CN115180564A - Wheel bearing reaction force detection device, system and aerial work platform - Google Patents

Wheel bearing reaction force detection device, system and aerial work platform Download PDF

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Publication number
CN115180564A
CN115180564A CN202210648106.7A CN202210648106A CN115180564A CN 115180564 A CN115180564 A CN 115180564A CN 202210648106 A CN202210648106 A CN 202210648106A CN 115180564 A CN115180564 A CN 115180564A
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CN
China
Prior art keywords
axle
reaction force
wheel
force detection
knuckle
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Granted
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CN202210648106.7A
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Chinese (zh)
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CN115180564B (en
Inventor
莫崇卫
孙泽海
黄斌
陶元
王毅
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Hunan Zoomlion Intelligent Aerial Work Machinery Co Ltd
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Hunan Zoomlion Intelligent Aerial Work Machinery Co Ltd
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Priority to CN202210648106.7A priority Critical patent/CN115180564B/en
Publication of CN115180564A publication Critical patent/CN115180564A/en
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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
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
    • B60R16/00—Electric or fluid circuits specially adapted for vehicles and not otherwise provided for; Arrangement of elements of electric or fluid circuits specially adapted for vehicles and not otherwise provided for
    • B60R16/02—Electric or fluid circuits specially adapted for vehicles and not otherwise provided for; Arrangement of elements of electric or fluid circuits specially adapted for vehicles and not otherwise provided for electric constitutive elements
    • B60R16/023—Electric or fluid circuits specially adapted for vehicles and not otherwise provided for; Arrangement of elements of electric or fluid circuits specially adapted for vehicles and not otherwise provided for electric constitutive elements for transmission of signals between vehicle parts or subsystems
    • B60R16/0231—Circuits relating to the driving or the functioning of the vehicle
    • B60R16/0232—Circuits relating to the driving or the functioning of the vehicle for measuring vehicle parameters and indicating critical, abnormal or dangerous conditions
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66F—HOISTING, LIFTING, HAULING OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD
    • B66F11/00—Lifting devices specially adapted for particular uses not otherwise provided for
    • B66F11/04—Lifting devices specially adapted for particular uses not otherwise provided for for movable platforms or cabins, e.g. on vehicles, permitting workmen to place themselves in any desired position for carrying out required operations
    • B66F11/042—Lifting devices specially adapted for particular uses not otherwise provided for for movable platforms or cabins, e.g. on vehicles, permitting workmen to place themselves in any desired position for carrying out required operations actuated by lazy-tongs mechanisms or articulated levers
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01L—MEASURING FORCE, STRESS, TORQUE, WORK, MECHANICAL POWER, MECHANICAL EFFICIENCY, OR FLUID PRESSURE
    • G01L5/00—Apparatus for, or methods of, measuring force, work, mechanical power, or torque, specially adapted for specific purposes
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01L—MEASURING FORCE, STRESS, TORQUE, WORK, MECHANICAL POWER, MECHANICAL EFFICIENCY, OR FLUID PRESSURE
    • G01L5/00—Apparatus for, or methods of, measuring force, work, mechanical power, or torque, specially adapted for specific purposes
    • G01L5/20—Apparatus for, or methods of, measuring force, work, mechanical power, or torque, specially adapted for specific purposes for measuring wheel side-thrust
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01M—TESTING STATIC OR DYNAMIC BALANCE OF MACHINES OR STRUCTURES; TESTING OF STRUCTURES OR APPARATUS, NOT OTHERWISE PROVIDED FOR
    • G01M17/00—Testing of vehicles
    • G01M17/007—Wheeled or endless-tracked vehicles
    • G01M17/013—Wheels

Abstract

The invention relates to a wheel thrust reaction detection device, a system and an aerial work platform, wherein the wheel thrust reaction detection device comprises detection mechanisms, two detection mechanisms and a control mechanism, wherein the two detection mechanisms are respectively arranged at two ends of an axle and used for detecting the thrust reactions on wheels at the two ends of the axle; the detection mechanism comprises a pin shaft, the pin shaft penetrates through the axle and the steering knuckle, and the axle and the steering knuckle are rotationally connected through the pin shaft; and the sensing assembly is sleeved on the pin shaft, is arranged between the axle and the steering knuckle and is in contact with the end face of the axle so as to detect the load of the end face of the axle in the vertical direction. The wheel bearing reaction force detection device, the wheel bearing reaction force detection system and the aerial work platform have the advantages that the wheel bearing reaction force is directly and accurately detected in real time, and the work range is expanded as far as possible under the condition that the aerial work platform cannot tip over.

