CN115196562B - Wheel support counter force detection device, system and aerial work platform - Google Patents
Wheel support counter force detection device, system and aerial work platform Download PDFInfo
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- CN115196562B CN115196562B CN202210648103.3A CN202210648103A CN115196562B CN 115196562 B CN115196562 B CN 115196562B CN 202210648103 A CN202210648103 A CN 202210648103A CN 115196562 B CN115196562 B CN 115196562B
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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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- 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
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66F—HOISTING, LIFTING, HAULING OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD
- B66F11/00—Lifting devices specially adapted for particular uses not otherwise provided for
- B66F11/04—Lifting devices specially adapted for particular uses not otherwise provided for for movable platforms or cabins, e.g. on vehicles, permitting workmen to place themselves in any desired position for carrying out required operations
- B66F11/042—Lifting devices specially adapted for particular uses not otherwise provided for for movable platforms or cabins, e.g. on vehicles, permitting workmen to place themselves in any desired position for carrying out required operations actuated by lazy-tongs mechanisms or articulated levers
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- G—PHYSICS
- 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
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- Structural Engineering (AREA)
- Life Sciences & Earth Sciences (AREA)
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- General Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
- Forklifts And Lifting Vehicles (AREA)
Abstract
The invention relates to a wheel support reaction force detection device, a system and an aerial work platform, wherein the wheel support reaction force detection device comprises: the connecting plate is connected with the chassis and is provided with a containing cavity with a downward opening; the mounting plate is embedded in the accommodating cavity and used for mounting the speed reducer; the base is fixed on one side of the connecting plate and is attached to the mounting plate; the pin shaft sensor comprises a pin shaft and a measuring piece arranged on the pin shaft and used for measuring the radial force of the pin shaft, the wheel support counter force is determined through the radial force of the pin shaft, and the pin shaft is arranged in the base. The wheel support counter force detection device, the system and the aerial work platform can measure stress conditions of all wheels in real time.
Description
Technical Field
The invention belongs to the field of aerial working equipment, and particularly relates to a wheel support reaction force detection device, a wheel support reaction force detection system and an aerial working platform.
Background
The aerial work platform (Aerial work platform) is a product for servicing movable aerial works such as aerial works, equipment installation, overhaul and the like in various industries. According to the difference of structural characteristics, the aerial work platform mainly comprises an arm aerial work platform, a scissor type aerial work platform, a trailer type aerial work platform, an off-road aerial work platform, a sleeve type aerial work platform, a spider type aerial work platform and the like.
The chassis of the aerial working platform on the market comprises a transmission system, a running system, a steering system and a control system, the chassis is used for supporting, installing an engine and various component assemblies thereof and receiving the power of the engine, so that the aerial working platform moves, and when the running system is a wheel, the aerial working platform has better running efficiency.
At present, a direct measurement mode is generally adopted for detecting the load of the aerial work platform, the obtained result is an integral result, the stress condition of each wheel on the aerial work platform is not clear, and then accurate judgment is difficult to be made on the action of the aerial work platform in the next step, so that how to design a detection device, a detection system and an aerial work platform capable of measuring the stress of each wheel in real time is a technical problem to be solved by a person in the field.
Disclosure of Invention
The invention aims to provide a wheel support reaction force detection device, a system and an aerial work platform, which can measure stress conditions of wheels in real time.
The technical scheme of the invention is as follows:
a wheel support reaction force detection device comprising:
the connecting plate is connected with the chassis and is provided with a containing cavity with a downward opening;
the mounting plate is embedded in the accommodating cavity and used for mounting the speed reducer;
the base is fixed on one side of the connecting plate and is attached to the mounting plate;
the pin shaft sensor comprises a pin shaft and a measuring piece arranged on the pin shaft and used for measuring the radial force of the pin shaft, the wheel support counter force is determined through the radial force of the pin shaft, and the pin shaft is arranged in the base.
Preferably, the base and the pin shaft sensor are arranged on two sides of the mounting plate along the vertical direction.
Preferably, the wheel support reaction force detection device further includes: the base is arranged between the two supporting pieces, and the pin shaft sensor penetrates through the supporting pieces.
