CN114435477A - Aerial work platform control method and aerial work platform - Google Patents
Aerial work platform control method and aerial work platform Download PDFInfo
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- CN114435477A CN114435477A CN202210371177.7A CN202210371177A CN114435477A CN 114435477 A CN114435477 A CN 114435477A CN 202210371177 A CN202210371177 A CN 202210371177A CN 114435477 A CN114435477 A CN 114435477A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D21/00—Understructures, i.e. chassis frame on which a vehicle body may be mounted
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Abstract
The invention relates to the technical field of aerial work platforms, in particular to an aerial work platform control method and an aerial work platform. The method comprises the following steps: obtaining a working instruction of the leg expanding oil cylinder; controlling the leg expansion oil cylinder to stretch; when the telescopic amount of the leg expanding oil cylinder reaches the preset telescopic amount of the leg expanding oil cylinder, the leg expanding oil cylinder stops working; the work platform is raised. The method provided by the invention is combined with the actual working condition of the aerial work platform to control the stretching amount of the leg expansion oil cylinder, and in addition, the method can also control the stretching of the leg expansion oil cylinder according to the height to be reached.
Description
Technical Field
The invention relates to the technical field of aerial work platforms, in particular to an aerial work platform control method and an aerial work platform.
Background
The aerial work platform chassis is responsible for the walking and steering of the whole vehicle, and the total width of the chassis needs to be limited when the chassis is in a non-operation state or a transportation state due to the limitation of the length and the width of a road surface and a transportation vehicle; however, in an operating state, the span of tires of the chassis needs to be increased, the stability of the whole vehicle in the operating process is ensured, the rollover is avoided, the operating state stability is increased generally by adopting two modes of a telescopic axle or an X-shaped leg expanding mode, the folding and expanding legs of the high-meter lifting operating platform are all one oil cylinder for controlling one supporting leg, the folding and expanding speed of each supporting leg is determined by the friction force of the tires, and a hydraulic system cannot control the synchronous folding and expanding of the supporting legs. The working position of the existing mature product for the X-shaped chassis supporting leg is determined by the angle sensor and the limiting sensor together, and the existing mature product can only work after the supporting leg is completely expanded, so that the operation speed is low, and the energy is consumed.
Therefore, a control method for an aerial work platform is needed to solve the above technical problems.
Disclosure of Invention
The invention aims to provide a control method of an aerial work platform, which can control the extension and retraction of supporting legs according to different height requirements when the aerial work platform works, and can avoid the situation that the aerial work platform can be lifted and lowered only when the supporting legs are completely expanded.
In order to achieve the purpose, the invention adopts the following technical scheme:
a control method for an aerial work platform is characterized by comprising the following steps:
obtaining a working instruction of the leg expanding oil cylinder;
controlling the leg expansion oil cylinder to stretch;
when the telescopic amount of the leg expanding oil cylinder reaches the preset telescopic amount of the leg expanding oil cylinder, the leg expanding oil cylinder stops working;
the operation platform is lifted;
the telescopic amount of the leg expansion oil cylinder is obtained by the wheel track between two oppositely arranged tires, under different working conditions, the telescopic amount of the leg expansion oil cylinder corresponds to different wheel tracks, and the telescopic amount of the same leg expansion oil cylinder corresponds to the heights of different operation platforms;
setting the supporting leg in a fully contracted state as an initial state, wherein the initial length of the leg expansion oil cylinder is L0, the initial wheel track between two oppositely arranged tires is X0, the initial transverse included angle between the supporting leg and the chassis is alpha 0, and the distance from the steering knuckle to the adjacent supporting leg is M; if the supporting leg is in an expansion state, the length of the leg expansion oil cylinder is L, the expansion amount of the leg expansion oil cylinder is delta L, the wheel track between two oppositely arranged tires is X, the transverse included angle between the supporting leg and the chassis is alpha, and then the mapping relation between the wheel track X and the length of the leg expansion oil cylinder is as follows:
L=L0+δL；
X=X0+2×{L（cosα0-cosα）+M(sinα-sinα0)}。
as an optimal technical scheme of the control method of the aerial work platform, in the working process of the leg expanding oil cylinder, the steering oil cylinder also works along with the leg expanding oil cylinder, the steering angle between the steering knuckle and the support leg is obtained at regular time, and whether the obtained steering angle is the same as the actually required angle is judged.