Description

Wheel bearing reaction force detection device, system and aerial work platform
Technical Field
The invention belongs to the field of aerial work equipment, and particularly relates to a wheel support reaction force detection device, a wheel support reaction force detection system and an aerial work platform.
Background
An Aerial work platform (Aerial work platform) is a movable Aerial work product for serving Aerial work, equipment installation, maintenance and the like in various industries. According to the difference of structural characteristics, the aerial work platform mainly comprises an arm type aerial work platform, a scissor type aerial work platform, a trailer type aerial work platform, a cross-country aerial work platform, a telescopic cylinder type aerial work platform, a spider type aerial work platform and the like.
Taking an arm type aerial work platform as an example, the aerial work platform mainly comprises three parts, namely a chassis, a rotary table and an arm support, wherein the chassis is usually matched with tires, tracks and the like to realize a walking function, and the rotary table is arranged on the chassis and can perform horizontal rotation motion so as to adjust the work direction. The arm support is arranged on the rotary table and can perform vertical turnover motion and axial telescopic motion so as to adjust the amplitude-variable angle and the elongation, so that the top end of the arm support is lifted to a target position, and workers can conveniently perform high-altitude operation or convey objects to the high altitude.
At present, safety is one of the most considered problems of an aerial work platform, stability is directly reflected of safety performance, for an arm type aerial work platform, a large tilting moment is generated in the process of amplitude variation and extension of an arm frame of the arm type aerial work platform, in order to prevent the aerial work platform from tilting due to the large tilting moment, a fixed maximum allowable ground working inclination angle is usually set to achieve the anti-tilting of the aerial work platform, and actually, the maximum inclination angle is determined based on extreme working conditions and is not adjusted in real time along with the changes of the load size, the load position of the work platform, the lifting height and other conditions, so that the tilting accident of a whole vehicle is prevented, the maximum allowable ground working inclination angle determined through stability calculation is limited in a small range, usually not more than 3.0 degrees, and the use range of the aerial work platform under the ground conditions with different inclination angles is severely limited.
Disclosure of Invention
The present invention has been made to solve the above problems, and an object of the present invention is to provide a wheel support reaction force detection device, system, and aerial work platform that can expand the work area as much as possible without the aerial work platform tipping over by directly and accurately detecting the wheel support reaction force in real time.
The technical scheme of the invention is as follows:
a wheel bearing reaction force detection device comprises detection mechanisms, wherein the two detection mechanisms are respectively arranged at two ends of an axle and are used for detecting bearing reaction forces on wheels at the two ends of the axle;
the detection mechanism comprises a pin shaft, the pin shaft penetrates through the axle and the steering knuckle, and the axle and the steering knuckle are rotationally connected through the pin shaft; and
the sensing assembly is sleeved on the pin shaft, arranged between the axle and the steering knuckle and contacted with the end face of the axle so as to detect the load of the end face of the axle in the vertical direction.
Preferably, the steering knuckle comprises a bearing, the pin shaft is matched with an inner ring of the bearing, and the bearing is embedded in the steering knuckle.
Preferably, the sensing assembly comprises a spacer and a sensor, the spacer being located above the sensor.
Preferably, a first accommodating cavity is formed in the steering knuckle, and the end part of the axle is placed in the first accommodating cavity; the sensor is located between a lower side portion of the axle and an inner side portion of the knuckle, and the shim is in contact with the lower side portion of the axle.
Preferably, the bottom of the sensor is at least partially embedded in the knuckle.