Preferably, at least two ring grooves are arranged on the circumferential side wall of the pin shaft; the measuring piece comprises strain detection elements, a plurality of strain detection elements are arranged in each ring groove, and the strain detection elements are connected to form a full-bridge detection circuit.
A wheel support reaction force detection system comprising: the wheel support reaction force detection device is arranged on the speed reducer; and a controller in communication with the pin sensor and configured to: acquiring radial force of the pin shaft, and determining the wheel support counter force according to the radial force;
and determining the working load of the aerial working platform according to the support reaction force of each wheel, and limiting the execution of system actions and/or alarming if the working load is larger than the preset maximum load.
Preferably, the controller is further configured to: and acquiring the dead weights of the wheels and the speed reducer, and determining the wheel support counter force according to the dead weights and the radial force.
Preferably, it comprises: the inclination angle detection device is used for detecting an inclination angle between the chassis and the ground;
the controller is configured to: and acquiring the dead weight and the first resultant force of the wheel and the speed reducer, and determining the wheel support counter force according to the dead weight and the first resultant force, wherein the first resultant force is force along the vertical direction on the pin shaft, and the first resultant force is determined by the radial force and the inclination angle of the pin shaft.
A wheel support reaction force detection system comprising: the wheel support reaction force detection device is arranged on the speed reducer; and a controller in communication with the pin sensor and configured to: acquiring radial force of the pin shaft, and determining the wheel support counter force according to the radial force; and when the sum of the wheel support counter forces of two adjacent wheels is smaller than a set threshold value, limiting the execution of system actions and/or alarming.
An aerial working platform comprises the wheel support reaction force detection system; the execution system is communicated with the controller and comprises an execution mechanism and an alarm device, and the execution system is used for stopping the operation of the execution mechanism and/or starting the alarm device when receiving the action and/or alarm signals which limit the execution system and are sent by the controller.
An aerial working platform comprises the wheel support reaction force detection device; the wheel support reaction force detection device is used for measuring support reaction force of the wheel; the speed reducer is detachably connected with the mounting plate and is coaxially driven with the wheels.
The invention provides a wheel support reaction force detection device, a wheel support reaction force detection system and an aerial work platform. In the running process of the vehicle, the aerial work platform bears a certain load, applies pressure downwards, the pressure causes deformation to the pin shaft arranged in the base through the connecting plate connected with the chassis, the deformation of the pin shaft is detected through the measuring piece arranged on the pin shaft, the radial force of the pin shaft is obtained, the wheel support counter force is determined through the radial force of the pin shaft, the stress condition of the wheels on each aerial work platform can be finally determined, and the aerial work platform can send action instructions according to the stress condition of the wheels, so that the safety and stability of the aerial work platform are improved.
Drawings
The accompanying drawings are included to provide an understanding of the invention, and are incorporated in and constitute a part of this specification, illustrate the invention and together with the description serve to explain, without limitation, the invention. In the drawings:
fig. 1 is a schematic structural diagram of a wheel support reaction force detection device according to an embodiment of the present invention;
fig. 2 is a cross-sectional view of a wheel support reaction force detection device according to an embodiment of the present invention;
fig. 3 is a schematic structural diagram of a pin sensor according to an embodiment of the present invention;
FIG. 4 is a schematic diagram of a wheel support reaction force detection device according to an embodiment of the present invention when the device is used on a plane;
FIG. 5 is a schematic diagram of a wheel support reaction force detection device according to an embodiment of the present invention when the device is used on a slope;
FIG. 6 is a block diagram of a wheel support reaction force detection system provided by an embodiment of the present invention;
fig. 7 is a schematic diagram of a system architecture when the wheel support reaction force detection system provided by the embodiment of the invention has a weighing function;
FIG. 8 is a schematic diagram of a system architecture of a wheel support reaction force detection system with anti-rollover function according to an embodiment of the present invention;
fig. 9 is a 20-degree slope walking schematic diagram of a scissor aerial work vehicle provided by an embodiment of the invention.
