CN118270703A - Control method for aerial work platform, processor and aerial work platform - Google Patents

Control method for aerial work platform, processor and aerial work platform Download PDF

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Publication number
CN118270703A
CN118270703A CN202410462325.5A CN202410462325A CN118270703A CN 118270703 A CN118270703 A CN 118270703A CN 202410462325 A CN202410462325 A CN 202410462325A CN 118270703 A CN118270703 A CN 118270703A
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China
Prior art keywords
moment
counterweight
weight
target
determining
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CN202410462325.5A
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钟懿
孙泽海
刘予宁
李志宽
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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 CN202410462325.5A priority Critical patent/CN118270703A/en
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Abstract

The application discloses a control method for an aerial work platform, a processor and the aerial work platform, and belongs to the technical field of engineering machinery. The method comprises the following steps: acquiring the weight of a working platform of the working platform, the arm support length of the arm support and the arm support amplitude variation angle and the chassis inclination angle of the chassis; determining a non-counterweight slewing bearing moment according to the weight of the working platform, the length of the arm support, the amplitude-changing angle of the arm support and the inclination angle of the chassis, wherein the non-counterweight slewing bearing moment is a moment born by the slewing bearing under the condition of not considering the moment generated by the movable counterweight; determining a target counterweight moment interval according to the counterweight-free slewing bearing moment; determining a target counterweight position corresponding to the movable counterweight block according to the target counterweight moment interval; and controlling the movable balancing weight to move to the target balancing weight position. The application can improve the stability of the aerial working platform, so that the aerial working platform can work in an environment with larger ground inclination angle, thereby expanding the application range of the aerial working platform.

Description

Control method for aerial work platform, processor and aerial work platform
Technical Field
The application relates to the technical field of engineering machinery, in particular to a control method for an aerial work platform, a processor and the aerial work platform.
Background
The aerial work platform is a product for serving movable aerial works such as aerial works in various industries, equipment installation, overhaul and the like. At present, safety is one of the most considered problems of an aerial working platform, stability is a direct representation of safety performance, and the stability of the aerial working platform in the walking and working processes can be ensured to be enough by limiting the load of the working platform, the inclination angle of a chassis and the working posture. When the aerial working platform walks and lifts, if the working range is exceeded, the dip angle of the chassis exceeds a specified angle or the load on the working platform exceeds a specified maximum load, the stability of the aerial working platform can be reduced, the tipping safety risk is increased, and the reliability of the lifting mechanism can be influenced by long-time overload operation.
Therefore, the aerial working platform generally limits the working range, and when the chassis inclination angle of the aerial working platform exceeds the maximum allowable chassis inclination angle or the load of the working platform exceeds the rated load, the lifting and walking functions are limited and the alarm is given, so that overload operation and rollover accidents are prevented. The maximum allowable chassis inclination angle and rated load are fixed values, are determined based on extreme working conditions, and are not adjusted in real time along with the change of the load size, the position of the load on a working platform, the lifting height and other conditions. In order to ensure that the stability of the aerial working platform meets the requirement under any allowable severe working condition and prevent the whole vehicle from tipping accidents, the maximum allowable chassis dip angle and rated load determined by stability calculation are limited in a smaller range, the application range of the aerial working platform is severely limited, and the flexibility of the aerial working platform is affected.
Disclosure of Invention
The embodiment of the application aims to provide a control method for an aerial work platform, a processor and the aerial work platform, which are used for solving the problems of small application range and insufficient flexibility of the aerial work platform in the prior art.
In order to achieve the above object, a first aspect of the present application provides a control method for an aerial work platform, where the aerial work platform includes a work platform, an arm support, a chassis, a slewing bearing, and a movable counterweight, the control method including:
Acquiring the weight of a working platform of the working platform, the arm support length of the arm support and the arm support amplitude variation angle and the chassis inclination angle of the chassis;
determining a non-counterweight slewing bearing moment according to the weight of the working platform, the length of the arm support, the amplitude-changing angle of the arm support and the inclination angle of the chassis, wherein the non-counterweight slewing bearing moment is a moment born by the slewing bearing under the condition of not considering the moment generated by the movable counterweight;
determining a target counterweight moment interval according to the counterweight-free slewing bearing moment;
Determining a target counterweight position corresponding to the movable counterweight block according to the target counterweight moment interval;
and controlling the movable balancing weight to move to the target balancing weight position.
