CN115010058B - Aerial work platform with leveling function and gesture adjusting method thereof - Google Patents
Aerial work platform with leveling function and gesture adjusting method thereof Download PDFInfo
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- CN115010058B CN115010058B CN202210573714.6A CN202210573714A CN115010058B CN 115010058 B CN115010058 B CN 115010058B CN 202210573714 A CN202210573714 A CN 202210573714A CN 115010058 B CN115010058 B CN 115010058B
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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
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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
- B66F17/00—Safety devices, e.g. for limiting or indicating lifting force
- B66F17/006—Safety devices, e.g. for limiting or indicating lifting force for working platforms
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Abstract
The invention provides an aerial working platform with a leveling function and a gesture adjusting method thereof, which comprises a main body assembly, a hydraulic cylinder assembly, a limiting assembly and a control assembly, wherein the limiting assembly is positioned in the center of the bottom of the high-altitude platform in the main body assembly, the hydraulic cylinder assembly is positioned at four vertex angles of the bottom of the high-altitude platform in the main body assembly, and the control assembly is connected with the mounting end of the main body assembly. The gesture adjusting method comprises the following specific steps: the pedal platform realizes five-point support through a limiting component positioned at the center and hydraulic cylinder components at four vertex angles, wherein a distance sensor acquires real-time position information, an acceleration sensor acquires real-time motion information, an angle sensor acquires real-time angle information, a leveling solution is given through solving of a controller, displacement of a piston in the hydraulic cylinder components is controlled through a servo regulating valve, and inclination of a preset angle is realized and leveling is completed. The invention increases fine adjustment of a plurality of degrees of freedom on the basis of the prior art, and improves the working stability and comfort of the high-altitude platform.
Description
Technical Field
The invention relates to the field of overhead working engineering machinery, in particular to an overhead working platform with a leveling function and a gesture adjusting method thereof.
Background
The high-altitude working platform has wide application in the field of engineering machinery, and has higher requirements on the comfort and the safety reliability of the existing high-altitude working vehicle, particularly the high-altitude working platform, along with the continuous increase of the high-altitude working demands. Because of a series of external disturbances such as working environment, deflection of supporting mechanisms such as an arm support and the like, wind load, operating force and the like during high-altitude operation, the leveling performance of a high-altitude operation platform is more and more emphasized for ensuring the safety and comfort of the high-altitude operation.
At present, the leveling of the high-altitude working platform mainly comprises the adjustment of a chassis and arm support control system of the high-altitude working vehicle, for example, a digital hydraulic leveling system of the high-altitude working vehicle working platform is disclosed, and the digital hydraulic leveling system is combined with a sensor, a stepping motor and a digital leveling cylinder to change the inclination angles of the working platform and the arm support, so that the precise and stable control of the automatic leveling of the working platform is realized; the hydraulic leveling system of the patent aerial working vehicle and the working platform thereof is characterized in that an independent hydraulic system is arranged on the working platform, and the working platform is controlled by a swinging cylinder to realize leveling; the simultaneous patents propose the following solutions: the arm support and the mechanical wheel rotate in the same angle and in the same direction, the length sensor is combined with a control system, the mechanical connecting rod and the hydraulic linkage leveling structure or the arm support control performance is improved, and the folding arm is electrically driven.
The working platform is adjusted relative to the included angle of the arm support through a certain method, the phenomenon of uneven caused by amplitude variation action of the arm support is well inhibited, but only one degree of freedom leveling work is realized after the chassis system is stable, leveling cannot be realized on lateral wind load, arm support vibration, unbalance state caused by rotation and the like, and the conditions have non-negligible influence on the use comfort and safety of the working platform, so that the invention provides the aerial working platform with intelligent leveling and the posture adjusting method.
Disclosure of Invention
Aiming at the problems existing in the prior art, the invention provides an aerial working platform with a leveling function and a gesture adjusting method thereof, which realize fine adjustment of the aerial platform on four different degrees of freedom by controlling the movements of hydraulic cylinder assemblies positioned at four vertex angles of the aerial platform and a limiting assembly positioned at the center of the aerial platform, solve the problem that the aerial platform can also perform multi-degree-of-freedom leveling after being stabilized, and can realize rapid leveling on lateral wind load, arm support vibration, unbalance states caused by rotation and the like.
