladder frame 2 and the first end point and the length direction of the ladder frame 2.
As shown in fig. 3, the ladder frame 2 is hinged to a revolving platform 13 of the chassis 1, and the revolving platform 13 can drive the ladder frame 2 to revolve 360 degrees relative to the mounting platform 12 of the chassis 1. Although the position of the hinge point of the revolving platform 13 and the ladder frame 2 changes with the change of the revolving angle, the position changes in the horizontal plane, and the magnitude of the fourth distance H4 between the hinge point and the second distance detection device 8 is constant, i.e. the magnitude of the fourth distance H4 is a fixed value, which can be measured in advance and stored in the length calculation device.
The first end point is the center of the bottom edge of the end surface of the guide rail 4 close to the supporting surface of the leg 3, i.e., the center point of the bottom edge of the end surface of the tail part of the guide rail 4 close to the ladder frame 2. Because the first end point is located on the guide rail 4, the hinge point between the chassis 1 and the ladder frame 2 is located on the ladder frame 2, and before the guide rail 4 extends, the guide rail 4 and the ladder frame 2 are kept relatively fixed, the fifth distance L0 between the first end point and the hinge point and the included angle β between the connecting line between the first end point and the hinge point and the length direction of the ladder frame 2 are not changed, that is, the fifth distance L0 and the included angle β are fixed values, and these values can be measured in advance and stored in the length calculating device.
It can be seen that, in the formula of calculating the magnitude of the second distance H2 from the third distance H3, H2= H3+ H4-L0 sin (α - β), only the magnitude of the third distance H3 and the included angle α varies. The magnitude of the third distance H3 can be measured by the second distance detection device 8.
In some embodiments, the aerial lift device further comprises an angle measuring device for measuring the magnitude of the included angle α. The size of the included angle alpha can be obtained through the angle measuring device. The angle measuring device may employ an angle sensor or the like.
In the embodiment of the present invention, the first distance detection means 7 and the second distance detection means 8 may employ a length sensor, such as an ultrasonic sensor or the like. After the measurement values of the first distance detection device 7 and the second distance detection device 8 are read, the measurement length corresponding to the measurement values can be calculated according to the conversion relationship between the measurement values and the length.
As shown in fig. 4, the present invention also provides a control method for an aerial cage, the method comprising:
providing a chassis 1, a ladder frame 2, support legs 3 and guide rails 4, wherein the chassis 1 comprises tires 11, the ladder frame 2 is rotatably arranged on the chassis 1, and when the ladder frame 2 is in a working state, an included angle alpha is formed between the ladder frame 2 and the horizontal plane; the support legs 3 are telescopically arranged on the chassis 1, and the support legs 3 have a first retraction state and a first extension state, and in the first retraction state, the high-altitude operation vehicle is supported by the tires 11; in the first extending state, the overhead working truck is supported by the supporting legs 3; the guide rail 4 is telescopically arranged on the ladder frame 2, and the guide rail 4 has a second retraction state and a second extension state, and in the second retraction state, the guide rail 4 is approximately flush with the tail part of the ladder frame 2; in the second projecting state, the guide rail 4 projects with respect to the ladder frame 2 in a direction away from the ladder frame 2;
calculating the extension L of the guide rail 4 according to a first distance H1 and the included angle alpha, wherein the first distance H1 is a target distance between one end of the guide rail 4 close to the supporting surface of the supporting leg 3 and the supporting surface of the supporting leg 3 when the ladder frame 2 is in the working state, the supporting leg 3 is in the first extension state and the guide rail 4 is in the second extension state;
the guide rail 4 is extended with respect to the ladder frame 2 by an amount L according to the calculation result.
In some embodiments, the operation of extending the guide rail 4 with respect to the ladder frame 2 by the calculated amount L includes:
the extension speed of the guide rail 4 is calculated based on the calculated extension L such that the guide rail 4 is extended with respect to the ladder frame 2 at the calculated speed, and the extension L.
In some embodiments, before the operation of calculating the extension L of the guide rail 4 based on the first distance H1 and the included angle α, the control method of the aerial work platform further includes:
acquiring a second distance H2 between one end of the guide rail 4 close to the supporting surface of the outrigger 3 and the supporting surface of the outrigger 3 when the ladder frame 2 is in the working state, the outrigger 3 is in the first extending state and the guide rail 4 is in the second retracting state;
and the operation of calculating the extension L of the guide rail 4 from the first distance H1 and the included angle α comprises: the extension L of the guide rail 4 is calculated from the first distance H1, the angle α and the second distance H2.