As a preferable technical scheme of the aerial work platform control method, when the steering angle is different from the actually required angle, the steering oil cylinder is controlled to adjust the angle of the tire until the angle is the same.
As a preferable technical scheme of the control method of the aerial work platform, when the steering angle is the same as the actually required angle, the steering oil cylinder stops working.
As an optimal technical scheme of the control method for the aerial work platform, when the supporting leg is in the extended state, the distance between the rotating shaft and the leg extending oil cylinder is d, and the length of the supporting leg is h, then:
α=arccos｛[（h×δL/2d）+h×cosα0]/h｝。
as a preferable technical solution of the aerial work platform control method, in an initial state, a steering angle between the knuckle and the leg is set to be β, a steering angle variation between the knuckle and the leg is set to be δ β, a lateral included angle variation between the leg and the chassis is set to be δ α, and if δ β = δ α, the steering angle is the same as an actually required angle.
As a preferable aspect of the aerial work platform control method, if the angle change amount at the knuckle is δ α/δ L, the steering angle is the same as the actually required angle.
As a preferred technical scheme of the aerial work platform control method, before the leg-expanding oil cylinder is controlled to stretch, the work condition needs to be determined, the stretching amount corresponding to the actual height to which the work platform needs to be lifted is determined based on the mapping relation between the stretching amount and the height under the determined work condition, and the determined stretching amount is used as the preset leg-expanding oil cylinder stretching amount.
The second purpose of the invention is to provide an aerial work platform, which can be lifted up and down only by controlling the extension of the supporting legs according to different height requirements and avoiding the complete expansion of the supporting legs.
An aerial work platform works by using the aerial work platform control method of any scheme.
The invention has the beneficial effects that:
the method provided by the invention is combined with the actual working condition of the aerial work platform to control the stretching amount of the leg expansion oil cylinder, and in addition, the method can also control the stretching of the leg expansion oil cylinder according to the height to be reached.
Drawings
In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings used in the description of the embodiments of the present invention will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to the contents of the embodiments of the present invention and the drawings without creative efforts.
FIG. 1 is a schematic structural diagram of an X-shaped leg extension of an aerial work platform provided by an embodiment of the invention;
FIG. 2 is a schematic diagram of an X-shaped leg extension of an aerial work platform provided by an embodiment of the invention;
FIG. 3 is a main flowchart of a method for controlling an aerial work platform according to an embodiment of the present invention;
FIG. 4 is a detailed flow chart of a method for controlling the aerial work platform according to an embodiment of the present invention;
fig. 5 is a detailed flowchart of the method for controlling an aerial working platform according to the embodiment of the present invention when the platform determines the amount of extension and retraction of the leg-extending cylinder according to the required height.
In the figure:
1. a chassis; 2. a left leg; 3. a right leg; 4. a pull rod; 5. a leg expanding oil cylinder; 6. a knuckle; 7. a steering cylinder; 8. a steering angle sensor; 9. a tire; 10. a rotating shaft.
Detailed Description
The present invention will be described in further detail with reference to the accompanying drawings and examples. It is to be understood that the specific embodiments described herein are merely illustrative of the invention and are not limiting of the invention. It should be further noted that, for the convenience of description, only some of the structures related to the present invention are shown in the drawings, not all of the structures.
In the description of the present invention, unless expressly stated or limited otherwise, the terms "connected," "connected," and "fixed" are to be construed broadly, e.g., as meaning permanently connected, removably connected, or integral to one another; 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 in specific cases to those skilled in the art.