The invention provides an aerial working platform with a leveling function, which comprises a main body assembly, a hydraulic cylinder assembly, a limiting assembly and a control assembly, wherein the hydraulic cylinder assembly is positioned at four top corners of the bottom of a high-altitude platform in the main body assembly, the limiting assembly is positioned at the center of the bottom of the high-altitude platform in the main body assembly, and the control assembly is connected with the mounting end of the main body assembly. The hydraulic cylinder assembly comprises a bottom cover, a cylinder body, a return spring, a piston, a first limiting partition plate, a sliding support body, a first fixing plate, a hydraulic pipe joint, a safety overflow valve, a one-way valve and a hydraulic main pump, wherein the lower end of the cylinder body is connected with the mounting end of the bottom cover, the bottom cover is positioned in the fourth mounting end of the supporting frame, the return spring is positioned in the cylinder body, the lower end of the piston is connected with the inner side of the cylinder body through the return spring, the mounting end of the first fixing plate is fixedly connected with the first mounting end of a pedal platform, the mounting end of the first limiting partition plate is fixedly connected with the mounting end of the sliding support body, the upper end of the piston penetrates through the middle part of the first limiting partition plate and the middle part of the sliding support body, the first limiting partition plate is positioned in the inner part of the center of the first fixing plate, the first end of the hydraulic pipe joint is fixedly connected with the center of the bottom cover, the second end of the hydraulic pipe joint is fixedly connected with the hydraulic pipe, and the piston is fixedly connected with the pedal platform under the action of hydraulic oil. The output of motor with the first end of hydraulic pressure main pump is connected, the second end of hydraulic pressure main pump with the first end of check valve is connected, the second end of check valve is connected with the first input of electro-magnet in the servo control valve, the first end of safety relief valve is connected with the pneumatic cylinder, the second end of safety relief valve with the second input of electro-magnet in the servo control valve is connected. The limiting assembly comprises a plunger supporting body, a second limiting partition plate and a second fixing plate, wherein the lower end of the plunger supporting body is connected with the center of the lower end of the high-altitude platform, the upper end of the plunger supporting body is connected with the center of the second fixing plate through the center of the second limiting partition plate, and the mounting ends of the second limiting partition plate and the second fixing plate are respectively and fixedly connected with the second mounting end of the pedal platform to limit two translational degrees of freedom of the pedal platform.
Preferably, the main body assembly comprises a high-altitude platform, a supporting frame, a switch door and a pedal platform, wherein the first installation end and the second installation end of the supporting frame are respectively fixedly connected with the first installation end and the second installation end of the high-altitude platform, the third installation end of the high-altitude platform is connected with the switch door, and the pedal platform is located inside the high-altitude platform.
Preferably, the control assembly comprises a controller, a control valve block, a servo control valve, a height sensor, an angle sensor and an acceleration sensor, wherein the servo control valve is arranged in the control valve block, the installation end of the control valve block is fixedly connected with the fourth installation end of the high-altitude platform, the controller is fixedly connected with the fifth installation end of the high-altitude platform, the height sensor is located on one side close to the hydraulic cylinder assembly and fixedly connected with the third installation end of the supporting frame, the angle sensor and the acceleration sensor are located on the first side and the second side close to the limiting assembly respectively, the angle sensor is fixedly connected with the third installation end of the pedal platform, and the acceleration sensor is fixedly connected with the fourth installation end of the supporting frame.
Preferably, in the hydraulic cylinder assembly, the center lines of the bottom cover, the cylinder body, the return spring, the piston, the first limiting partition plate, the sliding support body, and the first fixing plate are on the same straight line.
Preferably, in the limiting assembly, the center lines of the plunger support body, the second limiting diaphragm and the second fixing plate are on the same straight line.
Preferably, the number of the servo-regulator valves, the number of the hydraulic cylinder assemblies, and the number of the height sensors are four.
The second aspect of the invention provides a posture adjustment method for an aerial work platform with a leveling function, which comprises the following specific adjustment steps:
s1, detecting and loading an active control signal value of a handle, and loading an automatic leveling initial program in a control assembly;
s2, collecting state information of the high-altitude platform:
s21, the height information of the high-altitude platform is real-time transmitted to the controller through four height sensors kg1, kg2, kg3 and kg4 near the four hydraulic cylinder assemblies;
s22, monitoring angle information of the high-altitude platform in real time through three angle sensors k3x, kg3y and kg3z near the limiting assembly, and transmitting the angle information to the controller;
s23, monitoring the motion information of the high-altitude platform in real time through an acceleration sensor ka4 positioned near the limiting component, and transmitting the motion information to the controller;
s3, the controller solves the acquired high-altitude platform state information and compares the acquired high-altitude platform state information with a given optimal adjustment value:
s31, leveling information is sent to electromagnets of Y11, Y21, Y12 and Y22 in the control valve block, and the electric signal value of the electromagnets of Y11, Y21, Y12 and Y22 in the control valve block is delta I 11 、ΔI 21 、ΔI 12 And DeltaI 22 ；
S32, converting the leveling information into the expansion and contraction quantity of corresponding pistons in the hydraulic cylinder assemblies G11, G21, G12 and G22 through the servo regulating valve, and expanding and contracting quantity Xp of corresponding pistons in the hydraulic cylinder assemblies G11, G21, G12 and G22 11 、Xp 21 、Xp 12 And Xp 22 ；
S33, under the condition of not considering elastic load, neglecting viscous damping force and leakage flow rate of the hydraulic cylinder to obtain piston expansion and contraction amount X p The transfer function expression with the input current Δi is as follows:
in the hydraulic cylinder, the natural frequency is
The damping ratio of the hydraulic cylinder is +.>
Lambda is the speed ratio coefficient of the hydraulic cylinder, A p Is the effective working area of the piston, V t Beta, the total compressed volume e For bulk modulus of elasticity, m t K being the total mass of the compressed oil ce Is the total flow pressure coefficient, w sv Zeta is the natural angular frequency of the servo valve sv K is the damping ratio of the servo valve SV For flow gain of servo valve, A p Is the working area of the piston;
s4, completing five-point dynamic leveling of the high-altitude platform through actions of four hydraulic cylinder assemblies and one limiting assembly under the pedal platform, and monitoring states in real time through sensors positioned near the hydraulic cylinder assemblies and the limiting assemblies in the leveling process.