Preferably, a second accommodating cavity is formed in the axle, and the end part of the steering knuckle is placed in the second accommodating cavity;
the sensor is located between an upper inner side of the axle and an upper outer side of the knuckle, and the shim is in contact with the upper inner side of the axle.
Preferably, the axle comprises a front axle and/or a rear axle.
A wheel reaction force detection system includes the wheel reaction force detection device;
a controller configured to: the system is used for acquiring real-time support reaction forces of all detection mechanisms to determine the sum of the support reaction forces of the wheels on the same side, judging whether the sum of the support reaction forces of the wheels on the same side exceeds a first set threshold value, and if the sum exceeds the first set threshold value, limiting the system to act and/or alarm.
Preferably, the controller is further configured to: and acquiring the real-time weight load of the working platform, judging whether the weight load exceeds a second set threshold value, and if so, limiting the execution of system action and/or alarming.
An aerial work platform comprises the wheel bearing reaction force detection system.
The invention provides a wheel bearing reaction force detection device, a system and an aerial work platform, wherein the wheel bearing reaction force detection device comprises a detection mechanism for detecting bearing reaction forces on wheels at two ends of an axle, specifically, a pin shaft is arranged between a rotary connecting structure between the axle and a steering knuckle, the pin shaft plays a role in connection and fully ensures the realization of a steering function between the axle and the steering knuckle, the axial direction of the pin shaft is parallel to the vertical direction and the direction of the wheel bearing reaction force, when the bearing reaction force on the wheel changes, an acting force is applied to the wheel from the end surface of the axle along the vertical direction, and then the load of the end surface of the axle in the vertical direction is detected. The measuring mode has no force resolution and time interval difference, can measure the support reaction force of each wheel in real time, and can expand the working range as much as possible under the condition that the aerial work platform does not tip over.
Drawings
The accompanying drawings, which are included to provide an understanding of the invention and are incorporated in and constitute a part of this specification, illustrate embodiments of the invention and together with the description serve to explain the invention without limiting the invention. In the drawings:
fig. 1 is a schematic structural view of a wheel reaction force detection device according to an embodiment of the present invention;
fig. 2 is a schematic structural diagram of a wheel support reaction force detecting device according to an embodiment of the present invention mounted on a chassis;
FIG. 3 is a schematic structural diagram of a sensor provided in an embodiment of the present invention;
fig. 4 is a schematic diagram of force transmission and balance relationship between a wheel and a chassis when the wheel support reaction force detection device provided by the embodiment of the invention is used;
fig. 5 is a structural diagram of a wheel reaction force detection system according to an embodiment of the present invention;
fig. 6 is a schematic system architecture diagram of a wheel reaction force detection system according to an embodiment of the present invention;
fig. 7 is a schematic system architecture diagram of a wheel reaction force detection system according to an embodiment of the present invention;
FIG. 8 is a schematic view of a 15 ° slope walking of the aerial work platform according to the embodiment of the present invention;
FIG. 9 is a schematic view of the range of operation of the aerial platform provided by the embodiments of the present invention;
fig. 10 is a schematic diagram of early warning and protection against other unexpected working conditions of the aerial work platform according to the embodiment of the present invention.
Description of the reference numerals
1. A detection mechanism; 11. a pin shaft; 12. a gasket; 13. a sensor; 2. an axle; 21. a second accommodating chamber; 3. a knuckle; 31. a first accommodating chamber; 4. a bearing; 5. a wheel; 6. a chassis; 7. a working platform; 8. a foreign matter; 100. a wheel support reaction force detection device; 200. a controller; 300. an execution system; 301. an actuator; 302. and an alarm device.
Detailed Description
In order to make those skilled in the art better understand the technical solutions in the present application, the technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application, and it is obvious that the described embodiments are only a part of the embodiments of the present application, and not all the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present application.
In the description of the present invention, it is to be understood that the terms "upper", "lower", and the like, indicate an orientation or positional relationship only for the convenience of description and simplicity of description, but do not indicate or imply that the referenced components or elements must have a particular orientation, be constructed and operated in a particular orientation, and thus, are not to be construed as limiting the present invention.