In the present invention, unless otherwise expressly stated or limited, "above" or "below" a first feature means that the first and second features are in direct contact, or that the first and second features are not in direct contact but are in contact with each other via another feature therebetween. Also, the first feature being "on," "above" and "over" the second feature includes the first feature being directly on and obliquely above the second feature, or merely indicating that the first feature is at a higher level than the second feature. A first feature being "under," "below," and "beneath" a second feature includes the first feature being directly under and obliquely below the second feature, or simply meaning that the first feature is at a lesser elevation than the second feature.
In the description of the present embodiment, the terms "upper", "lower", "right", etc. are used in an orientation or positional relationship based on that shown in the drawings only for convenience of description and simplicity of operation, and do not indicate or imply that the device or element referred to must have a particular orientation, be constructed and operated in a particular orientation, and thus, should not be construed as limiting the present invention. Furthermore, the terms "first" and "second" are used only for descriptive purposes and are not intended to have a special meaning.
When the existing aerial work platform works, when the aerial work platform needs to be lifted to a certain height, the aerial work platform can be executed only after the leg expansion oil cylinder needs to expand the legs completely, so that the operation speed is low, and energy is consumed. Therefore, the embodiment of the invention provides a control method of an aerial work platform, which solves the technical problem.
The embodiment of the invention provides a control method of an aerial work platform, which is applied to the aerial work platform in the invention, and as shown in figures 1-3, the control method comprises the following steps:
s11, obtaining a working instruction of the leg expanding oil cylinder 5;
s12, controlling the leg expanding oil cylinder 5 to stretch;
s13, when the stretching amount of the leg expanding oil cylinder reaches the preset stretching amount of the leg expanding oil cylinder, stopping the leg expanding oil cylinder 5;
and S14, lifting the work platform.
The method provided by the invention combines the actual working condition of the aerial work platform to control the expansion amount of the leg expansion oil cylinder 5, and in addition, the method can also control the expansion of the leg expansion oil cylinder 5 according to the height to be reached.
It should be noted that the extension amount of the leg extension cylinder 5 may be a range or a point value, and the corresponding elevation height of the work platform may be a range or a point value. Thus, the method can be suitable for different working conditions.
Along with the extension and contraction of the leg expanding oil cylinder 5, the supporting legs also extend and contract. With the knuckle 6 and the leg being relatively stationary, the tires 9 will expand or contract with respect to the leg to cause the tires 9 to have inner or outer eight relative to the entire vehicle, which may cause the overall X-shaped leg to be unstable. For this reason, optionally, in this embodiment, the leg-expanding cylinder 5 and the steering cylinder 7 operate simultaneously, but the expansion amount of the steering cylinder 7 is smaller than that of the leg-expanding cylinder 5, the expansion amount of the steering cylinder 7 is determined by the real-time angle fed back by the steering angle sensor 8, and after the leg-expanding cylinder 5 completes operating, the steering cylinder 7 also stops expanding and contracting, so during the operation of the leg-expanding cylinder 5, the steering angle between the steering knuckle 6 and the support leg is obtained at regular time, the steering angle is compared with the actually required angle, whether the steering angle is the same as the actually required angle is determined, and whether the tire 9 is in the centering state is determined by comparing the relationship between the steering angle and the actually required angle, so as to avoid unstable X-shaped leg expansion due to the tire 9 being in the non-centering state.
Since the steering angle is obtained in a timed manner, the stretching amount of the steering cylinder 7 is actually related to the stretching amount of the leg-expanding cylinder 5, so that the action of the steering cylinder 7 is delayed in the working process, and thus the steering angle is different from the actually required angle, so that whether the steering angle is the same as the actually required angle needs to be judged so as to make a correction. In the present embodiment, when the steering angle is different, the steering cylinder 7 is controlled to adjust the angle of the tire 9 to be the same. Therefore, the tire 9 can be adjusted to be in a centered state, and the instability of X-shaped leg expansion caused by the fact that the tire 9 is in a non-centered state is avoided. Of course, when the steering angle is the same, the steering cylinder 7 stops operating, and the steering angle between the tire 9 and the leg support is not adjusted.