Compared with the prior art, the invention has the following advantages:
1. according to the invention, through controlling the movements of the hydraulic cylinder assemblies positioned at the four vertex angles of the high-altitude platform and the limiting assembly positioned at the center of the high-altitude platform, the fine adjustment of the high-altitude platform on four degrees of freedom is realized, and the stability and comfort level of the high-altitude platform in operation are improved.
2. The invention replaces the existing high-altitude platform, and adds fine adjustment of a plurality of degrees of freedom on the basis of the original platform, thereby meeting the requirements of working environment, realizing rapid leveling on side wind load, arm support vibration, unbalance state caused by rotation and the like, and having great application prospect.
3. The invention adopts the double control of the controller and the remote controller, and the controller upgrades the control valve block through an algorithm to realize more accurate passive control of the servo regulating valve, thereby being capable of better controlling the movement of the hydraulic cylinder components with four vertex angles.
Drawings
FIG. 1 is a diagram of the entire machine of an aerial work platform with leveling function of the present invention;
FIG. 2 is a top plan view of the aerial work platform with leveling function of the present invention;
FIG. 3 is a leveling block diagram of an aerial work platform with leveling function of the present invention;
FIG. 4 is a cross-sectional view of a hydraulic cylinder assembly in the C-direction of the aerial work platform with leveling function of the present invention;
FIG. 5 is an enlarged view of a portion of the spacing assembly in the I direction of the aerial work platform with leveling function of the present invention;
FIG. 6 is a diagram of a hydraulic leveling system in an aerial work platform with leveling function of the present invention;
fig. 7 is a logic block diagram of attitude adjustment in an aerial work platform with leveling function of the present invention.
The main reference numerals:
the hydraulic pressure platform comprises a high altitude platform 1, a supporting frame 2, a seventh fixing screw 3, a controller 4, a first fixing screw 5, a switch door 6, a pedal platform 7, a sixth fixing screw 8, a control valve block 9, a second fixing screw 10, a hydraulic pipe joint 11, a hydraulic oil pipe 12, a bottom cover 13, a cylinder 14, a return spring 15, a first fixing plate 16, a sliding support 17, a third fixing screw 18, a first limiting baffle 19, a fourth fixing screw 20, a piston 21, a height sensor 22, a plunger support 23, a second limiting baffle 24, a second fixing plate 25, a servo adjusting valve 26, a fifth fixing screw 27, an eighth fixing screw 28, an angle sensor 29, an acceleration sensor 30, a safety overflow valve 31, a one-way valve 32, a hydraulic main pump 33 and a motor 34.
Detailed Description
In order to make the technical content, the structural features, the achieved objects and the effects of the present invention more detailed, the following description will be taken in conjunction with the accompanying drawings.
The aerial working platform with the leveling function is suitable for the existing high-altitude platform system, and fine adjustment of 4 degrees of freedom is added on the basis of not changing an original system, so that lateral wind load is further realized, and the boom vibration and the level adjustment under the complex conditions of unbalance state and the like caused by rotation are realized. As shown in fig. 1 and in combination with fig. 2 and 3, the hydraulic cylinder assembly comprises a main body assembly, a hydraulic cylinder assembly, a limiting assembly and a control assembly, wherein the hydraulic cylinder assembly is positioned at four top corners of the bottom of the high-altitude platform 1 in the main body assembly, the limiting assembly is positioned at the center of the bottom of the high-altitude platform 1 in the main body assembly, a plunger support 23 in the limiting assembly is installed in clearance fit with the center of the bottom of the high-altitude platform 1 in the main body assembly, and the control assembly is connected with the installation end of the main body assembly.
Main part subassembly, as shown in fig. 1, including high altitude platform 1, support frame 2, switch door 6 and pedal platform 7, the first installation end and the second installation end of support frame 2 are respectively through first set screw 5 and second set screw 10 with high altitude platform 1's first installation end and second installation end fixed connection, high altitude platform 1's third installation end adopts in-opening door form and switch door 6 to be connected, pedal platform 7 is located high altitude platform 1's inside.
The hydraulic cylinder assembly, as shown in fig. 4, comprises a bottom cover 13, a cylinder body 14, a return spring 15, a piston 21, a first limiting baffle 19, a sliding support body 17, a first fixing plate 16, a hydraulic pipe joint 11 and a hydraulic oil pipe 12, wherein the sliding support body 17 comprises a plane pair and a ball pair, so that the sliding support body 17 can always provide vertical supporting force when the pedal platform 7 is inclined, four hydraulic cylinder assemblies at the bottom of the high-altitude platform 1 are respectively controlled through independent servo regulating valves 26, and plane control of the pedal platform 7 is realized through control, so that the pedal platform 7 can realize micro-regulation of four degrees of freedom of X, Y, Z axis rotation and Z axis translation.