In some embodiments, the projection L of the guide rail 4 is calculated from the first distance H1, the included angle α, and the second distance H2 by the formula: l = (H2-H1)/sin α.
In some embodiments, obtaining the second distance H2 includes:
the magnitude of the second distance H2 is measured directly.
In some embodiments, obtaining the second distance H2 includes:
providing a second distance detection device 8 arranged on the chassis 1;
the second distance detection device 8 is used for measuring the third distance H3, and the second distance H2 is calculated according to the third distance H3, and the third distance H3 is the distance between the second distance detection device 8 and the supporting surface of the supporting leg 3.
In some embodiments, the magnitude of the second distance H2 is calculated from the third distance H3 by the formula: h2= H3+ H4-L0 × sin (α - β), where the fourth distance H4 is a distance between a hinge point between the chassis 1 and the ladder frame 2 and the second distance detection device 8, the fifth distance L0 is a distance between a hinge point between the chassis 1 and the ladder frame 2 and a first end point, the first end point is located on an intersection line between a tail end face of the ladder frame 2 and a side face of the ladder frame 2 for mounting the guide rail 4, and the included angle β is an included angle between a connecting line between the hinge point between the chassis 1 and the ladder frame 2 and the first end point and the length direction of the ladder frame 2.
The positive technical effects of the aerial lift truck in the above embodiments are also applicable to the control method of the aerial lift truck, and are not described herein again.
The structure and working process of some embodiments of the aerial lift truck of the present invention are explained below:
as shown in fig. 1, the aerial work platform comprises a chassis 1, a ladder frame 2, legs 3, a guide rail 4, a trolley 5 and a work platform 6. The chassis 1 comprises tires 11, a mounting platform 12 and a swivel platform 13. The tire 11 is mounted below the mounting platform 12, and the revolving platform 13 is mounted above the mounting platform 12. The ladder frame 2 is hinged to the revolving platform 13.
The ladder frame 2 may be provided in a fixed length or in a length-adjustable configuration to accommodate different heights of work. The ladder frame 2 has a transport state and an operating state. In the transportation state, the included angle between the ladder frame 2 and the chassis 1 is 0, and the ladder frame 2 is horizontally placed on the chassis 1. In the working state, the ladder frame 2 rotates a certain angle relative to the chassis 1, and the head of the ladder frame 2 has a certain height from the ground so as to convey people or objects on the ground to a high place or convey people or objects from the high place to the ground. After the ladder frame 2 is lifted, a certain distance is reserved between the tail part of the ladder frame 2 and the ground.
The leg 3 is a telescopic structure, the leg 3 includes an inner leg and an outer leg, the inner leg is fixedly connected with the mounting platform 12, the outer leg is connected to the outside of the inner leg, and the outer leg extends or retracts relative to the inner leg to adjust the overall length of the leg 3. The legs 3 have a first retracted condition, in which the tyre 11 lands, and a first extended condition; in the first extended state, the leg 3 lands.
The guide rail 4 is telescopically arranged on the ladder frame 2, and the guide rail 4 has a second retraction state and a second extension state, and in the second retraction state, the guide rail 4 is approximately flush with the tail part of the ladder frame 2; in the second projecting state, the guide rail 4 projects with respect to the ladder frame 2 in a direction away from the ladder frame 2.
The trolley 5 is mutually matched with the guide rail 4. The ladder frame 2 is provided with a fixed rail matched with the guide rail 4 along the length direction of the ladder frame, the guide rail 4 can slide relative to the fixed rail and also can extend out relative to the end part of the fixed rail so as to receive the pulley 5, and after the pulley 5 moves to the guide rail 4, the pulley moves from the tail part of the ladder frame 2 to the head part of the ladder frame 2 under the driving of the guide rail 4.