As shown in the embodiments of fig. 1 to 10, the present invention provides a wheel reaction force detection device 100, which includes two detection mechanisms 1, wherein the two detection mechanisms 1 are respectively disposed at two ends of an axle 2, and are used for detecting reaction forces on wheels 5 at the two ends of the axle 2; the detection mechanism 1 comprises a pin shaft 11, the pin shaft 11 penetrates through the axle 2 and the steering knuckle 3, and the axle 2 and the steering knuckle 3 are rotatably connected through the pin shaft 11; and the sensing assembly is sleeved on the pin shaft 11, is arranged between the axle 2 and the steering knuckle 3, and is in contact with the end face of the axle 2 so as to detect the load of the end face of the axle 2 in the vertical direction.
The invention provides a wheel support reaction force detection device 100, a system and an aerial work platform, wherein the wheel support reaction force detection device 100 comprises a detection mechanism 1, support reaction forces on wheels 5 at two ends of an axle 2 are detected, specifically, a pin shaft 11 is arranged between a rotary connecting structure between the axle 2 and a steering knuckle 3, the pin shaft 11 plays a connecting role and fully ensures the realization of a steering function between the axle 2 and the steering knuckle, the axial direction of the pin shaft 11 is parallel to the vertical direction and the support reaction force direction of the wheels 5, when the support reaction force on the wheels 5 changes, an acting force is applied to the wheels 5 from the end surface of the axle 2 along the vertical direction, and then the load of the end surface of the axle 2 in the vertical direction is detected. The measuring mode has no force resolution and time interval difference, can measure the support reaction force of each wheel 5 in real time, and can expand the working range as much as possible under the condition that the aerial work platform does not tip over.
For the arm type aerial work platform, a large tipping moment can be generated in the process of amplitude variation and expansion of an arm frame of the arm type aerial work platform, in order to prevent the aerial work platform from tipping over due to the large tipping moment, a fixed maximum allowable ground working inclination angle is usually set to realize the tipping over prevention of the aerial work platform, the maximum allowable ground working inclination angle is fixed before the aerial work platform works, actually, the tipping over of the aerial work platform finally reacts to prevent the wheels 5 from being in dynamic or static balance any more when the wheels 5 are stressed, the center of gravity of the aerial work platform deviates, and the wheels 5 partially break away from the ground. The maximum allowable ground working inclination angle is determined according to the extreme working condition of the aerial work platform, and is not adjusted in real time along with the change of the load size, the position of the load on the work platform 7, the lifting height and other conditions in the working process of the aerial work platform, so that the maximum allowable ground working inclination angle is equivalent to the aerial work platform in the prior art, and the allowable ground working inclination angle is always in a safety range by sacrificing the working range. In fact, in most cases, the real-time load condition of each wheel 5 can be known by detecting the reaction force condition on each wheel 5 in real time, and if the reaction force condition is within the safety threshold, the application range of the aerial work platform can be further expanded. For example, when the telescopic arm type aerial work platform is in a low load (much less than the rated load), the aerial work platform in the prior art still needs to be in the extreme severe working condition working curve, and the wheel support reaction force detection device 100 provided by the application detects the support reaction force condition of each wheel 5, and then determines whether the support reaction force condition is greater than the set threshold value, if the support reaction force condition is greater than the set threshold value, the work platform 7 can still extend forwards, so that the working range of the work platform 7 can be greatly expanded.
The wheel support reaction force detection device 100 includes a bearing 4, a pin 11 is fitted to an inner ring of the bearing 4, and the bearing 4 is embedded in the knuckle 3. By this structure, relative rotation between the pin 11 and the knuckle 3 is achieved.
In the embodiment provided by the present invention, the sensing assembly comprises a pad 12 and a sensor 13, and the pad 12 is located above the sensor 13. The pad 12 is arranged to prevent friction between the end face of the axle 2 or the inner side face of the knuckle 3 and the end face of the sensor 13, that is, friction between the end face of the sensor 13 and other parts on the upper surface thereof, when the aerial work platform is subjected to a certain load during operation. The pad 12 is preferably a wear resistant material such as a copper pad 12 or a resilient pad 12.