In an embodiment of the present application, determining a target counterweight moment interval from a counterweight-free slewing bearing moment includes: acquiring the weight of the movable balancing weight, the maximum weight moment position and the minimum weight moment position; determining a maximum counterweight moment according to the counterweight weight, the maximum counterweight moment position and the chassis inclination angle, and determining a minimum counterweight moment according to the counterweight weight, the minimum counterweight moment position and the chassis inclination angle; comparing the negative number of the non-counterweight slewing bearing moment with the maximum counterweight moment and the minimum counterweight moment respectively; determining the target counterweight moment interval as a first target counterweight moment interval under the condition that the negative number of the counterweight-free slewing bearing moment is larger than or equal to the minimum counterweight moment and smaller than or equal to the maximum counterweight moment; under the condition that the negative number of the non-counterweight slewing bearing moment is larger than the maximum counterweight moment, determining the target counterweight moment interval as a second target counterweight moment interval; under the condition that the negative number of the non-counterweight slewing bearing moment is smaller than the minimum counterweight moment, determining the target counterweight moment interval as a third target counterweight moment interval; the third target weight moment interval is smaller than the first target weight moment interval, and the first target weight moment interval is smaller than the second target weight moment interval.
In the embodiment of the present application, when the target counterweight moment interval is the first target counterweight moment interval, determining, according to the target counterweight moment interval, the target counterweight position corresponding to the movable counterweight includes: and determining the target counterweight position according to the counterweight-free slewing bearing moment, the chassis inclination angle and the counterweight weight.
In an embodiment of the present application, determining a target counterweight position based on a counterweight-free slewing bearing moment, a chassis inclination angle, and a counterweight weight includes determining a target counterweight position based on formula (1):
Wherein L yt is a target counterweight position, M is a counterweight-free slewing bearing moment, M y is a counterweight weight, and a is a chassis inclination angle.
In the embodiment of the present application, when the target counterweight moment interval is the second target counterweight moment interval, determining, according to the target counterweight moment interval, the target counterweight position corresponding to the movable counterweight includes: the maximum counterweight moment position is determined as the target counterweight position.
In the embodiment of the present application, when the target counterweight moment interval is the third target counterweight moment interval, determining, according to the target counterweight moment interval, the target counterweight position corresponding to the movable counterweight includes: the minimum counterweight moment position is determined as the target counterweight position.
In the embodiment of the application, the weight-free slewing bearing moment is determined according to the weight of the working platform, the length of the arm support, the amplitude angle of the arm support and the dip angle of the chassis, and the method comprises the following steps: acquiring the weight of the arm support, the weight of the turntable, a first distance and a second distance, wherein the first distance is the distance between the arm tail hinge point of the arm support and the center of the slewing bearing, and the second distance is the distance between the center of gravity of the turntable and the center of the slewing bearing; determining moment of the working platform according to the weight of the working platform, the inclination angle of the chassis, the length of the arm support and the amplitude variation angle of the arm support; determining arm support moment according to the chassis inclination angle, arm support weight, arm support length, arm support amplitude variation angle and first distance; determining a turntable moment according to the chassis inclination angle, the turntable weight and the second distance; and adding the moment of the working platform, the moment of the arm support and the moment of the turntable to obtain the slewing bearing moment without the counterweight.
In the embodiment of the application, the moment of the working platform is determined according to the weight of the working platform, the inclination angle of the chassis, the length of the arm support and the amplitude variation angle of the arm support, and the moment of the working platform is determined according to a formula (2):
Mp＝mp×[(LB1+LS)×cos(θ-a)+(LP-LB0)×cosa] (2)
Determining the boom moment according to the chassis inclination angle, the boom weight, the boom length, the boom amplitude angle and the first distance, including determining the boom moment according to formula (3):
Mb＝mb1×[(LB1-LBM1)×cos(θ-a)-LB0×cosa]+mb2×
[(LB1+LS-LBM2)×cos(θ-a)-LB0×cosa](3)
determining a turntable torque from the chassis tilt angle, the turntable weight, and the second distance, including determining the turntable torque from equation (4):
Mz＝-mz×Lz×cosa (4)
Wherein, M p is the moment of the working platform, M b is the moment of the arm support, M z is the moment of the turntable, M p is the weight of the working platform, L B1 is one arm of the arm support, L S is the telescopic length of two arms of the arm support, θ is the amplitude angle of the arm support, a is the inclination angle of the chassis, L P is the distance between the gravity center of the working platform and the arm head, L B0 is the distance between the hinge point of the arm tail and the center of the slewing bearing, M b1 is one arm of the weight of the arm support, M b2 is the weight of two arms of the weight of the arm support, L BM1 is the distance between the gravity center of one arm and the arm head, L BM2 is the distance between the gravity center of two arms and the arm head, and M z is the weight of the turntable, and L z is the distance between the gravity center of the turntable and the center of the slewing bearing.