Description of the reference numerals
1. A connecting plate; 2. a mounting plate; 3. a base; 4. a pin shaft sensor; 41. a pin shaft; 411. a ring groove; 42. a measuring member; 7. a support; 8. a speed reducer; 100. wheel support reaction force detection means; 110. Inclination angle detection means; 200. a controller; 300. an execution system; 301. an actuator; 302. and an alarm device.
Detailed Description
In order to better understand the technical solutions in the present application, the following description will clearly and completely describe the technical solutions in the embodiments of the present application with reference to the drawings in the embodiments of the present application, and it is obvious that the described embodiments are only some embodiments of the present application, not all embodiments. All other embodiments, which can be made by one of ordinary skill in the art based on the embodiments herein without making any inventive effort, shall fall within the scope of the present application.
In the description of the present invention, it should be understood that the terms "upper," "lower," and the like indicate an orientation or a positional relationship, and are merely for convenience of describing the present invention and simplifying the description, and do not indicate or imply that the components or elements referred to must have a specific orientation, be constructed and operated in a specific orientation, and thus should not be construed as limiting the present invention.
In the embodiment shown in fig. 1 to 9, the invention provides a wheel support reaction force detection device 100, which comprises a connecting plate 1, wherein the connecting plate 1 is connected with a chassis, and a containing cavity with a downward opening is arranged on the connecting plate 1; the mounting plate 2 is embedded in the accommodating cavity and is used for mounting the speed reducer 8; the base 3 is fixed on one side of the connecting plate 1 and is attached to the mounting plate 2; the pin sensor 4, the pin sensor 4 includes a pin 41, and a measuring member 42 disposed on the pin 41 for measuring a radial force of the pin 41, the pin 41 being disposed inside the base 3.
During running of the vehicle, the wheels are driven to rotate by the speed reducer 8 arranged on the mounting plate 2, and the speed reducer 8, the connecting plate 1, the mounting plate 2 and other components arranged on the mounting plate 2 and/or the connecting plate 1 do not rotate. In the running process of the vehicle, the aerial work platform bears a certain load and applies pressure downwards, the pressure causes deformation to the pin shaft 41 arranged in the base 3 through the connecting plate 1 connected with the chassis, the deformation of the pin shaft 41 is detected through the measuring piece 42 arranged on the pin shaft 41, then the radial force of the pin shaft 41 is obtained, the supporting counter force on each wheel is obtained according to the force balance principle, namely the balance relation between the acting force and the counter force, the stress condition of the wheels on each aerial work platform can be finally determined, and the aerial work platform can send action instructions according to the stress condition of the wheels, so that the safety and the stability of the aerial work platform are improved.
In the embodiment provided by the invention, the base 3 and the pin shaft sensor 4 are arranged on two sides of the mounting plate 2 along the vertical direction, and as a parallel embodiment of the previous embodiment, the structure of simultaneously arranging the pin shaft sensors 4 on the upper side and the lower side of the mounting plate 2 is provided, and one purpose of the structure is to limit the displacement of the speed reducer 8, and on the other hand, the structure is symmetrical, and the structural stability is better.
As shown in fig. 1, the wheel support reaction force detection device 100 further includes: the support piece 7, the base 3 is located between two support pieces 7, and the round pin axle sensor 4 runs through support piece 7. The structure is a simply supported beam structure, two ends of the pin shaft 41 are provided with supporting points, when the pin shaft 41 is loaded, the supporting piece 7 can generate acting force, then a strain sensitive area is formed on the pin shaft 41, the measuring piece 42 is arranged in the strain sensitive area, then the stress condition on the pin shaft 41 is measured, and as the force on the pin shaft 41 is downwards conducted through the chassis, the wheel support counter force can be determined according to the radial force of the pin shaft 41 according to the balance of the forces.
In the embodiment provided by the invention, as shown in fig. 2 and 3, at least two ring grooves 411 are arranged on the circumferential side wall of the pin 41; the measuring member 42 includes strain detecting elements, and a plurality of strain detecting elements are disposed in each ring groove 411, and the plurality of strain detecting elements are connected to form a full bridge detecting circuit. Wherein the full-bridge detection circuit is a Wheatstone full-bridge measurement circuit. Preferably, the support 7 is provided on the connection plate 1.