The invention provides a wheel support reaction force detection device 100, which is suitable for an arm type aerial work platform adopting a wide-wheel-track chassis structure, and is used for measuring support reaction forces of wheels 5 on the aerial work platform with medium and large loads, so that the core of the invention is that the wheel support reaction force detection device 100 is arranged on the wide-wheel-track chassis 6, and the support reaction force condition of each wheel 5 can be directly measured in real time under the condition of not influencing the steering of the wheels 5, and the specific reference is made to the following embodiments:
in the first embodiment, a first accommodating cavity 31 is formed in the knuckle 3, and the end of the axle 2 is placed in the first accommodating cavity 31; the sensor 13 is located between the lower side portion of the axle 2 and the inner side portion of the knuckle 3, and the pad 12 is in contact with the lower side portion of the axle 2. The axle 2 is rotatably connected to the steering knuckle 3, the end of the axle 2 is placed in the first receiving chamber 31, i.e. the steering knuckle 3 is fitted over the end of the axle 2, and the sensor 13 is mounted between the lower side of the axle 2 and the inner side of the steering knuckle 3, and the pad 12 is in contact with the lower side of the axle 2. It follows that the mounting position of the sensor 13 is determined according to the connection between the axle 2 and the knuckle 3.
Preferably, the bottom of the sensor 13 is at least partially embedded in the knuckle 3, so that the bottom of the sensor 13 can be fixed, and the situation that the measurement is inaccurate due to radial or axial displacement of the sensor 13 in the measurement process is avoided. On the other hand, the sensor 13 is also well protected.
In the second embodiment, a second accommodating cavity 21 is arranged in the axle 2, and the end part of the steering knuckle 3 is arranged in the second accommodating cavity 21; the sensor 13 is located between the upper inner side of the axle 2 and the upper outer side of the knuckle 3, and the pad 12 is in contact with the upper inner side of the axle 2. Different from the previous embodiment, the connection mode between the axle 2 and the knuckle 3 is different, the axle 2 is sleeved on the outer side of the knuckle 3, the pin 11 penetrates the axle 2 and the knuckle 3, and the sensor 13 is arranged at the upper outer side part of the knuckle 3 in order to measure the acting force applied by the axle 2 to the knuckle 3. Preferably, the bottom of the sensor 13 is at least partially embedded in the upper outer side of the knuckle 3, and the bottom of the sensor 13 is also fixed, so as to avoid inaccurate measurement of the sensor 13 due to radial or axial displacement during measurement. On the other hand, the sensor 13 is also well protected.
According to the above embodiments, it can be seen that the core of the present invention is to design a scheme for detecting the support force of the wheel 5 according to the specific connection structure between the axle 2 and the knuckle 3, and the force is always transmitted from the axle 2 to the knuckle 3.
The axle 2 is connected with the steering knuckle 3 through a pin shaft 11, a steering oil cylinder (not shown in the figure) and a pull rod (not shown in the figure) realize the steering function, the driving motor outputs torque to drive the wheels 5 to rotate, and the wheels 5 move forwards through the friction force of the ground of the wheels 5. In the present invention, the sensor 13 is preferably a spoke sensor 13, and may be fixed to the inner side portion or the upper outer side portion of the knuckle 3 by bolts. Meanwhile, the invention creatively adopts the wear-resistant gasket 12, the upper end of the gasket 12 is in contact connection with the lower end of the axle 2, the lower end of the gasket 12 is in contact connection with the sensor 13, once acting force is applied from top to bottom by the axle 2, the lower end of the gasket 12 is in contact with the strain gauge at the end part of the sensor 13, and then strain signals are generated, and then the support reaction force of the wheel 5 is measured. By the design, the acting force transmission between the ground and the chassis 6 is ensured, and the steering function is fully ensured. By analyzing the force transmission path and the balance relationship between the axle 2 and the knuckle 3, the force transmission mode between the knuckle 3 and the axle 2 is in series connection, and the sensor 13 is a necessary link in the force transmission path, so that the sensor 13 can effectively measure the tire support reaction force.