In an embodiment of the present application, the control method further includes: determining a target counterweight moment according to the target counterweight position; determining a minimum slewing bearing moment according to the target counterweight moment and the non-counterweight slewing bearing moment; judging whether the minimum slewing bearing moment is larger than a preset moment threshold value or not and whether the load of the working platform in the weight of the working platform is larger than a rated load or not; and sending an alarm signal and limiting the action of the aerial working platform under the condition that the minimum slewing bearing moment is larger than a preset moment threshold value or the load of the working platform is larger than a rated load.
A second aspect of the embodiments of the present application provides a processor configured to execute the above-described control method for an aerial work platform.
A third aspect of an embodiment of the present application provides an aerial work platform, including: a processor; a working platform; arm support; a chassis; a slewing bearing; and a movable balancing weight.
According to the technical scheme, the weight of the working platform, the arm support length and the arm support amplitude variation angle of the arm support and the chassis inclination angle of the chassis are obtained, then the weight-free slewing bearing moment without considering the moment generated by the movable balancing weight is determined according to the weight of the working platform, the arm support length, the arm support amplitude variation angle and the chassis inclination angle, then the target weight moment interval is determined according to the weight-free slewing bearing moment, further the target weight position corresponding to the movable balancing weight is determined according to the target weight moment interval, and the movable balancing weight is controlled to move to the target weight position. According to the application, the target counterweight position corresponding to the movable counterweight block is determined according to the target counterweight moment interval, and the movable counterweight block is controlled to move to the target counterweight position, so that the stability of the aerial work platform can be improved, the aerial work platform can work in an environment with a large ground inclination angle, the application range of the aerial work platform is enlarged, and the flexibility of the aerial work platform in different work scenes is enhanced.
Additional features and advantages of embodiments of the application will be set forth in the detailed description which follows.
Drawings
The accompanying drawings are included to provide a further understanding of embodiments of the application and are incorporated in and constitute a part of this specification, illustrate embodiments of the application and together with the description serve to explain, without limitation, the embodiments of the application. In the drawings:
Fig. 1 schematically shows a flow chart of a control method for an aerial work platform according to an embodiment of the present application;
FIG. 2 schematically illustrates a flow chart of a control method for an aerial work platform in accordance with a specific embodiment of the present application;
fig. 3 schematically shows a block diagram of an aerial work platform in accordance with an embodiment of the present application.
Description of the reference numerals
1.2 Arm support of working platform
3. Movable balancing weight of turntable 4
5. Guide rail 6 drive unit
7. Slewing bearing 8 chassis
Detailed Description
For the purpose of making the objects, technical solutions and advantages of the embodiments of the present application more apparent, the technical solutions of the embodiments of the present application will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present application, and it should be understood that the detailed description described herein is merely for illustrating and explaining the embodiments of the present application, and is not intended to limit the embodiments of the present application. All other embodiments, which can be made by those skilled in the art based on the embodiments of the application without making any inventive effort, are intended to be within the scope of the application.
It should be noted that, if directional indications (such as up, down, left, right, front, and rear … …) are included in the embodiments of the present application, the directional indications are merely used to explain the relative positional relationship, movement conditions, etc. between the components in a specific posture (as shown in the drawings), and if the specific posture is changed, the directional indications are correspondingly changed.
In addition, if there is a description of "first", "second", etc. in the embodiments of the present application, the description of "first", "second", etc. is for descriptive purposes only and is not to be construed as indicating or implying a relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defining "a first" or "a second" may explicitly or implicitly include at least one such feature. In addition, the technical solutions of the embodiments may be combined with each other, but it is necessary to base that the technical solutions can be realized by those skilled in the art, and when the technical solutions are contradictory or cannot be realized, the combination of the technical solutions should be considered to be absent and not within the scope of protection claimed in the present application.
Fig. 1 schematically shows a flow chart of a control method for an aerial work platform according to an embodiment of the present application. As shown in fig. 1, an embodiment of the present application provides a control method for an aerial work platform, where the aerial work platform includes a working platform, an arm support, a chassis, a slewing bearing, and a movable counterweight, and the control method is applied to a processor for explanation, and the control method may include the following steps:
step S101: acquiring the weight of a working platform of the working platform, the arm support length of the arm support and the arm support amplitude variation angle and the chassis inclination angle of the chassis.
Step S102: and determining a non-counterweight slewing bearing moment according to the weight of the working platform, the length of the arm support, the amplitude variation angle of the arm support and the inclination angle of the chassis, wherein the non-counterweight slewing bearing moment is a moment born by the slewing bearing under the condition of not considering the moment generated by the movable counterweight.
Step S103: and determining a target counterweight moment interval according to the counterweight-free slewing bearing moment.