When the overhead working truck is in a transportation state, the supporting legs 3 enter a first retraction state, the tires 11 land, the overhead working truck is supported on the ground through the tires 11, an included angle between the ladder frame 2 and the chassis 1 is 0, and the ladder frame 2 is horizontally placed on the chassis 1; when operating condition, 3 entering first states of stretching out of landing leg, 3 backs of stretching out of landing leg, 11 liftoff tires, high altitude construction car support in ground through landing leg 3, and ladder frame 2 rotates for chassis 1, and ladder frame 2 rotates behind a certain angle, sets up in the guide rail 4 of 2 afterbody of ladder frame and stretches out to shorten the distance between ladder frame 2 and the ground. After the guide rail 4 extends out, the pulley 5 moves to the guide rail 4 firstly, then moves to the ladder frame 2 along the guide rail 4, moves to the head part of the ladder frame 2 along the ladder frame 2, and conveys people or objects on the pulley 5 to the operation platform 6; the trolley 5 can also carry people or objects on the work platform 6 to the ground along the reverse path.
The aerial work platform further comprises a length calculating device and an angle measuring device, the angle measuring device can measure the size of the angle alpha of the ladder frame 2 rotating relative to the chassis 1, and the length calculating device can calculate the extending amount L of the guide rail 4 according to the first distance H1 and the included angle alpha. The first distance H1 is a target distance between an end of the rail near the support surface of the leg and the support surface of the leg when the ladder frame is in the operating condition, the leg is in the first extended condition, and the rail is in the second extended condition.
In the embodiment shown in fig. 2, the aerial working platform further includes a first distance detecting device 7 disposed at the center point of the bottom edge of the tail portion of the guide rail 4, the first distance detecting device can detect a second distance H2 between the guide rail 4 and the ground, and the amount of extension L required for the guide rail 4 to extend when the distance between the guide rail 4 and the ground is H1 after the guide rail 4 is extended when the ladder frame 2 rotates by an angle α relative to the chassis 1 and the formula L = (H2-H1)/sin α can be calculated.
In the embodiment shown in fig. 3, the aerial cage further includes a second distance detecting device 8 disposed on the mounting platform 12 of the chassis 1, which can detect a third distance H3 from the ground, and by using the formula H2= H3+ H4-L0 sin (α - β) and specific values of a fourth distance H4, a fifth distance L0 and an included angle β measured in advance, the size of the extension L required by the guide rail 4 to extend when the distance between the guide rail 4 and the ground after the guide rail 4 extends is H1 when the angle of rotation of the ladder frame 2 relative to the chassis 1 is α can be calculated.
By calculating the length of the guide rail 4 that needs to be extended, it is also advantageous to control the speed of movement of the guide rail 4 so that the guide rail 4 starts to decelerate at a predetermined position close to the ground.
Because the rotation angle alpha of the ladder frame 2 and the ground clearance of the mounting platform 12 of the chassis 1 are not unique and relatively random, the detection and calculation of the embodiment of the invention can not only accurately calculate the extension length of the guide rail 4, but also achieve the purpose of controlling the movement speed of the guide rail 4; meanwhile, the movement distance of the guide rail 4 can be accurately controlled according to the amplitude variation angle of different ladder frames and the ground clearance of the supporting legs, the consistency of the tail end of the guide rail to the ground clearance is kept, and the purpose that the pulley can achieve the convenience of an upper pulley and a lower pulley under different ladder frame angles is met.
When the high-altitude operation vehicle starts to work, firstly, the supporting legs 3 are operated, the vehicle is supported through the supporting legs 3, and tires 11 on the chassis 1 are lifted off the ground; secondly, operating the ladder frame 2 to ensure that the rotation angle and the height of the ladder frame 2 meet the operation requirements; thirdly, operating the guide rail 4, and extending the guide rail 4 to a length which meets the control requirement; and finally, operating the pulley 5 to move to the tail end of the guide rail 4, so that the personnel can get on and off conveniently.
The embodiment of the invention can be applied to working conditions of high-altitude rescue operation, and under the condition of different ladder frame angles and leg elongation, the pulley can be ensured to move to a proper height from the ground by controlling different stretching amounts of the guide rail, so that the requirement of rescue convenience is met.
Finally, it should be noted that: the above examples are only intended to illustrate the technical solution of the present invention and not to limit it; although the present invention has been described in detail with reference to preferred embodiments, those skilled in the art will understand that: modifications to the specific embodiments of the invention or equivalent substitutions for parts of the technical features may be made without departing from the principles of the invention, and these modifications and equivalents are intended to be included within the scope of the claims.