The present invention will be explained in detail by using a preferred embodiment, in which the aerial working platform has 4 wheels 5, and the detecting mechanism 1 is installed between the knuckle 3 and the axle 2 on each wheel 5, so as to measure the support reaction force of each wheel 5 in real time, and in addition, the wheel support reaction force detecting device 100 only needs to perform an initial calibration on the sensor 13 once, and specifically operates as follows: recording each aerial work platform no-load (or a certain normal work attitude working condition)The reaction force F measured by the sensor 13 R1 、F R2 、F R3 、F R4 The measured values include the tire support reaction force corresponding to the sensor 13, the wheel 5, the knuckle 3 and the gravity of the accessories. During calibration, the gravity values of the wheel 5, the steering knuckle 3 and accessories of the steering knuckle are subtracted from the thrust reaction value, and then the real tire thrust reaction force F can be directly obtained R1 、F R2 、F R3 、F R4 . The calibration process is rapid, convenient and efficient.
For example, as shown in FIG. 4, the mass of the part above the sensor is M 0 Mass of the part under the sensor is M 1 Neglecting the sensor quality available relationship: m 0 ×g＝F 1 ＝F 2 ，F 2 ＝F R1 -M 1 ×g。
In the embodiment provided by the invention, the vehicle axle 2 comprises a front axle and/or a rear axle, the detection mechanisms 1 are selectively arranged at two ends of the front axle and two ends of the rear axle or at two ends of the front axle and the rear axle simultaneously, the forward tipping advance judgment is realized by detecting the sum of the reaction forces of two wheels 5 in the direction of the front axle and comparing the sum of the reaction forces with a forward tipping threshold value, and whether the working range of the high-altitude operation vehicle needs to be limited or not is determined. The same is true for the detection mechanisms 1 arranged at the two ends of the rear axle.
The present invention provides a wheel reaction force detection system, including the wheel reaction force detection device 100; a controller 200 configured to: the system is used for acquiring real-time support reaction forces of the detection mechanisms 1 to determine the sum of the support reaction forces of the wheels 5 on the same side, judging whether the sum of the support reaction forces of the wheels 5 on the same side exceeds a first set threshold value, and if the sum exceeds the first set threshold value, limiting the action of the execution system 300 and/or giving an alarm. Preferably, each wheel 5 of the aerial platform is provided with a detection mechanism 1, and two adjacent wheels 5 form the wheel 5 on the same side, so that the sum of the support reaction forces of the wheels 5 on any side of the front side, the rear side, the left side and the right side of the aerial platform can be measured, a first set threshold value which does not cause rollover is preset on each side of the aerial platform, once the first set threshold value is exceeded, the risk of rollover on the side is indicated, and at the moment, the action and/or alarm of the execution system 300 are/is limited. If the first set threshold value of the corresponding side is not exceeded, the high-altitude operation platform can be safely operated, at the moment, the operation range of the high-altitude operation platform is expanded according to actual conditions, such as arm length extension and the like, meanwhile, the wheel support reaction force detection device 100 still measures the support reaction force condition of each wheel 5 in real time while the arm length is extended, and once the first set threshold value of the corresponding side is exceeded, the action of the execution system 300 and/or alarm is immediately limited. Therefore, the wheel support reaction force detection system provided by the application has no force resolution and time interval difference, can measure the support reaction force of each wheel 5 in real time, and can expand the operation range as much as possible under the condition that the aerial work platform does not tip over.