Step S104: and determining the target counterweight position corresponding to the movable counterweight block according to the target counterweight moment interval.
Step S105: and controlling the movable balancing weight to move to the target balancing weight position.
The control method for the aerial work platform provided by the application can be applied to the aerial work platform with multiple sections of arms. The control method for the aerial platform provided by the application will be described below by taking the example that the control method for the aerial platform is applied to the straight arm aerial operation of the two-section arm support.
In an embodiment of the application, the aerial work platform comprises, but is not limited to, a working platform, an arm support, a chassis, a slewing bearing, a movable balancing weight, a weighing sensor, an arm support length sensor, an amplitude angle sensor and a chassis inclination sensor. The processor can acquire the weight of the working platform through the weighing sensor. The processor can acquire the arm support length of the arm support through the arm support length sensor. The amplitude variation angle of the arm support can be obtained by the processor through the amplitude variation angle sensor. The processor may obtain the chassis tilt angle of the chassis via the chassis tilt angle sensor.
In order to improve stability of the aerial work platform, the processor needs to control the movable balancing weight to move so that the slewing bearing moment is close to 0, and at the moment, the target balancing weight position needs to be determined, namely the position to which the movable balancing weight needs to move. Therefore, the processor can respectively determine the moment of the working platform, the moment of the arm support and the moment of the turntable according to the weight of the working platform, the length of the arm support, the amplitude variation angle of the arm support and the dip angle of the chassis, and further determine the slewing bearing moment without the counterweight according to the moment of the working platform, the moment of the arm support and the moment of the turntable. The moment born by the slewing bearing (i.e., slewing bearing moment) can generally comprise the moment generated by the working platform, the moment generated by the arm support, the moment generated by the turntable and the moment generated by the movable balancing weight, and the non-counterweight slewing bearing moment is the moment born by the slewing bearing under the condition that only the moment generated by the working platform (i.e., the moment of the working platform), the moment generated by the arm support (i.e., the moment of the arm support) and the moment generated by the turntable (i.e., the moment of the turntable) are considered and the moment born by the slewing bearing is not considered. The determination modes of the target weight positions are different according to the different target weight moment intervals. Therefore, after determining the non-counterweight slewing bearing moment, the processor can determine a target counterweight moment interval according to the non-counterweight slewing bearing moment, and further determine a target counterweight position corresponding to the movable counterweight according to the target counterweight moment interval.
The aerial working platform further comprises a guide rail, a detection unit and a driving unit. The detection means may employ a detection device such as a stroke sensor, a laser positioning sensor, or an electromagnetic displacement sensor converted based on the rotation speed of the drive motor. The driving unit can be a chain device driving device, a gear rack device driving device or a threaded screw driving device, and can also be other driving devices. The movable balancing weight is arranged on the guide rail and can move along the guide rail. The detection unit can detect the position of the movable balancing weight on the guide rail, the processor receives and processes the current weight position of the movable balancing weight detected by the detection unit, and then an instruction is sent to the driving unit according to the current weight position and the target weight position, and the driving unit drives the movable balancing weight to move to the target weight position along the guide rail. In this way, the pivoting support moment can be made close to 0.
According to the technical scheme, the weight of the working platform, the arm support length and the arm support amplitude variation angle of the arm support and the chassis inclination angle of the chassis are obtained, then the weight-free slewing bearing moment without considering the moment generated by the movable balancing weight is determined according to the weight of the working platform, the arm support length, the arm support amplitude variation angle and the chassis inclination angle, then the target weight moment interval is determined according to the weight-free slewing bearing moment, further the target weight position corresponding to the movable balancing weight is determined according to the target weight moment interval, and the movable balancing weight is controlled to move to the target weight position. According to the application, the target counterweight position corresponding to the movable counterweight block is determined according to the target counterweight moment interval, and the movable counterweight block is controlled to move to the target counterweight position, so that the stability of the aerial work platform can be improved, the aerial work platform can work in an environment with a large ground inclination angle, the application range of the aerial work platform is enlarged, and the flexibility of the aerial work platform in different work scenes is enhanced.
In the embodiment of the application, determining the counterweight-free slewing bearing moment according to the weight of the working platform, the length of the arm support, the amplitude angle of the arm support and the chassis dip angle can comprise: acquiring the weight of the arm support, the weight of the turntable, a first distance and a second distance, wherein the first distance is the distance between the arm tail hinge point of the arm support and the center of the slewing bearing, and the second distance is the distance between the center of gravity of the turntable and the center of the slewing bearing; determining moment of the working platform according to the weight of the working platform, the inclination angle of the chassis, the length of the arm support and the amplitude variation angle of the arm support; determining arm support moment according to the chassis inclination angle, arm support weight, arm support length, arm support amplitude variation angle and first distance; determining a turntable moment according to the chassis inclination angle, the turntable weight and the second distance; and adding the moment of the working platform, the moment of the arm support and the moment of the turntable to obtain the slewing bearing moment without the counterweight.