In the embodiment, when the support leg is in any state of maximum expansion, minimum contraction or middle, the wheel base of the whole computer can be calculated in real time according to the change of the support leg (namely data obtained by the leg expansion sensor), wherein the wheel base is not changed. The track of the aerial work platform has great influence on the stability of the whole machine, and the controller can match the stretching amount of the leg expanding oil cylinder 5 according to the real-time track of the vehicle. Therefore, the telescopic amount of the leg-expanding oil cylinder is obtained by the wheel track between the two opposite tires 9, under different working conditions, the telescopic amount of the same leg-expanding oil cylinder corresponds to different wheel tracks, and the telescopic amount of the same leg-expanding oil cylinder corresponds to the heights of different working platforms. It should be noted that the telescopic amount of the leg-expanding oil cylinder corresponds to different wheel tracks, and it can be understood that the telescopic amount of the leg-expanding oil cylinder can be divided into a plurality of telescopic ranges in sections, and each telescopic range corresponds to a range of different wheel tracks; or the stretching amount of the leg-expanding oil cylinder can be a point value, and the point value of each stretching amount corresponds to the point value of different wheel tracks.
The working instruction obtained by the leg expansion oil cylinder 5 is sent by an operator, the operator can selectively press the buttons corresponding to different heights according to the required leg expansion oil cylinder expansion amount, and thus the controller can control the actual expansion amount of the leg expansion oil cylinder 5 according to the leg expansion oil cylinder expansion amount selected by the operator after obtaining the corresponding instruction. Of course, the operator can also directly control the telescopic oil cylinder to act after pressing the control button until the telescopic amount of the leg expansion oil cylinder 5 reaches the telescopic amount of the leg expansion oil cylinder required by the operator, the operator stops pressing the button, and the operation platform rises.
In the present embodiment, as shown in fig. 2, the leg is in the initial state in the fully contracted state, at this time, the initial length of the leg-expanding cylinder 5 is L0, the initial wheel base between two oppositely disposed tires 9 is X0, the initial transverse included angle between the leg and the chassis 1 is α 0, and the distance from the knuckle 6 to the adjacent leg is M; if the supporting leg is in an extended state, the length of the leg extension oil cylinder 5 is L, the expansion amount of the leg extension oil cylinder 5 is δ L, the wheel track between two oppositely arranged tires 9 is X, the transverse included angle between the supporting leg and the chassis 1 is α, and then the mapping relation between the wheel track X and the length of the leg extension oil cylinder 5 is:
X=X0+2×{L（cosα0-cosα）+M(sinα-sinα0)}。
specifically, L = L0+ δ L; α = α 0+ δ α, X = X0+ δ X; when α = α 0, the vehicle track X = X0 at this time; when α = α 0+ δ α, the vehicle track X = X0+ δ X at this time; then obtaining:
δX=2×{L（cosα0-cosα）+M(sinα-sinα0)}；
since X = X0+ δ X, then:
x = X0+2 × { L (cos α 0-cos α) + M (sin α -sin α 0) }, so that the track width X can be obtained from the transverse angle α between the leg and the chassis 1. Because the height of the work platform corresponds to different wheel tracks under different working conditions, the rising height of the aerial work platform can be determined by the formula. Different wheel tracks X correspond to different lengths of the leg-expanding oil cylinders 5, and the lifting heights of the working platforms corresponding to the different wheel tracks are different, so that the mapping relation between the lengths of the leg-expanding oil cylinders 5 and the lifting heights of the working platforms can be obtained through the wheel tracks.