The cylinder body 14 is located between the high-altitude platform 1 and the support frame 2, and realize the position limitation through the second set screw 10, the lower extreme of cylinder body 14 is connected with the installation end of bottom 13, bottom 13 is located the inside of the fourth installation end of support frame 2, return spring 15 is located the inside of cylinder body 14, the lower extreme of piston 21 passes through the internal connection of return spring 15 and cylinder body 14, the installation end of first fixed plate 16 passes through the first installation end of fourth set screw 20 and pedal platform 7 to be fixed, the installation end of first spacing baffle 19 passes through the installation end of third set screw 18 and sliding support body 17 to be fixed, the upper end of piston 21 passes the middle part of first spacing baffle 19 and sliding support body 17's middle part sliding connection, first spacing baffle 19 is located the inside of the center of first fixed plate 16, the first end of hydraulic pipe joint 11 and the center of bottom 13 link firmly, the second end of hydraulic pipe joint 11 and hydraulic oil pipe 12 link firmly, piston 21 realizes the promotion and the decline of pedal platform 7 through sliding support body 17 under the hydraulic oil effect.
Specifically, the center lines of the bottom cover 13, the cylinder 14, the return spring 15, the piston 21, the first stopper spacer 19, the slide support 17, and the first fixing plate 16 are on the same straight line. When the displacement is different, the sliding support body 17 can slide relatively to the pedal platform, and the central lines of the sliding support body 17 and the first limiting partition plate 19 can deviate.
The limiting assembly, as shown in fig. 5, comprises a plunger support body 23, a second limiting partition plate 24 and a second fixing plate 25, wherein the lower end of the plunger support body 23 is connected with the center of the lower end of the high-altitude platform 1, the upper end of the plunger support body 23 is connected with the center of the second fixing plate 25 through the center of the second limiting partition plate 24, and the mounting ends of the second limiting partition plate 24 and the second fixing plate 25 are respectively and fixedly connected with the second mounting end of the pedal platform 7 through fifth fixing screws 27, so that two translational degrees of freedom of the pedal platform 7 in the XOY plane are limited, as shown in fig. 2.
Specifically, the center lines of the plunger support 23, the second stopper 24, and the second fixing plate 25 are on the same straight line. When the displacement is different, the second limiting diaphragm 24 and the second fixing plate 25 are inclined, and the center line is deviated.
The control assembly comprises a controller 4, a control valve block 9, a servo control valve 26, a height sensor 22, an angle sensor 29 and an acceleration sensor 30, wherein the servo control valve 26 is arranged in the control valve block 9, the installation end of the control valve block 9 is fixedly connected with the fourth installation end of the high-altitude platform 1 through a seventh fixing screw 3, the controller 4 is fixedly connected with the fifth installation end of the high-altitude platform 1 through a sixth fixing screw 8, the height sensor 22 is positioned on one side close to the hydraulic cylinder assembly and is fixedly connected with the third installation end of the support frame 2, the distance between the platform and the ground is monitored in real time to provide relative reference coordinate values, the angle sensor 29 is fixedly connected with the third installation end close to the limiting assembly through an eighth fixing screw 28 and is fixedly connected with the third installation end of the pedal platform 7 to provide real-time pedal flatness values, and the acceleration sensor 30 is fixedly connected with the fourth installation end of the support frame 2 to provide real-time motion state values. The set value of each hydraulic cylinder assembly is analyzed through the solver, and then the leveling action of the pedal platform 7 is realized.
The high-altitude platform 1 acquires real-time plane coordinate values through the height sensor 22 positioned on the hydraulic cylinder assembly, acquires levelness of the real-time pedal platform 7 through the X-axis, Y-axis and Z-axis angle sensors 29 on the plane of the pedal platform 7, realizes dynamic information capture of the high-altitude platform 1 through the bottom acceleration sensor 30, predicts the motion track and the horizontal inclination angle of the high-altitude platform through the solver and gives out a corresponding supporting scheme when the high-altitude platform is subjected to space load, and controls the hydraulic cylinders to give out setting displacement through the four servo regulating valves 26 by controlling electric signals of electromagnets Y11, Y12, Y13 and Y14 corresponding to G11, G21, G12 and G22 in the hydraulic cylinder assembly, finally realizes preset angle inclination to finish preset leveling, and improves the vibration phenomenon of the high-altitude platform 1 through continuous control.
In a preferred implementation of the present invention, the number of servo-regulator valves 26, the number of hydraulic cylinder assemblies, and the number of height sensors 22 are equal, all four.
As shown in fig. 6, four servo control valves 26 are mounted on the control valve block 9, the electromagnets of which are Y11, Y12, Y13 and Y14, respectively, and four hydraulic cylinder assemblies G11, G12, G21 and G22 are controlled respectively; kg1, kg2, kg3 and kg4 are height sensors 22 respectively installed near the four hydraulic cylinder assemblies, and height information is obtained in real time; k3x, kg3y and kg3z are angle sensors 29 respectively installed near the limiting assembly and are responsible for monitoring the angle information of the platform; ka4 is an acceleration sensor 30, which is installed near the limiting component, and the negative person monitors the motion state of the high altitude platform 1; the remote controller inputs control values to the outside, the input values and the state monitoring values provide solving operation through a microcomputer controller in the controller 4, and the leveling control is realized by controlling the power-on state of the electromagnet of the servo regulating valve 26 so as to control the hydraulic cylinder assembly.