Specifically, the processor can determine the slewing bearing moment without the counterweight according to the weight of the working platform, the length of the arm support, the amplitude angle of the arm support and the dip angle of the chassis. The weight of the working platform comprises the weight of the working platform and the load of the working platform, and the length of the arm support comprises the length of one arm and the telescopic length of two arms. The processor may obtain the boom weight, the turntable weight, the first distance, and the second distance. The arm support weight comprises one arm weight and two arm weights, wherein the first distance is the distance between the arm tail hinge point of the arm support and the center of the slewing bearing, and the second distance is the distance between the center of gravity of the turntable and the center of the slewing bearing. Thus, the processor can determine the moment of the working platform according to the weight of the working platform, the inclination angle of the chassis, the length of the arm support and the amplitude variation angle of the arm support. The moment of the working platform satisfies the formula (2):
Mp＝mp×[(LB1+LS)×cos(θ-a)+(LP-LB0)×cosa] (2)
The boom moment can be determined according to the chassis inclination angle, the boom weight, the boom length, the boom amplitude angle and the first distance. The arm support moment satisfies the formula (3):
Mb＝mb1×[(LB1-LBM1)×cos(θ-a)-LB0×cosa]+mb2×
[(LB1+LS-LBM2)×cos(θ-a)-LB0×cosa](3)
and the turntable torque may be determined based on the chassis tilt angle, the turntable weight, and the second distance. The turntable torque satisfies equation (4):
Mz＝-mz×Lz×cosa (4)
Wherein, M p is the moment of the working platform, M b is the moment of the arm support, M z is the moment of the turntable, because the center of gravity of the turntable is always at the left side of the pivoting support center, M z is always negative, M p is the weight of the working platform, L B1 is one arm length in the arm support length, L S is the two arm telescopic length in the arm support length, θ is the arm support luffing angle, a is the chassis dip angle, L P is the distance between the center of gravity of the working platform and the arm head, L B0 is the distance between the hinge point of the arm tail and the pivoting support center, M b1 is one arm weight in the arm support weight, M b2 is the two arm weights in the arm support weight, L BM1 is the distance between the center of gravity of one arm and the arm head, L BM2 is the distance between the center of gravity of two arm and the arm head, M z is the weight of the turntable, M z comprises the weight of the turntable and the fixed counterweight weight, and L z is the distance between the center of gravity of the turntable and the pivoting support center.
After adding the working platform moment, the boom moment and the turntable moment, the processor can obtain a weight-free slewing bearing moment, wherein the weight-free slewing bearing moment is m=m p+Mb+Mz. Because the turntable moment M z is always negative, the weight-free slewing bearing moment M may be positive or negative. In this way, the target counterweight moment interval is determined according to the counterweight-free slewing bearing moment.
In an embodiment of the present application, determining the target counterweight moment interval according to the counterweight-free slewing bearing moment may include: acquiring the weight of the movable balancing weight, the maximum weight moment position and the minimum weight moment position; determining a maximum counterweight moment according to the counterweight weight, the maximum counterweight moment position and the chassis inclination angle, and determining a minimum counterweight moment according to the counterweight weight, the minimum counterweight moment position and the chassis inclination angle; comparing the negative number of the non-counterweight slewing bearing moment with the maximum counterweight moment and the minimum counterweight moment respectively; determining the target counterweight moment interval as a first target counterweight moment interval under the condition that the negative number of the counterweight-free slewing bearing moment is larger than or equal to the minimum counterweight moment and smaller than or equal to the maximum counterweight moment; under the condition that the negative number of the non-counterweight slewing bearing moment is larger than the maximum counterweight moment, determining the target counterweight moment interval as a second target counterweight moment interval; under the condition that the negative number of the non-counterweight slewing bearing moment is smaller than the minimum counterweight moment, determining the target counterweight moment interval as a third target counterweight moment interval; the third target weight moment interval is smaller than the first target weight moment interval, and the first target weight moment interval is smaller than the second target weight moment interval.
Specifically, the processor may determine the target counterweight moment interval from the counterweight-free slewing bearing moment. The target weight moment interval includes a first target weight moment interval, a second target weight moment interval, and a third target weight moment interval. The weight moment (i.e. the moment generated by the movable balancing weight) satisfies the formula (5):
My＝my×Ly×cosa (5)
Wherein M y is the weight moment, M y is the weight, L y is the distance between the center of gravity of the movable balancing weight and the center of the slewing bearing, and a is the inclination angle of the chassis.