Claims (14)
1. An aerial lift truck, comprising:
a chassis (1) comprising tyres (11);
the ladder frame (2) is rotatably arranged on the chassis (1), and when the ladder frame (2) is in a working state, an included angle alpha is formed between the ladder frame (2) and the horizontal plane;
the support legs (3) are telescopically arranged on the chassis (1), and the support legs (3) have a first retraction state and a first extension state, and in the first retraction state, the high-altitude operation vehicle is supported by the tires (11); in the first extended state, the aerial platform is supported by the support legs (3);
the guide rail (4) is telescopically arranged on the ladder frame (2), the guide rail (4) has a second retraction state and a second extension state, and in the second retraction state, the guide rail (4) is approximately flush with the tail part of the ladder frame (2); in the second protruding state, the guide rail (4) protrudes relative to the ladder frame (2) in a direction away from the ladder frame (2); and
a length calculating device configured to calculate an extension L of the guide rail (4) according to a first distance H1 and the included angle alpha, wherein the first distance H1 is a target distance between one end of the guide rail (4) close to a supporting surface of the leg (3) and the supporting surface of the leg (3) when the ladder frame (2) is in the working state, the leg (3) is in the first extension state, and the guide rail (4) is in the second extension state.
2. The aerial lift truck according to claim 1, further comprising a distance acquisition device configured to acquire a second distance H2 between an end of the guide rail (4) close to the support surface of the outrigger (3) and the support surface of the outrigger (3) when the ladder rack (2) is in the working state, the outrigger (3) is in the first extended state, and the guide rail (4) is in the second retracted state, the length calculation device being configured to calculate the extension L of the guide rail (4) from the first distance H1, the included angle a, and the second distance H2.
3. The aerial lift truck as claimed in claim 2, wherein the length calculating means calculates the extension L of the guide rail (4) from the first distance H1, the included angle a and the second distance H2 by the formula: l = (H2-H1)/sin α.
4. The aerial lift truck according to claim 2, characterized in that the distance detection device comprises a first distance detection device (7), the first distance detection device (7) being arranged at an end of the guide rail (4) close to the supporting surface of the leg (3) and being configured to measure the magnitude of the second distance H2.
5. The aerial lift truck according to claim 2, characterized in that the distance detection device comprises a second distance detection device (8), the second distance detection device (8) being arranged on the chassis (1) and being configured to measure a magnitude of a third distance H3, the third distance H3 being a distance between the second distance detection device (8) and a supporting surface of the outrigger (3), the distance detection device further being configured to calculate the magnitude of the second distance H2 from the third distance H3.
6. The aerial work platform of claim 5 wherein the distance acquisition device calculates the magnitude of the second distance H2 from the third distance H3 by: h2= H3+ H4-L0 × sin (α - β), wherein a fourth distance H4 is a distance between a hinge point between the chassis (1) and the ladder frame (2) and the second distance detection device (8), a fifth distance L0 is a distance between a hinge point between the chassis (1) and the ladder frame (2) and a first end point, the first end point is a bottom center of an end surface of the guide rail (4) close to the support surface of the leg (3), and an included angle β is an included angle between a connecting line between the hinge point between the chassis (1) and the ladder frame (2) and the first end point and a length direction of the ladder frame (2).
7. The aerial lift truck of claim 1 further comprising an angle measuring device for measuring the magnitude of the included angle α.
8. A control method of an aerial cage is characterized by comprising the following steps:
s1: providing a chassis (1), a ladder frame (2), supporting legs (3) and guide rails (4), wherein the chassis (1) comprises tires (11), the ladder frame (2) is rotatably arranged on the chassis (1), and when the ladder frame (2) is in a working state, an included angle alpha is formed between the ladder frame (2) and a horizontal plane; the support legs (3) are telescopically arranged on the chassis (1), the support legs (3) have a first retraction state and a first extension state, and in the first retraction state, the high-altitude operation vehicle is supported by the tires (11); in the first extended state, the aerial platform is supported by the support legs (3); the guide rail (4) is telescopically arranged on the ladder frame (2), the guide rail (4) has a second retraction state and a second extension state, and in the second retraction state, the guide rail (4) is approximately flush with the tail part of the ladder frame (2); in the second protruding state, the guide rail (4) protrudes relative to the ladder frame (2) in a direction away from the ladder frame (2);
s2: calculating the extension L of the guide rail (4) according to a first distance H1 and the included angle alpha, wherein the first distance H1 is a target distance between one end, close to the supporting surface of the supporting leg (3), of the guide rail (4) and the supporting surface of the supporting leg (3) when the ladder frame (2) is in the working state, the supporting leg (3) is in the first extension state and the guide rail (4) is in the second extension state;
s3: and enabling the guide rail (4) to extend relative to the ladder frame (2) according to the calculation result, wherein the extension amount is L.