Taking four wheels 5 as an example, the sensor 13 directly measures the reaction force of the wheels 5 and measures the reaction force
The thrust reaction force data is directly transmitted to the controller 200 through the signal line, and the controller 200 receives the real-time thrust reaction force data (F) of the four sensors 13 R1 、F R2 、F R3 、F R4 ) (ii) a The controller 200 acquires real-time support reaction force data (F) for each sensor 13 R1 、F R2 、F R3 、F R4 ) Then, the sum F of the support reaction forces of the tires on the same side is calculated s1 、F s2 、F s3 、F s4 (F s1 ＝F R1 +F R2 、F s2 ＝F R2 +F R3 、F s3 ＝F R3 +F R4 、F s4 ＝F R4 +F R1 ). When the sum of any side branch reaction force is larger than a first set threshold value F y In time, the controller 200 limits the extension, amplitude, and walking functions of the execution system 300 and alarms. Meanwhile, the controller 200 acquires the real-time weight load data M of the aerial work platform P When the weight load data is larger than a second set threshold value M E The controller 200 restricts the actions of the execution system 300, for example, the functions of telescoping, luffing, walking, and alarming.
The actuating system 300 comprises an actuating mechanism 301 of the aerial work platform and an alarm. After the controller 200 sends an instruction to the executing mechanism 301 and the alarm, the executing mechanism 301 can regulate the opening and closing of the hydraulic control valve to limit the functions of stretching, amplitude variation, walking and the like, and the alarm can give an alarm to prompt a user of a risk. In addition, the tire support reaction force and the platform load result of the controller 200 may be directly displayed on the operation handle, and if an overload situation occurs, an overload failure code may be displayed.
Further, the controller 200 is also configured to: and acquiring the real-time weight load of the working platform 7, judging whether the weight load exceeds a second set threshold value, and if so, limiting the execution of the system 300 and/or giving an alarm. The controller 200 simultaneously monitors the sum of the side reaction forces of the wheels 5 and the weight load of the aerial work platform, so that the aerial work platform expands the work range and is safer and more reliable.
The invention provides an aerial work platform, which comprises the wheel support reaction force detection system, and the technical effects of the aerial work platform refer to each specific embodiment of the wheel support reaction force detection device and the wheel support reaction force detection system, which are not described herein again.
As shown in fig. 8, when the aerial work platform travels on a 15 ° slope, without using the wheel support reaction force detection device or the wheel support reaction force detection system provided in the present application, when the slope inclination angle is greater than 3 °, it is determined that there is a risk of rollover, and the departure alarm device 302 alarms to restrict the current movement, but after using the wheel support reaction force detection device or the wheel support reaction force detection system provided in the present invention, it is determined whether the sum of the wheel support reaction forces on the same side exceeds a first set threshold, or it is determined whether the weight load exceeds a second set threshold based on the real-time weight load of the work platform 7, and the work range of the work platform is expanded based on the comparison result.
For example, as shown in fig. 9, when the real-time weight load of the working platform of the aerial work platform does not exceed the second set threshold, the working range of the aerial work platform still needs to be within the severe working condition working curve, but the method adopted by the patent determines whether the sum of the wheel support reaction forces on the same side exceeds the first set threshold, so as to determine whether the working platform can continue to extend forward, thereby greatly expanding the working range of the working platform.
As shown in fig. 10, when the boom of the aerial work platform is collided by a heavy foreign object 8, the conventional aerial work platform cannot carry out a risk of tipping, the present invention determines whether the weight load exceeds a second set threshold value according to the determination of whether the sum of the support reaction forces of the wheels on the same side exceeds the first set threshold value or according to the real-time weight load of the work platform 7, determines that the risk of tipping exists at this time, and limits the telescopic function, amplitude variation function and walking function of the aerial work platform through the controller and gives an alarm.
The embodiments in the present specification are described in a progressive manner, each embodiment focuses on differences from other embodiments, and the same or similar parts in the embodiments are referred to each other.
The previous description of the disclosed embodiments is provided to enable any person skilled in the art to make or use the present invention. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the generic principles defined herein may be applied to other embodiments without departing from the spirit or scope of the invention. Thus, the present invention is not intended to be limited to the embodiments shown herein but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.

Claims (10)

1. The wheel support reaction force detection device is characterized by comprising detection mechanisms (1), wherein the two detection mechanisms (1) are respectively arranged at two ends of an axle (2) and used for detecting support reaction forces on wheels at two ends of the axle (2);
the detection mechanism (1) comprises a pin shaft (11), the pin shaft (11) penetrates through the axle (2) and the steering knuckle (3), and the axle (2) is rotatably connected with the steering knuckle (3) through the pin shaft (11); and
the sensing assembly is sleeved on the pin shaft (11), arranged between the axle (2) and the steering knuckle (3) and contacted with the end face of the axle (2) so as to detect the load of the end face of the axle (2) in the vertical direction.