With the slewing bearing center as a reference, L y takes a negative value when the movable balancing weight is positioned in a first direction of the slewing bearing center, and L y takes a positive value when the movable balancing weight is positioned in a second direction of the slewing bearing center. The first direction is the direction closer to the arm tail hinge point, and the second direction is the direction farther from the arm tail hinge point. Because of the limitation of the length of the guide rail where the movable balancing weight is located, a maximum weight moment position and a minimum weight moment position exist, wherein the maximum weight moment position is a position which is far away from the slewing bearing center in the second direction of the guide rail, and the minimum weight moment position is a position which is far away from the slewing bearing center in the first direction of the guide rail. the processor may obtain the counterweight weight, the maximum counterweight moment position, and the minimum counterweight moment position of the movable counterweight block, thereby determining a maximum counterweight moment M ymax according to the counterweight weight, the maximum counterweight moment position, and the chassis inclination angle, and determining a minimum counterweight moment M ymin according to the counterweight weight, the minimum counterweight moment position, and the chassis inclination angle according to equation (5). The processor may then compare the negative of the non-counterweighted pivoting support moment, i.e., - (M p+Mb+Mz), to the maximum counterweighted moment M ymax and the minimum counterweighted moment M ymin, respectively. In the case that the negative number of the non-counterweight slewing bearing moment- (M p+Mb+Mz) is greater than or equal to the minimum counterweight moment M ymin and less than or equal to the maximum counterweight moment M ymax, the processor may determine that the target counterweight moment interval is the first target counterweight moment interval. In the case where the negative number of the non-counterweight slewing bearing moment- (M p+Mb+Mz) is greater than the maximum counterweight moment M ymax, the processor may determine the target counterweight moment interval as a second target counterweight moment interval. In the case that the negative number of the non-counterweight slewing bearing moment- (M p+Mb+Mz) is less than the minimum counterweight moment M ymin, the processor may determine the target counterweight moment interval as a third target counterweight moment interval. in this way, the target counterweight moment section can be determined from the counterweight-free slewing bearing moment.
In an embodiment of the present application, when the target counterweight moment interval is the first target counterweight moment interval, determining, according to the target counterweight moment interval, the target counterweight position corresponding to the movable counterweight may include: and determining the target counterweight position according to the counterweight-free slewing bearing moment, the chassis inclination angle and the counterweight weight.
Specifically, when the target counterweight moment interval is the first target counterweight moment interval, the negative number- (M p+Mb+Mz) of the non-counterweight slewing bearing moment is greater than or equal to the minimum counterweight moment M ymin and less than or equal to the maximum counterweight moment M ymax, and at this time, the slewing bearing moment can be made to be 0 by adjusting the position of the movable counterweight. Thus, the processor can determine the target counterweight position based on the counterweight-free slewing bearing moment, the chassis inclination angle, and the counterweight weight. The target weight position satisfies the formula (1):
Wherein L yt is a target counterweight position, M is a counterweight-free slewing bearing moment, M y is a counterweight weight, and a is a chassis inclination angle.
In this way, the processor may determine the target counterweight position and the minimum slewing bearing moment when the target counterweight moment interval is the first target counterweight moment interval.
In an embodiment of the present application, when the target counterweight moment interval is the second target counterweight moment interval, determining, according to the target counterweight moment interval, the target counterweight position corresponding to the movable counterweight may include: the maximum counterweight moment position is determined as the target counterweight position.
Specifically, when the target counterweight moment interval is the second target counterweight moment interval, the negative number of the non-counterweight pivoting support moment- (M p+Mb+Mz) is larger than the maximum counterweight moment M ymax, and in order to make the pivoting support moment close to 0, the maximum counterweight moment position may be determined as the target counterweight position, and further the movable counterweight is controlled to move to the target counterweight position, where the minimum pivoting support moment may be obtained to satisfy formula (6):
|M0|min＝|Mp+Mb+Mz+Mymax| (6)
Wherein, M 0|min is the minimum slewing bearing moment, M p is the working platform moment, M b is the arm support moment, M z is the turntable moment, and M ymax is the maximum counterweight moment.
In this way, the processor may determine the target counterweight position and the minimum slewing bearing moment when the target counterweight moment interval is the second target counterweight moment interval.
In an embodiment of the present application, when the target counterweight moment interval is a third target counterweight moment interval, determining, according to the target counterweight moment interval, a target counterweight position corresponding to the movable counterweight may include: the minimum counterweight moment position is determined as the target counterweight position.