In fig. 6, the motor 34 is a leveling control motor; the hydraulic main pump 33 is a main pump of a leveling hydraulic system and provides a hydraulic cylinder power source; the check valve 32 is used for protecting the safety of the main pump of the leveling hydraulic system; the relief valve 31 is used to ensure the leveling of the hydraulic system control pressure and the unloading of the hydraulic main pump 33. The output end of the motor 34 is connected to the first end of the hydraulic main pump 33, the second end of the hydraulic main pump 33 is connected to the first end of the check valve 32, the second end of the check valve 32 is connected to the first input end of the electromagnet in the servo control valve 26, the first end of the relief valve 31 is connected to the hydraulic cylinder, and the second end of the relief valve 31 is connected to the second input end of the electromagnet in the servo control valve 26.
In one implementation of the present invention, the hydraulic main pump 33 is a power source of the hydraulic system, and may be disposed on the main body of the main machine or may be disposed on the arm support, so that the leveling power is small, and therefore, the low-power motor 34 is used to drive the low-power hydraulic main pump 33, which is just one implementation manner, and may also directly supply oil through the main hydraulic system.
The second aspect of the present invention provides a method for adjusting the pose of an aerial work platform with a leveling function, as shown in fig. 7, wherein the specific pose adjustment steps are as follows:
s1, detecting and loading an active control signal value of a handle, and loading an automatic leveling initial program in a control assembly;
s2, collecting state information of the high-altitude platform:
and S21, the height information of the high-altitude platform 1 is real-time transmitted to the controller 4 through four height sensors kg1, kg2, kg3 and kg4 which are positioned near the four hydraulic cylinder assemblies.
S22, angle information of the high-altitude platform 1 is monitored in real time through three angle sensors k3x, kg3y and kg3z near the limiting assembly, and is transmitted to the controller 4.
And S23, monitoring the motion information of the high-altitude platform 1 in real time through an acceleration sensor ka4 positioned near the limiting assembly, and transmitting the motion information to the controller 4.
S3, the controller 4 solves the acquired state information of the high-altitude platform 1 and compares the state information with a given optimal adjustment value (wherein the optimal adjustment value is given through an experimental test) in a preset program:
s31, leveling information is sent to electromagnets of Y11, Y21, Y12 and Y22 in the control valve block 9, and the electric signal value of the electromagnets of Y11, Y21, Y12 and Y22 in the control valve block is delta I 11 、ΔI 21 、ΔI 12 And DeltaI 22 。
S32, converting the leveling information into the expansion and contraction amount of corresponding pistons in the hydraulic cylinder assemblies G11, G21, G12 and G22 through the servo regulating valve 26, and the expansion and contraction amount Xp of corresponding pistons 21 in the hydraulic cylinder assemblies G11, G21, G12 and G22 11 、Xp 21 、Xp 12 And Xp 22 。
S33, under the condition of not considering elastic loadUnder the condition, the viscous damping force and the leakage flow rate of the hydraulic cylinder are ignored, and the piston expansion and contraction amount X is obtained p The transfer function expression with the input current Δi is as follows:
in the hydraulic cylinder, the natural frequency is
The damping ratio of the hydraulic cylinder is +.>
Lambda is the speed ratio coefficient of the hydraulic cylinder, A p V being the effective working area of the piston 21 t Beta, the total compressed volume e Is the modulus of elasticity in bulk, m t K being the total mass of the compressed oil ce Is the total flow pressure coefficient, w sv Zeta is the natural angular frequency of the servo valve sv K is the damping ratio of the servo valve SV For flow gain of servo valve, A p Is the working area of the piston 21.
S4, completing five-point dynamic leveling of the high-altitude platform 1 through actions of four hydraulic cylinder assemblies and one limiting assembly under the pedal platform 7, and monitoring states in real time through sensors positioned near the hydraulic cylinder assemblies and the limiting assemblies in the leveling process.
Further, in the gesture adjusting method of the invention, the control valve block 9, the servo adjusting valve group 26 and four identical hydraulic cylinder assemblies form a hydraulic control system, wherein the piston 21 of the hydraulic cylinder assembly is used as a control quantity, and the hydraulic control system takes an external pump source as a power source; the four identical hydraulic cylinder assemblies, the limiting assemblies and the pedal platform 7 form a hydraulic cylinder leveling structure, wherein the working state of the pedal platform 7 is determined by a sliding support body 17 of the hydraulic cylinder assemblies and a second limiting baffle 24 in the limiting assemblies; the four identical hydraulic cylinder components and the limiting component form a five-point support platform for the pedal platform 7; status detection, which is classified into acceleration detection, speed detection, altitude detection, and angle detection, wherein acceleration detection and speed detection are realized by the ka4 acceleration sensor 30, altitude detection is realized by the kg1, kg2, kg3, and kg4 altitude sensors 22, and angle detection is realized by the k3x, kg3y, and kg3z angle sensors 29.