Specifically, when the leg is in the extended state, if the distance between the rotating shaft 10 and the leg-extending cylinder 5 is d and the length of the leg is h, the calculation formula of α is: α = arccos { [ (h × δ L/2 d) + h × cos α 0]/h }. The calculation formula of alpha can be obtained according to the distance d between the rotating shaft 10 and the leg expansion oil cylinder 5, the length h of the supporting leg, the initial transverse included angle alpha 0 between the supporting leg and the chassis 1 and the length L of the leg expansion oil cylinder 5 when the supporting leg is in the expansion state. Therefore, the device can be obtained through calculation of the controller, artificial measurement is not needed, and the measurement time is saved.
The leg-expanding oil cylinder 5 is connected with an oil cylinder control valve, when the oil cylinder control valve is an on-off valve, in an initial state, an angle between the steering knuckle 6 and the supporting leg is beta, an angle variation between the steering knuckle 6 and the supporting leg is delta beta, a transverse included angle variation between the supporting leg and the chassis 1 is delta alpha, and if delta beta = delta alpha, the steering angle beta is the same as an actually required angle. As can be seen from the positional relationship between the leg and the knuckle 6 and between the leg and the chassis 1, when the amount of change in the lateral angle between the leg and the chassis 1 is the same as the amount of change in the angle between the leg and the tire 9, the tire 9 is disposed in the forward direction.
The leg-expanding oil cylinder 5 is connected with an oil cylinder control valve, and when the oil cylinder control valve is a proportional valve, if the angle variation of the steering knuckle 6 is delta alpha/delta L, the steering angle is the same as the actually required angle.
Namely, as for the types of the oil cylinder control valves, the steering angles corresponding to the oil cylinder control valves of different types are different from the actually required angle judgment method, so that the method can be suitable for the oil cylinder control valves of different types, and the applicability of the control method is improved.
As shown in fig. 4, the aerial work platform control method includes the following steps:
s21, obtaining a working instruction of the leg expanding oil cylinder 5;
s22, controlling the leg expanding oil cylinder 5 to stretch;
s23, the steering oil cylinder 7 works together with the leg expanding oil cylinder 5;
s24, when the stretching amount of the leg expanding oil cylinder 5 reaches the preset stretching amount of the leg expanding oil cylinder, stopping the leg expanding oil cylinder 5;
s25, judging whether the steering angle is the same as the actually required angle;
s26, if yes, stopping the operation of the steering oil cylinder 7;
s27, if not, the steering oil cylinder 7 continues to work and returns to the step S25;
and S28, lifting the work platform.
Of course, in some embodiments, the stretching amount of the leg-expanding cylinder 5 can also be determined by the required height. The determination of the height is also related to the operating conditions. Therefore, before the leg-expanding oil cylinder 5 is controlled to expand and contract, the working condition needs to be determined, the expansion amount corresponding to the actual height to which the working platform needs to be lifted is determined based on the mapping relation between the expansion amount and the height under the determined working condition, and the determined expansion amount is used as the preset leg-expanding oil cylinder expansion amount.
Therefore, under different working conditions, the lifting height of the same operation platform corresponds to different wheel tracks. It should be noted that the lifting height of the work platform corresponds to different wheel tracks, and it can be understood that the lifting height of the work platform can be divided into a plurality of height ranges in segments, and each height range corresponds to a range of different wheel tracks; or the lifting height of the working platform can be a point value, and each lifting height point value corresponds to a point value of different wheel tracks.
The working instruction obtained by the leg expanding oil cylinder 5 is sent by an operator, and the operator can selectively press the buttons corresponding to different heights according to the required height, so that the controller can control the stretching amount of the leg expanding oil cylinder 5 according to the height selected by the operator after obtaining the corresponding instruction. Of course, the operator can also directly control the telescopic oil cylinder to act after pressing the control button until the telescopic amount of the leg-expanding oil cylinder 5 reaches the telescopic amount corresponding to the height required by the operator, the operator stops pressing the button, and the operation platform is lifted to the required height.