As shown in fig. 1 to fig. 4, the core of the present invention is how to detect the supporting reaction force of each wheel, firstly, the supporting reaction force of the wheel of the inventor cannot be accurately detected in real time, which results in two main problems, firstly, the chassis and the tire assembly are installed, the wheel assembly is usually directly installed by bolts, and the proper installation space cannot be obtained by the general supporting reaction force detection device; secondly, the device is specifically arranged at a position, the branch counter force can be accurately measured, the inventor continuously tests and tests to obtain that the device for measuring the wheel branch counter force is arranged on a force transmission path, the force loss is minimum, the force change reaction is most sensitive, the response speed of the aerial working platform for sending an action instruction according to the wheel branch counter force change can be further improved, and the safety and the stability of the aerial working platform are improved again.
The invention sets the pin roll sensor 4 between the tyre and the connecting plate 1, and determines the tyre supporting counter force by detecting the radial force of the pin roll sensor 4, in particular, the pin roll sensor 4 is a device capable of measuring the stress of the pin roll 41, and is generally composed of a strain detection element, a data connecting wire and the like, furthermore, a ring groove 411 is arranged on the pin roll 41, the strain detection element is arranged in the ring groove 411, when the pin roll 41 is stressed, the stress of the pin roll 41 is indirectly detected by detecting the deformation of the strain detection element, and the directional stress of the pin roll 41, such as the force on other angles and the like, can be detected by adjusting the pasting position of the strain detection element, and finally the wheel supporting counter force is obtained.
In the wheel support reaction force detection device 100 provided by the invention, the connecting plate 1 and the mounting plate 2 are directly or indirectly arranged on the speed reducer 8, the speed reducer 8 outputs torque to drive the wheels to rotate, and the friction force of the ground to the wheels realizes the wheel advance, so that the driving mechanism can provide independent steering functions for the wheels, namely, each wheel of the aerial working platform can independently rotate and independently steer, and the device has excellent flexibility and can also provide better flexibility in a narrow working space.
As shown in fig. 4 to 9, the present invention provides a wheel support reaction force detection system, which includes the wheel support reaction force detection device 100, wherein the wheel support reaction force detection device 100 is mounted on a speed reducer 8; and a controller 200 in communication with the pin sensor 4 and configured to: acquiring the radial force of the pin 41, and determining the wheel support reaction force according to the radial force; determining the work load of the aerial working platform according to the support reaction force of each wheel, and limiting the action and/or alarm of the execution system 300 if the work load is greater than a preset maximum load; and/or limiting actuation of the system 300 and/or alerting if the sum of the wheel support reaction forces of two adjacent wheels is less than a set threshold.
Taking a scissor type aerial work platform as an example, the wheel support reaction force detection devices 100 are installed on the connecting plates 1 of the four chassis, and the radial force of the pin shafts 41 is obtained to determine the wheel support reaction force according to the radial force, so that the stressed load of each wheel can be obtained in real time. Performing primary initialization calibration when the working platform is empty, and recording the total weight m of the working platform when the working platform is empty 0 The wheel support reaction force detection device 100 in the wheel support reaction force detection system directly detects the load weight acting thereon, and directly transmits its load data to the controller 200 through the signal line, and the controller 200 directly receives the real-time load data (F r1 、F r2 、F r3 、F r4 ) The 4 load data are added and then the total weight m under no load is subtracted 0 To obtain the work load weight m z I.e. m z ＝(F r1 +F r2 +F r3 +F r4 )-m 0 . Workload weight m z When the prescribed maximum load is exceeded, the controller 200 restricts execution on the aerial work platformThe actions and/or alarms of the system 300, wherein the actions of the execution system 300 may be lifting, walking actions, etc. As can be seen from this, the wheel support reaction force detection system according to the present invention obtains the radial force of the pin 41 measured by the wheel support reaction force detection device 100, and thereby determines the wheel support reaction force. The execution system 300 in the aerial work platform comprises an execution mechanism 301 and/or an alarm device 302, when the controller 200 sends an instruction to the execution system 300 according to the work load of the aerial work platform determined by the wheel support reaction force detection system, for example, the execution mechanism 301 in the execution system 300 limits lifting and walking functions by adjusting the opening and closing of a hydraulic control valve, and/or the alarm device 302 can send an alarm to prompt a user of risk, and besides, the load result can also be directly displayed on the operation handle. If overload condition occurs, displaying overload fault code.