The aerial work platform with the leveling function and the gesture adjusting method thereof are further described by combining the embodiment:
the specific gesture adjusting method comprises the following steps:
case one: pitching vibration of the high-altitude platform 1 on the XOY plane caused by pitching deflection of the arm support, variable load and the like.
S1, detecting and loading an active control signal value of a handle, and loading an automatic leveling initial program in a control assembly;
s2, acquiring state information of the high-altitude platform 1:
s21, acquiring the coordinate value of a real-time plane through the height information of the high-altitude platform 1 by four height sensors kg1, kg2, kg3 and kg4 positioned near the four hydraulic cylinder assemblies, and transmitting the coordinate value to the controller 4.
S22, angle information of the high-altitude platform 1 is monitored in real time through three angle sensors k3X, kg3Y and kg3Z near the limiting assembly, and real-time levelness of the pedal platform 7 on the pedal plane X axis, the pedal plane Y axis and the pedal plane Z axis respectively is obtained and transmitted to the controller 4.
S23, the motion information of the high-altitude platform 1 is monitored in real time through an acceleration sensor ka4 positioned near the limiting assembly, and the dynamic information of the high-altitude platform 1 is captured and transmitted to the controller 4.
S3, the controller 4 solves the acquired state information of the high-altitude platform 1, compares the state information with a given optimal adjustment value (wherein a preset program of the optimal adjustment value is given through experimental tests), gives a corresponding supporting scheme of the high-altitude platform 1 under the current motion track and the horizontal dip angle, sends leveling information to the control valve block 9 through an electric signal, and controls the expansion and contraction amount of a corresponding piston 21 in the hydraulic cylinder assembly through the servo adjusting valve 26 to realize dynamic adjustment of the levelness of the pedal platform 7.
S4, completing five-point dynamic leveling of the high-altitude platform 1 through actions of four hydraulic cylinder assemblies and one limiting assembly under the pedal platform 7, and monitoring states in real time through sensors positioned near the hydraulic cylinder assemblies and the limiting assemblies in the leveling process.
Based on S3 and S4, the specific operation steps for the case are as follows: as shown in fig. 2, when the electromagnets Y11 and Y12 (Y11 and Y22 correspond to G11 and G12, respectively) of the hydraulic cylinder assembly are powered up, the fixed side (lower side shown in fig. 2) of the aerial platform rises, and when the electromagnets Y21 and Y22 are powered down, the suspended side (upper side shown in fig. 2) of the aerial platform falls, so that the upward movement of the aerial platform 1 can be restrained relative to the rotation angle of the X axis; when the electromagnets Y11 and Y12 are powered off, the fixed side (the lower side shown in the figure 2) of the high-altitude platform is lowered, when the electromagnets Y21 and Y22 are powered on, the suspended side (the upper side shown in the figure 2) of the high-altitude platform is raised, and the sinking action of the working platform can be restrained relative to the X-axis rotation angle due to the actions; the pitching vibration phenomenon of the high-altitude platform 1 can be improved by continuous control.
And a second case: the boom is subject to roll or lateral vibrations of the aerial platform 1 caused by other lateral loads such as wind loads.
S1, detecting and loading an active control signal value of a handle, and loading an automatic leveling initial program in a control assembly;
s2, acquiring state information of the high-altitude platform 1:
s21, acquiring the coordinate value of a real-time plane through the height information of the high-altitude platform 1 by four height sensors kg1, kg2, kg3 and kg4 positioned near the four hydraulic cylinder assemblies, and transmitting the coordinate value to the controller 4.
S22, angle information of the high-altitude platform 1 is monitored in real time through three angle sensors k3X, kg3Y and kg3Z near the limiting assembly, and real-time levelness of the pedal platform 7 on the pedal plane X axis, the pedal plane Y axis and the pedal plane Z axis respectively is obtained and transmitted to the controller 4.
S23, the motion information of the high-altitude platform 1 is monitored in real time through an acceleration sensor ka4 positioned near the limiting assembly, and the dynamic information of the high-altitude platform 1 is captured and transmitted to the controller 4.
And S3, when other side loads such as wind load are received, the controller 4 solves the acquired state information of the high-altitude platform 1, compares the state information with a given optimal adjustment value (wherein the optimal adjustment value is preset through experimental tests), gives a supporting scheme for the high-altitude platform 1 to correspondingly restrain the action under the current motion track and the horizontal dip angle, sends leveling information to the control valve block 9 through an electric signal, and controls the expansion and contraction amount of a corresponding piston 21 in the hydraulic cylinder assembly through the servo adjusting valve 26 so as to dynamically adjust the levelness of the pedal platform 7.
S4, completing five-point dynamic leveling of the high-altitude platform 1 through actions of four hydraulic cylinder assemblies and one limiting assembly under the pedal platform 7, and monitoring states in real time through sensors positioned near the hydraulic cylinder assemblies and the limiting assemblies in the leveling process.