9. The method of controlling the aerial lift truck according to claim 8, wherein the operation of extending the guide rail (4) with respect to the ladder frame (2) by an amount L according to the calculation result includes:
and calculating the extension speed of the guide rail (4) according to the calculated extension L, so that the guide rail (4) extends relative to the ladder frame (2) at the calculated speed, and the extension is L.
10. The control method of the aerial cage of claim 8,
before the operation of calculating the extending amount L of the guide rail (4) according to the first distance H1 and the included angle alpha, the method further comprises the following steps:
acquiring a second distance H2 between one end of the guide rail (4) close to the supporting surface of the supporting leg (3) and the supporting surface of the supporting leg (3) when the ladder frame (2) is in the working state, the supporting leg (3) is in the first extending state and the guide rail (4) is in the second retracting state;
and the operation of calculating the extension L of the guide rail (4) according to the first distance H1 and the included angle alpha comprises the following steps: calculating the extension L of the guide rail (4) according to the first distance H1, the included angle alpha and the second distance H2.
11. The control method of the aerial work platform as claimed in claim 10, wherein the calculation formula for calculating the extension L of the guide rail (4) from the first distance H1, the included angle α and the second distance H2 is: l = (H2-H1)/sin α.
12. The method of controlling the aerial lift truck of claim 10 wherein the act of obtaining the second distance H2 comprises:
the magnitude of the second distance H2 is measured directly.
13. The method of controlling the aerial lift truck of claim 10 wherein the act of obtaining the second distance H2 comprises:
providing a second distance detection device (8) arranged on the chassis (1);
measuring a third distance H3 by using the second distance detection device (8), and calculating the second distance H2 according to the third distance H3, wherein the third distance H3 is the distance between the second distance detection device (8) and the supporting surface of the supporting leg (3).
14. The method of controlling the aerial work platform of claim 13 wherein the calculation formula for calculating the magnitude of the second distance H2 from the third distance H3 is: h2= H3+ H4-L0 × sin (α - β), wherein a fourth distance H4 is a distance between a hinge point between the chassis (1) and the ladder frame (2) and the second distance detection device (8), a fifth distance L0 is a distance between a hinge point between the chassis (1) and the ladder frame (2) and a first end point, the first end point is located on an intersection line between a tail end face of the ladder frame (2) and a side face of the ladder frame (2) for mounting the guide rail (4), and an included angle β is an included angle between a connecting line between the hinge point between the chassis (1) and the ladder frame (2) and the first end point and a length direction of the ladder frame (2).
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| CN202210168977.9A CN114229760B (en) | 2022-02-24 | 2022-02-24 | High-altitude operation vehicle and control method thereof |
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| CN202210168977.9A CN114229760B (en) | 2022-02-24 | 2022-02-24 | High-altitude operation vehicle and control method thereof |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN101284636A (en) * | 2008-05-23 | 2008-10-15 | 杭州爱知工程车辆有限公司 | Intelligence control system for aerial platform, aerial platform and control method thereof |
| CN201826745U (en) * | 2010-05-31 | 2011-05-11 | 丑纪行 | Hydraulic aerial ladder for moving house |
| CN105452150B (en) * | 2013-09-20 | 2017-05-24 | 日本机械工业株式会社 | Vehicle for high-elevation work, vehicle attitude adjustment system for vehicle for high-elevation work, vehicle attitude adjustment method for vehicle for high-elevation work, and swiveling method for high-elevation work structure of vehicle high-elevation work |
| CN104645531A (en) * | 2013-11-16 | 2015-05-27 | 王玉林 | Multifunctional high-altitude rescue fire fighting truck |
| CN208405844U (en) * | 2018-06-04 | 2019-01-22 | 徐恒兵 | A kind of multi-functional main-battle firefighting truck of ascending a height |
| CN212269378U (en) * | 2020-04-16 | 2021-01-01 | 徐工消防安全装备有限公司 | Aerial ladder car guide rail positioning device |
| CN111729228A (en) * | 2020-06-17 | 2020-10-02 | 北京中卓时代消防装备科技有限公司 | High-altitude rescue fire truck and intelligent control system and intelligent control method thereof |
| CN213964917U (en) * | 2020-10-21 | 2021-08-17 | 鞍山衡业专用汽车制造有限公司 | Lifting emergency main fighting fire truck |
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