2. The wheel support reaction force detection device according to claim 1, characterized by comprising a bearing (4), wherein the pin (11) is fitted to an inner ring of the bearing (4), and the bearing (4) is embedded inside the knuckle (3).
3. The wheel reaction force detecting device according to claim 1, characterized in that the sensor assembly includes a pad (12) and a sensor (13), and the pad (12) is located above the sensor (13).
4. The wheel reaction force detection device according to claim 3, characterized in that a first accommodation chamber (31) is provided in the knuckle (3), and an end of the axle (2) is placed in the first accommodation chamber (31);
the sensor (13) is located between the lower side of the axle (2) and the inner side of the knuckle (3), and the pad (12) is in contact with the lower side of the axle (2).
5. The wheel reaction force detection device according to claim 4, wherein a bottom portion of the sensor (13) is at least partially embedded in the knuckle (3).
6. The wheel reaction force detection device according to claim 3, characterized in that a second accommodation chamber (21) is provided in the axle (2), and an end portion of the knuckle (3) is placed in the second accommodation chamber (21);
the sensor (13) is located between the upper inner side of the axle (2) and the upper outer side of the knuckle (3), and the shim (12) is in contact with the upper inner side of the axle (2).
7. Wheel reaction force detection device according to any of claims 1 to 6, characterized in that the axle (2) comprises a front axle and/or a rear axle.
8. A wheel reaction force detection system comprising the wheel reaction force detection device according to any one of claims 1 to 7;
a controller (200) configured to: the device is used for acquiring real-time support reaction forces of all detection mechanisms (1) to determine the sum of the support reaction forces of wheels on the same side, judging whether the sum of the support reaction forces of the wheels on the same side exceeds a first set threshold value, and limiting the action and/or alarm of an execution system (300) if the sum of the support reaction forces of the wheels on the same side exceeds the first set threshold value.
9. The wheel reaction force detection system according to claim 8, wherein the controller (200) is further configured to: and acquiring the real-time weight load of the working platform, judging whether the weight load exceeds a second set threshold value, and if so, limiting the action of the execution system (300) and/or giving an alarm.
10. An aerial work platform comprising the wheel reaction force detection system according to any one of claims 8 and 9.
CN202210648106.7A 2022-06-08 2022-06-08 Wheel support reaction force detection device, system and aerial work platform Active CN115180564B (en)

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Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
GB799555A (en) * 1956-05-11 1958-08-13 Ford Motor Co Rear axle system for passenger cars
JP2000327296A (en) * 1999-05-19 2000-11-28 Aichi Corp Track traveling type high lift work vehicle
JP2004010292A (en) * 2002-06-10 2004-01-15 Aichi Corp Safety device of work vehicle
CN105883622A (en) * 2015-01-26 2016-08-24 徐工集团工程机械股份有限公司 Rollover control method and system and lorry-mounted crane
CN106629525A (en) * 2016-12-20 2017-05-10 徐州海伦哲专用车辆股份有限公司 Rotation device capable of automatically limiting rotation angle of working platform, and control method

Patent Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
GB799555A (en) * 1956-05-11 1958-08-13 Ford Motor Co Rear axle system for passenger cars
JP2000327296A (en) * 1999-05-19 2000-11-28 Aichi Corp Track traveling type high lift work vehicle
JP2004010292A (en) * 2002-06-10 2004-01-15 Aichi Corp Safety device of work vehicle
CN105883622A (en) * 2015-01-26 2016-08-24 徐工集团工程机械股份有限公司 Rollover control method and system and lorry-mounted crane
CN106629525A (en) * 2016-12-20 2017-05-10 徐州海伦哲专用车辆股份有限公司 Rotation device capable of automatically limiting rotation angle of working platform, and control method

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