Based on S3 and S4, the method comprises the following specific operation steps: as shown in fig. 2, when the Y11 and Y21 electromagnets are powered on, the left side of the high-altitude platform 1 rises, and when the Y12 and Y22 electromagnets are powered off, the right side of the high-altitude platform 1 descends, and the action generates a left tilting action of the high-altitude platform 1 relative to the rotation angle of the Y axis; when the electromagnets Y11 and Y21 are powered off, the left side of the high-altitude platform 1 descends, when the electromagnets Y12 and Y22 are powered on, the right side of the high-altitude platform 1 ascends, and the action generates a rotation angle relative to the Y axis so as to inhibit the right tilting action of the high-altitude platform 1; the left-right vibration phenomenon of the high-altitude platform 1 can be improved by continuous control.
And a third case: under the complex working condition of the arm support, the high-altitude platform 1 tilts and vibrates spatially.
S1, detecting and loading an active control signal value of a handle, and loading an automatic leveling initial program in a control assembly;
s2, acquiring state information of the high-altitude platform 1:
s21, acquiring real-time coordinate values relative to a reference plane through the height information of the high-altitude platform 1 in real time by four height sensors kg1, kg2, kg3 and kg4 positioned near the four hydraulic cylinder assemblies, and transmitting the coordinate values to the controller 4.
S22, angle information of the high-altitude platform 1 is monitored in real time through three angle sensors k3X, kg3Y and kg3Z near the limiting assembly, and real-time levelness of the pedal platform 7 on the pedal plane X axis, the pedal plane Y axis and the pedal plane Z axis respectively is obtained and transmitted to the controller 4.
S23, the motion information of the high-altitude platform 1 is monitored in real time through an acceleration sensor ka4 positioned near the limiting assembly, and the dynamic information of the high-altitude platform 1 is captured and transmitted to the controller 4.
And S3, when the space load is applied, the controller 4 solves the acquired state information of the high-altitude platform 1, compares the state information with a given optimal adjustment value (wherein the optimal adjustment value is given through an experimental test), gives a supporting scheme for correspondingly restraining the motion of the high-altitude platform 1 under the current motion track and the horizontal inclination angle, and realizes the inclination of four supporting point planes according to a preset angle by controlling the electromagnet electric signals of Y11, Y21, Y12 and Y22.
S4, five-point dynamic leveling of the high-altitude platform 1 is completed through actions of four hydraulic cylinder assemblies and one limiting assembly under the pedal platform 7, real-time state monitoring is carried out through sensors positioned near the hydraulic cylinder assemblies and the limiting assemblies in the leveling process, and the space vibration phenomenon of the high-altitude platform 1 can be improved through continuous control.
Case four: the levelness of the high-altitude platform 1 is actively adjusted.
S1, detecting and loading an active control signal value of a handle, and loading an automatic leveling initial program in a control assembly;
s2, acquiring state information of the high-altitude platform 1:
s21, acquiring real-time coordinate values relative to a reference plane through the height information of the high-altitude platform 1 in real time by four height sensors kg1, kg2, kg3 and kg4 positioned near the four hydraulic cylinder assemblies, and transmitting the coordinate values to the controller 4.
S22, angle information of the high-altitude platform 1 is monitored in real time through three angle sensors k3X, kg3Y and kg3Z near the limiting assembly, and real-time levelness of the pedal platform 7 on the pedal plane X axis, the pedal plane Y axis and the pedal plane Z axis respectively is obtained and transmitted to the controller 4.
S23, the motion information of the high-altitude platform 1 is monitored in real time through an acceleration sensor ka4 positioned near the limiting assembly, and the dynamic information of the high-altitude platform 1 is captured and transmitted to the controller 4.
And S3, when the space load is applied, the controller 4 solves the acquired state information of the high-altitude platform 1, compares the state information with a given optimal adjustment value (wherein the optimal adjustment value is given through experimental tests), gives a supporting scheme for correspondingly restraining the motion of the high-altitude platform 1 under the current motion track and the horizontal dip angle, and outputs preset displacement by controlling electromagnet electric signals of Y11, Y21, Y12 and Y22 and four identical hydraulic cylinder assemblies so as to realize the active adjustment of the pedal plane 7.
S4, five-point dynamic leveling of the high-altitude platform 1 is completed through actions of four hydraulic cylinder assemblies and one limiting assembly under the pedal platform 7, real-time state monitoring is carried out through sensors positioned near the hydraulic cylinder assemblies and the limiting assemblies in the leveling process, and levelness active adjustment of the high-altitude platform 1 can be improved through continuous control.
The leveling process under the four conditions realizes the angle closed-loop control of the pedal platform 7 through the angle sensors 29 installed on the X axis, the Y axis and the Z axis at the lower part of the pedal platform 7, and effectively improves the use comfort and the safety of the high-altitude platform 1.
Compared with the existing leveling mechanism, the device has the advantages that: 1. the whole device has the advantages of high leveling precision, quick response and the like by adopting the servo regulating valve for control; 2. the whole device has multiple free adjustment, can realize multiple leveling working conditions, and has wide application range.