The wheel support reaction force detection system provided by the invention can also realize the independent anti-tipping function or simultaneously has the weighing and anti-tipping functions, taking a scissor type aerial work platform as an example, the wheel support reaction force detection devices 100 are arranged on the connecting plates 1 of the four chassis, the radial force of the pin shafts 41 is obtained, the wheel support reaction force is determined according to the radial force, so that the stressed load of each wheel can be obtained in real time, the wheel support reaction force detection devices 100 in the wheel support reaction force detection system directly detect the weight of the load acting on the wheels, and the load data are directly transmitted to the controller 200 through signal wires, and the controller 200 directly receives the real-time load data (F) of the 4 wheel support reaction force detection devices 100 r1 、F r2 、F r3 、F r4 ) Then calculate the sum F of the wheel support reaction forces of two adjacent wheels (i.e. forming the peripheral sides of the chassis) 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 ) If the sum of the wheel support reaction forces of two adjacent wheels is smaller than the set threshold value, the controller 200 sends a command to the execution system 300, and the execution mechanism 301 in the execution system 300 adjusts the hydraulic controlThe opening and closing of the valve limits the lifting and walking functions and/or the alarm device 302 can give an alarm to prompt the user of risk, and besides, the load result can be directly displayed on the operating handle. If overload condition occurs, displaying overload fault code.
The method obtains the sum of the counter-forces of two adjacent wheels to perform anti-tipping control, so that the application range of the ground angle of the overhead working truck can be greatly enlarged, and the maximum allowable chassis inclination angle is not uniform to be a small value under different working conditions. For example, when the scissor aerial platform walks on a 20 ° slope (see fig. 9), the conventional detection method can determine that the working platform is at a tilting risk according to the slope angle being greater than 3 °, trigger the alarm device 302 to alarm, and limit the current movement. According to the wheel support reaction force detection system adopted by the invention, according to the fact that the working load is larger than the preset maximum load, the sum (any one side or multiple sides) of the support reaction forces of the two wheels on the front side, the rear side, the left side or the right side is larger than the set threshold value, the working platform can still work normally at the moment, and the working range of the working platform is greatly enlarged.
As shown in fig. 4, the controller 200 is further configured to: and acquiring the dead weights of the wheels and the speed reducer, and determining the wheel support counter force according to the dead weights and the radial force. When the pin roll sensor 4 is installed, the measuring direction of the force of the pin roll sensor 4, namely the position of the strain detection element is adjusted so that the measuring direction of the force is vertical to the plane of the chassis, when the wheel receives ground support reaction force, the load is transmitted to the connecting plate 1 connected with the chassis through the pin roll sensor 4, and then the radial force F vertical to the ground direction is obtained through the radial force measured by the pin roll sensor 4 r1 And F r2 The wheel support reaction force is determined based on the balance relationship of the force transmission paths between the wheels and the connection plate 1. The direction of the wheel support reaction force is upward from the ground, and according to the force balance relationship, the wheel support reaction force is equal to the self weight G of the wheel and the speed reducer 8, and the radial force F is measured by the pin shaft sensor 4 ry1 And F ry2 Sum of several, where F rx1 And F rx2 For the axial force measured by the pin sensor 4, the wheel support reaction force detection system in the present embodiment is especially for the wheel support reaction force detection on the horizontal groundThe measurement is particularly accurate.