Specifically, when the target counterweight moment interval is the third target counterweight moment interval, the negative number of the non-counterweight pivoting support moment- (M p+Mb+Mz) is smaller than the minimum counterweight moment M ymin, and in order to make the pivoting support moment approach 0, the minimum counterweight moment position may be determined as the target counterweight position, and further the movable counterweight is controlled to move to the target counterweight position, where the minimum pivoting support moment may be obtained to satisfy formula (7):
|M0|min＝Mp+Mb+Mz+Mymin (7)
Wherein, M 0|min is the minimum slewing bearing moment, M p is the working platform moment, M b is the arm support moment, M z is the turntable moment, and M ymin is the minimum counterweight moment.
In this way, the processor may determine the target counterweight position and the minimum slewing bearing moment when the target counterweight moment interval is the third target counterweight moment interval.
In an embodiment of the present application, the control method may further include: determining a target counterweight moment according to the target counterweight position; determining a minimum slewing bearing moment according to the target counterweight moment and the non-counterweight slewing bearing moment; judging whether the minimum slewing bearing moment is larger than a preset moment threshold value or not and whether the load of the working platform in the weight of the working platform is larger than a rated load or not; and sending an alarm signal and limiting the action of the aerial working platform under the condition that the minimum slewing bearing moment is larger than a preset moment threshold value or the load of the working platform is larger than a rated load.
Specifically, after determining the target weight position, the target weight moment may be determined according to the target weight position according to equation (5), and then the target weight moment and the non-weight slewing bearing moment may be added to obtain the minimum slewing bearing moment. Thus, the processor can determine whether the minimum slewing bearing torque is greater than a preset torque threshold and whether the work platform load in the work platform weight is greater than a rated load. Under the condition that the minimum slewing bearing moment is larger than a preset moment threshold value or the load of the working platform is larger than the rated load, the risk of safety accidents on the aerial working platform can be determined, at the moment, the action of the aerial working platform can be limited through the action limiting unit, and an alarm signal is sent through the alarm unit. The preset moment threshold value and the rated load can be determined according to actual conditions. The action limiting unit comprises a working platform rotation action limiting device, a fly arm amplitude variation action limiting device, a boom extension and amplitude variation action limiting device, a turntable rotation action limiting device and the like, and can be integrated into a complete machine control system. The alarm unit can adopt alarm components such as a buzzer. Thus, the operation safety of the aerial platform can be ensured.
Fig. 2 schematically illustrates a flow chart of a control method for an aerial work platform in accordance with a specific embodiment of the present application. As shown in fig. 2, in an embodiment of the present application, a control method for an aerial work platform includes:
Step S1: and acquiring the weight of the working platform, the length of the arm support, the amplitude variation angle of the arm support and the chassis inclination angle.
Step S2: and determining the slewing bearing moment without the counterweight.
Step S3: and determining an optimal position scheme of the movable balancing weight.
Step S4: a minimum slewing bearing torque is determined.
Step S5: a target counterweight position is determined.
Step S6: and judging whether the minimum slewing bearing moment is larger than a preset moment threshold value or whether the load of the working platform is larger than the rated load. If yes, go to step S7.
Step S7: and (5) alarming.
Step S8: restricting the motion.
Step S9: and controlling the movable balancing weight to move to the target balancing weight position.
In a specific embodiment of the application, the processor can obtain the weight of the working platform, the length of the arm support, the amplitude-changing angle of the arm support and the inclination angle of the chassis through various sensors, and determine the slewing bearing moment without counterweight in real time according to the weight of the working platform, the length of the arm support, the amplitude-changing angle of the arm support and the inclination angle of the chassis, so as to determine the optimal position scheme of the movable counterweight. According to the optimal position scheme of the movable balancing weight, the processor can determine the minimum slewing bearing moment and the target balancing weight position. Therefore, the processor can adjust the movable balancing weight to the target balancing weight position through the driving unit, so that the slewing bearing moment reaches the minimum value, and the stability of the whole vehicle is ensured to be in the optimal state. Meanwhile, the processor can judge whether the minimum slewing bearing moment exceeds the preset moment threshold value or not by comparing the minimum slewing bearing moment with the preset moment threshold value, and judge whether the load of the working platform exceeds the rated load or not, and if the load exceeds the rated load, alarm and action limitation are carried out, so that the safety of the operation of the aerial working platform is ensured.
In summary, compared with the prior art, the technical scheme provided by the application has the following advantages:
1) The application can accurately perform stability enhancement control of the aerial work platform in real time, and ensure that the stability of the aerial work platform is in an optimal state.