The above examples are only illustrative of the preferred embodiments of the present invention and are not intended to limit the scope of the present invention, and various modifications and improvements made by those skilled in the art to the technical solution of the present invention should fall within the scope of protection defined by the claims of the present invention without departing from the spirit of the present invention.
Claims (2)
1. An aerial working platform with leveling function comprises a main body component, a hydraulic cylinder component, a limiting component and a control component, wherein the hydraulic cylinder component is positioned at four top corners of the bottom of the aerial working platform in the main body component, the limiting component is positioned at the center of the bottom of the aerial working platform, the control component is connected with the mounting end of the main body component,
the main body assembly comprises a high-altitude platform, a support frame, a switch door and a pedal platform, wherein a first installation end and a second installation end of the support frame are fixedly connected with the first installation end and the second installation end of the high-altitude platform respectively, a third installation end of the high-altitude platform is connected with the switch door, and the pedal platform is positioned in the high-altitude platform;
the hydraulic cylinder assembly comprises a bottom cover, a cylinder body, a return spring, a piston, a first limiting partition plate, a sliding support body, a first fixing plate, a hydraulic pipe joint, a safety overflow valve, a one-way valve and a hydraulic main pump, wherein the lower end of the cylinder body is connected with the mounting end of the bottom cover, the bottom cover is positioned in the fourth mounting end of the support frame, the return spring is positioned in the cylinder body, the lower end of the piston is connected with the cylinder body through the return spring, the mounting end of the first fixing plate is fixedly connected with the first mounting end of a pedal platform, the mounting end of the first limiting partition plate is fixedly connected with the mounting end of the sliding support body, the upper end of the piston penetrates through the middle part of the first limiting partition plate and the middle part of the sliding support body, the first limiting partition plate is positioned in the center of the first fixing plate, the first end of the hydraulic pipe joint is fixedly connected with the center of the bottom cover, the second end of the hydraulic pipe joint is fixedly connected with the hydraulic pipe, and the piston is used for realizing descending of the pedal platform through the sliding support body under the action of hydraulic oil;
the control assembly comprises a controller, a control valve block, a servo control valve, a height sensor, an angle sensor and an acceleration sensor, wherein the servo control valve is arranged in the control valve block, the installation end of the control valve block is fixedly connected with the fourth installation end of the high-altitude platform, the controller is fixedly connected with the fifth installation end of the high-altitude platform, the height sensor is positioned at one side close to the hydraulic cylinder assembly and is fixedly connected with the third installation end of the support frame, the angle sensor is fixedly connected with the third installation end of the pedal platform, and the acceleration sensor is fixedly connected with the fourth installation end of the support frame; the height sensor monitors the distance between the high-altitude platform and the ground in real time; the angle sensor provides levelness of the real-time pedal platform; the acceleration sensor monitors the motion information of the high-altitude platform in real time;
the output end of the motor is connected with the first end of the hydraulic main pump, the second end of the hydraulic main pump is connected with the first end of the one-way valve, the second end of the one-way valve is connected with the input end of the servo regulating valve, the first end of the safety overflow valve is connected with the oil tank, and the second end of the safety overflow valve is connected with the input end of the servo regulating valve;
the limiting assembly comprises a plunger support body, a second limiting baffle plate and a second fixing plate, wherein the lower end of the plunger support body is connected with the center of the lower end of the high-altitude platform, the upper end of the plunger support body passes through the center of the second limiting baffle plate and is connected with the center of the second fixing plate, and the mounting ends of the second limiting baffle plate and the second fixing plate are respectively fixedly connected with the second mounting end of the pedal platform to limit two translational degrees of freedom of the pedal platform;
the number of the servo regulating valves, the number of the hydraulic cylinder assemblies and the number of the height sensors are four.
2. The aerial work platform with the leveling function according to claim 1, wherein the first mounting end and the second mounting end of the support frame are fixedly connected with the first mounting end and the second mounting end of the aerial work platform through a first fixing screw and a second fixing screw respectively.
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| CN208054849U (en) * | 2018-04-13 | 2018-11-06 | 江苏建筑职业技术学院 | A kind of novel high-altitude platform operations vehicle levelling device |
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| US6820980B1 (en) * | 2001-03-23 | 2004-11-23 | Panavision, Inc. | Automatic pan and tilt compensation system for a camera support structure |
| JP2002321900A (en) * | 2001-04-26 | 2002-11-08 | Aichi Corp | Safety device for high lift work vehicle |
| EP2684836A1 (en) * | 2012-07-12 | 2014-01-15 | Miguel Leon Gonzalez | Direction and speed control device for telescopic and articulated hydraulic lifting equipments. |
| CN108010560A (en) * | 2017-11-14 | 2018-05-08 | 天津大学 | A kind of six-freedom degree pose adjusts turntable |
| CN111217298A (en) * | 2018-11-26 | 2020-06-02 | 徐州徐工液压件有限公司 | Automatic attitude adjusting device and method based on intelligent sensor digital hydraulic cylinder |
| CN111302227A (en) * | 2020-02-28 | 2020-06-19 | 西安石油大学 | Multi-degree-of-freedom lifting platform device and automatic leveling method |
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