On the other hand, as shown in fig. 5, the wheel support reaction force detection system provided by the present invention includes an inclination angle detection device 110 for detecting an inclination angle between a chassis and the ground; the controller 200 is configured to: the self weight and the first resultant force of the wheel and the speed reducer are obtained, and the wheel support reaction force is determined according to the self weight and the first resultant force, wherein the first resultant force is force along the vertical direction on the pin 41, and the first resultant force is determined through the radial force and the inclination angle of the pin 41. The wheel support reaction force detection device 100 provided by the invention is suitable for detecting wheel support reaction force on horizontal ground, is also suitable for measuring wheel support reaction force on inclined ground, and can judge whether an aerial work platform has a tilting risk according to the measured wheel support reaction force. Specifically, when the pin shaft sensor 4 is installed, the measuring direction of the force of the pin shaft sensor 4, namely the position of the strain detection element is adjusted so that the measuring direction of the force is perpendicular to the plane of the chassis, when the wheel receives the ground support reaction force, the load is transmitted to the connecting plate 1 connected with the chassis through the pin shaft sensor 4, and then the radial force F perpendicular to the direction of the slope surface is obtained through the radial force measured by the pin shaft sensor 4 ry1 And F ry2 The inclination angle detecting device 110 is used for detecting the inclination angle θ between the chassis and the ground, and then, the resultant force F in the vertical direction in the upper and lower pin shaft sensors 4 is calculated r1 ＝F ry1 /cosθ，F r2 ＝F ry2 And/cos theta, and calculating the wheel support counter force according to the balance of the forces. According to the drawing, the reaction force of the wheel support meets F r ＝G+(F ry1 +F ry2 ) Cos θ, where F ry1 And F ry2 The radial force of the upper pin shaft sensor 4 and the lower pin shaft sensor 4 which are perpendicular to the direction of the slope surface is G, the dead weight of the wheel and the speed reducer is F rx1 And F rx2 The axial force is measured for the pin sensor 4. It should be noted that, in the description of the technical effects of the wheel support reaction force detection device 100 provided by the present invention, reference may be made to the description of the technical effects of the wheel support reaction force detection system, and the description of the technical effects of the wheel support reaction force detection system may be referred to each other, which is not repeated herein.
At the moment, the condition of the supporting reaction force of the wheels on the slope surface with the inclined angle can be obtained, and the wheel supporting reaction force detection system provided by the invention obtains the sum of the wheel supporting reaction forces of two adjacent wheels, namely the sum of the real-time supporting reaction forces of the wheels on the same side, so that the anti-tipping control is carried out, the application range of the ground angle of the overhead working truck can be greatly enlarged, and the maximum allowable chassis inclination angle under different working conditions is not unified to be a small value. When the scissor aerial work platform walks at a 20-degree slope, the working platform is judged to have a tilting risk according to the slope angle of the inclined plane being larger than 3 degrees in the prior art, the execution system 300 is triggered to alarm, and the current movement is limited. The wheel support reaction force detection system adopted by the invention judges that the working platform of the aerial working platform can still work normally at the moment according to the fact that the working load is larger than the preset maximum load and the sum of the wheel support reaction forces of two adjacent wheels is smaller than the set threshold value, and greatly expands the working range of the aerial working platform.
Therefore, the wheel support reaction force detection system provided by the invention has the anti-tipping function, and in addition, the wheel support reaction force detection system provided by the invention can also detect abnormal working conditions such as abrupt change of support reaction force through the wheel support reaction force detection device 100, and can detect the condition that the load on the aerial working platform suddenly increases or decreases caused by other working conditions, and the execution system 300 sends out alarm signals, limits lifting and walking functions according to the conditions.
The invention provides an aerial working platform, which comprises the wheel support reaction force detection system and the execution system 300, wherein the execution system 300 is communicated with the controller 200, the execution system 300 comprises an execution mechanism 301 and an alarm device 302, the execution system 300 is used for stopping the execution mechanism 301 from working and/or starting the alarm device 302 when receiving the action and/or alarm signal of the execution system 300 which are limited and sent by the controller 200, and regarding the technical effects which can be achieved by the aerial working vehicle, please refer to the wheel support reaction force detection device 100 and the wheel support reaction force detection system, and the description is omitted.
The execution system 300 comprises an execution mechanism 301 of the aerial work platform and an alarm. After the controller 200 sends a command to the executing mechanism 301 and the alarm, the executing mechanism 301 can limit lifting and walking functions by adjusting the opening and closing of the hydraulic control valve, and the alarm can send an alarm to prompt a user of risk. In addition, the calculation load result of the controller 200 may be directly displayed on the operation handle, and if an overload condition occurs, an overload fault code may be displayed.