As shown in fig. 5, when the stretching amount of the leg-expanding cylinder 5 is determined by the required height, the method is further optimized on the basis of the above steps, and the method for controlling the aerial work platform comprises the following steps:
s31, obtaining a working instruction of the leg expanding oil cylinder 5;
s32, controlling the leg expansion oil cylinder 5 to stretch based on the mapping relation between the leg expansion oil cylinder stretching amount and the height of the aerial work platform;
s33, the steering oil cylinder 7 works together with the leg expanding oil cylinder 5;
s34, when the stretching amount of the leg expansion oil cylinder 5 reaches the stretching amount of the leg expansion oil cylinder corresponding to the preset height of the operation platform, stopping the leg expansion oil cylinder 5;
s35, judging whether the steering angle is the same as the actually required angle;
s36, if yes, stopping the operation of the steering oil cylinder 7;
s37, if not, the steering oil cylinder 7 continues to work and returns to the step S25;
and S38, lifting the work platform to a preset height.
Since the height of the aerial work platform is determined according to the telescopic amount of the leg expansion cylinder 5, it should be noted that when the leg expansion sensor fails, the leg expansion cylinder 5 stops extending, but when the leg expansion sensor fails, the leg expansion cylinder 5 can contract, and the aerial work platform can fall down the arm, contract the arm, and the like.
When the whole machine is in a storage state (namely the lifting angle of the arm support is smaller than a first preset arm support angle, the telescopic amount of the arm support is smaller than a first preset value, and all actions of the whole machine are not limited at the moment), the support legs can expand or contract; when the supporting legs are in any state in the middle, the working range of the whole machine is smaller than that of the completely expanded supporting legs, but more daily working conditions can be met; when the supporting legs are at the expansion limit, the working amplitude is maximum. When the whole machine is in a working state (the lifting angle of the arm support is more than or equal to a first preset arm support angle, and the telescopic amount of the arm support is more than or equal to a first preset value), the legs are not allowed to be expanded, and the legs are allowed to be folded and expanded only when the whole machine is in a collection state.
As shown in fig. 1, the invention also provides an aerial work platform which works by using the aerial work platform control method provided by the invention. The aerial work platform comprises a work platform and X-shaped expansion legs, wherein the X-shaped expansion legs are positioned at the bottom of the work platform and comprise a chassis 1, supporting legs, a pull rod 4, a leg expansion oil cylinder 5, a steering knuckle 6, a steering oil cylinder 7, a steering angle sensor 8 and tires 9, two supporting legs (namely a left supporting leg 2 and a right supporting leg 3) are respectively arranged at the front end and the rear end of the chassis 1 along the advancing direction of the chassis 1, the supporting legs are in rotary connection with the chassis 1 through a rotating shaft 10, the supporting legs positioned at the same end of the chassis 1 are respectively connected with the same leg expansion oil cylinder 5, each supporting leg is connected with a tire 9, and a steering knuckle 6 is arranged between the tire 9 and the supporting leg, the left supporting leg 2 and the right supporting leg 3 are connected through a pull rod 4, a steering angle sensor 8 is arranged on the steering knuckle 6, a steering oil cylinder 7 is respectively connected with the tire 9 and the supporting leg, and a leg expanding oil cylinder 5 is provided with a leg expanding sensor.
The leg expansion sensor is used for detecting the stretching amount of the leg expansion oil cylinder 5, an oil cylinder rod of the leg expansion oil cylinder 5 stretches out or shortens according to the preset length of the leg expansion oil cylinder 5, or stretches out or shortens according to the height to be lifted of the operation platform and the length corresponding to the height, the steering angle sensor 8 is used for detecting the steering angle of the steering knuckle 6, and the leg expansion oil cylinder 5 and the steering oil cylinder 7 are matched with each other to enable the leg expansion to reach the length corresponding to the height to be lifted of the operation platform.