In the present specification, each embodiment is described in a progressive manner, and each embodiment focuses on a difference from other embodiments, and the same or similar parts between 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. A wheel support reaction force detection device, characterized by comprising:
the connecting plate (1) is connected with the chassis, and a containing cavity with a downward opening is arranged on the connecting plate (1);
the mounting plate (2) is embedded in the accommodating cavity and is used for mounting the speed reducer (8);
the base (3) is fixed on one side of the connecting plate (1) and is attached to the mounting plate (2);
the pin shaft sensor (4), the pin shaft sensor (4) comprises a pin shaft (41) and a measuring piece (42) arranged on the pin shaft (41) and used for measuring the radial force of the pin shaft (41), the wheel support counter force is determined through the radial force of the pin shaft (41), and the pin shaft (41) is arranged inside the base (3).
2. The wheel support reaction force detection device according to claim 1, wherein the mount plate (2) is provided with the base (3) and the pin shaft sensor (4) on both sides in the vertical direction.
3. The wheel support reaction force detection apparatus according to claim 1, wherein the wheel support reaction force detection apparatus (100) further comprises:
the support piece (7), base (3) are located two between support piece (7), round pin axle sensor (4) run through support piece (7).
4. The wheel support reaction force detection apparatus according to any one of claims 1 to 3, wherein,
at least two annular grooves (411) are formed in the circumferential side wall of the pin shaft (41);
the measuring piece (42) comprises strain detection elements, a plurality of strain detection elements are arranged in each annular groove (411), and the strain detection elements are connected to form a full-bridge detection circuit.
5. A wheel support reaction force detection system, comprising:
the wheel support reaction force detection device (100) according to any one of claims 1 to 4, wherein the wheel support reaction force detection device (100) is mounted on a speed reducer (8); and
a controller (200) in communication with the pin sensor (4) and configured to: acquiring radial force of the pin shaft (41), and determining the wheel support counter force according to the radial force;
and determining the working load of the aerial working platform according to the support reaction force of each wheel, and limiting the action and/or alarm of the execution system (300) if the working load is greater than the preset maximum load.
6. The wheel support reaction force detection system according to claim 5, wherein,
the controller (200) is further configured to: and acquiring the dead weights of the wheels and the speed reducer, and determining the wheel support counter force according to the dead weights and the radial force.
7. The wheel support reaction force detection system according to claim 6, comprising:
the inclination angle detection device (110) is used for detecting an inclination angle between the chassis and the ground;
the controller (200) is configured to: and acquiring the dead weight and the first resultant force of the wheel and the speed reducer, and determining the wheel support counter force according to the dead weight and the first resultant force, wherein the first resultant force is the force along the vertical direction on the pin shaft (41), and the first resultant force is determined by the radial force of the pin shaft (41) and the inclination angle.
8. A wheel support reaction force detection system, comprising:
the wheel support reaction force detection device (100) according to any one of claims 1 to 4, wherein the wheel support reaction force detection device (100) is mounted on a speed reducer (8); and
a controller (200) in communication with the pin sensor (4) and configured to: acquiring radial force of the pin shaft (41), and determining the wheel support counter force according to the radial force;
and limiting the action and/or alarm of the execution system (300) when the sum of the wheel support counter forces of two adjacent wheels is smaller than a set threshold value.
9. An aerial work platform comprising the wheel support reaction force detection system of any one of claims 5-7;
and the execution system (300) is communicated with the controller (200), the execution system (300) comprises an execution mechanism (301) and an alarm device (302), and the execution system (300) is used for stopping the operation of the execution mechanism (301) and/or starting the alarm device (302) when receiving an action and/or alarm signal which is sent by the controller (200) and limits the execution system (300).
10. An aerial work platform, characterized by comprising the wheel support reaction force detection device (100) according to any one of claims 1 to 4;
a wheel, wherein the wheel support reaction force detection device (100) is used for measuring the support reaction force of the wheel;
the speed reducer (8) is detachably connected with the mounting plate (2), and the speed reducer (8) and the wheels are coaxially driven.
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