In addition, the foregoing is only the preferred embodiment of the present invention and the technical principles applied. It will be understood by those skilled in the art that the present invention is not limited to the particular embodiments described herein, but is capable of various obvious changes, rearrangements and substitutions as will now become apparent to those skilled in the art without departing from the scope of the invention. Therefore, although the present invention has been described in greater detail by the above embodiments, the present invention is not limited to the above embodiments, and may include other equivalent embodiments without departing from the spirit of the present invention, and the scope of the present invention is determined by the scope of the appended claims.
Claims (9)
1. A control method for an aerial work platform is characterized by comprising the following steps:
obtaining a working instruction of the leg expanding oil cylinder;
controlling the leg expanding oil cylinder to stretch;
when the telescopic amount of the leg expanding oil cylinder reaches the preset telescopic amount of the leg expanding oil cylinder, the leg expanding oil cylinder stops working;
the operation platform is lifted;
the telescopic amount of the leg expansion oil cylinder is obtained by the wheel track between two oppositely arranged tires, under different working conditions, the telescopic amount of the leg expansion oil cylinder corresponds to different wheel tracks, and the telescopic amount of the same leg expansion oil cylinder corresponds to the heights of different operation platforms;
setting the supporting leg in a fully contracted state as an initial state, wherein the initial length of the leg expansion oil cylinder is L0, the initial wheel track between two oppositely arranged tires is X0, the initial transverse included angle between the supporting leg and the chassis is alpha 0, and the distance from the steering knuckle to the adjacent supporting leg is M; if the supporting leg is in an expansion state, the length of the leg expansion oil cylinder is L, the expansion amount of the leg expansion oil cylinder is delta L, the wheel track between two oppositely arranged tires is X, the transverse included angle between the supporting leg and the chassis is alpha, and then the mapping relation between the wheel track X and the length of the leg expansion oil cylinder is as follows:
L=L0+δL；
X=X0+2×{L（cosα0-cosα）+M(sinα-sinα0)}。
2. the aerial work platform control method according to claim 1, wherein in the working process of the leg expansion oil cylinder, the steering oil cylinder also works along with the leg expansion oil cylinder, the steering angle between the steering knuckle and the support leg is obtained at regular time, and whether the obtained steering angle is the same as an actually required angle is judged.
3. The aerial work platform control method of claim 2, wherein when the steering angle is different from the actually required angle, the steering cylinder is controlled to adjust the tire angle until the same.
4. The aerial work platform control method of claim 2 wherein the steering cylinder stops working when the steering angle is the same as the actual desired angle.
5. The aerial work platform control method of claim 1, wherein when the support legs are in the extended state, the distance between the rotating shaft and the leg extension oil cylinder is d, and the length of the support legs is h, then:
α=arccos｛[（h×δL/2d）+h×cosα0]/h｝。
6. the aerial work platform control method according to claim 5, wherein in an initial state, a steering angle between the steering knuckle and the support leg is set to be β, a steering angle variation between the steering knuckle and the support leg is set to be δ β, a lateral included angle variation between the support leg and the chassis is set to be δ α, and if δ β = δ α, the steering angle is the same as an actually required angle.
7. The aerial work platform control method of claim 5 wherein if the amount of change in angle at the knuckle is δ α/δ L, then the steering angle is the same as the actual required angle.
8. The aerial work platform control method according to claim 1, wherein before controlling the leg-expanding cylinder to expand and contract, an operation condition needs to be determined, an expansion amount corresponding to an actual height to which the work platform needs to be raised is determined based on a mapping relation between the expansion amount and the height under the determined operation condition, and the determined expansion amount is used as a preset leg-expanding cylinder expansion amount.
9. An aerial work platform which operates using the aerial work platform control method of any one of claims 1 to 8.
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| CN115650132A (en) * | 2022-12-09 | 2023-01-31 | 临工重机股份有限公司 | Aerial work platform support leg moving method and aerial work platform |
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| CN114435477B (en) | 2022-07-05 |
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