2) The application can expand the working condition operation curve range. When the load of the working platform is not greater than the rated load, compared with the working condition working curve which still needs to be in a severe limit in the prior art, the application judges whether the minimum slewing bearing moment is greater than the preset moment threshold value and whether the load of the working platform in the weight of the working platform is greater than the rated load in real time, thereby determining whether the high-altitude working platform can continue to act in real time, and greatly expanding the working condition working curve range.
3) The application can increase the maximum inclination angle value of the operable ground and improve the operation flexibility.
The embodiment of the application also provides a processor which is configured to execute the control method for the aerial work platform.
Specifically, in an embodiment of the present application, a processor may be configured to: acquiring the weight of a working platform of the working platform, the arm support length of the arm support and the arm support amplitude variation angle and the chassis inclination angle of the chassis; determining a non-counterweight slewing bearing moment according to the weight of the working platform, the length of the arm support, the amplitude-changing angle of the arm support and the inclination angle of the chassis, wherein the non-counterweight slewing bearing moment is a moment born by the slewing bearing under the condition of not considering the moment generated by the movable counterweight; determining a target counterweight moment interval according to the counterweight-free slewing bearing moment; determining a target counterweight position corresponding to the movable counterweight block according to the target counterweight moment interval; and controlling the movable balancing weight to move to the target balancing weight position.
In one embodiment, the processor is further configured to: acquiring the weight of the movable balancing weight, the maximum weight moment position and the minimum weight moment position; determining a maximum counterweight moment according to the counterweight weight, the maximum counterweight moment position and the chassis inclination angle, and determining a minimum counterweight moment according to the counterweight weight, the minimum counterweight moment position and the chassis inclination angle; comparing the negative number of the non-counterweight slewing bearing moment with the maximum counterweight moment and the minimum counterweight moment respectively; determining the target counterweight moment interval as a first target counterweight moment interval under the condition that the negative number of the counterweight-free slewing bearing moment is larger than or equal to the minimum counterweight moment and smaller than or equal to the maximum counterweight moment; under the condition that the negative number of the non-counterweight slewing bearing moment is larger than the maximum counterweight moment, determining the target counterweight moment interval as a second target counterweight moment interval; under the condition that the negative number of the non-counterweight slewing bearing moment is smaller than the minimum counterweight moment, determining the target counterweight moment interval as a third target counterweight moment interval; the third target weight moment interval is smaller than the first target weight moment interval, and the first target weight moment interval is smaller than the second target weight moment interval.
In one embodiment, the processor is further configured to: and determining the target counterweight position according to the counterweight-free slewing bearing moment, the chassis inclination angle and the counterweight weight.
In one embodiment, the processor is further configured to: determining a target counterweight position according to formula (1):
Wherein L yt is a target counterweight position, M is a counterweight-free slewing bearing moment, M y is a counterweight weight, and a is a chassis inclination angle.
In one embodiment, the processor is further configured to: the maximum counterweight moment position is determined as the target counterweight position.
In one embodiment, the processor is further configured to: the minimum counterweight moment position is determined as the target counterweight position.
In one embodiment, the processor is further configured to: acquiring the weight of the arm support, the weight of the turntable, a first distance and a second distance, wherein the first distance is the distance between the arm tail hinge point of the arm support and the center of the slewing bearing, and the second distance is the distance between the center of gravity of the turntable and the center of the slewing bearing; determining moment of the working platform according to the weight of the working platform, the inclination angle of the chassis, the length of the arm support and the amplitude variation angle of the arm support; determining arm support moment according to the chassis inclination angle, arm support weight, arm support length, arm support amplitude variation angle and first distance; determining a turntable moment according to the chassis inclination angle, the turntable weight and the second distance; and adding the moment of the working platform, the moment of the arm support and the moment of the turntable to obtain the slewing bearing moment without the counterweight.
In one embodiment, the processor is further configured to: determining a working platform moment according to a formula (2):
Mp＝mp×[(LB1+LS)×cos(θ-a)+(LP-LB0)×cosa] (2)
Determining the boom moment according to the chassis inclination angle, the boom weight, the boom length, the boom amplitude angle and the first distance, including determining the boom moment according to formula (3):
Mb＝mb1×[(LB1-LBM1)×cos(θ-a)-LB0×cosa]+mb2×
[(LB1+LS-LBM2)×cos(θ-a)-LB0×cosa](3)
determining a turntable torque from the chassis tilt angle, the turntable weight, and the second distance, including determining the turntable torque from equation (4):
Mz＝-mz×Lz×cosa (4)
Wherein, M p is the moment of the working platform, M b is the moment of the arm support, M z is the moment of the turntable, M p is the weight of the working platform, L B1 is one arm of the arm support, L S is the telescopic length of two arms of the arm support, θ is the amplitude angle of the arm support, a is the inclination angle of the chassis, L P is the distance between the gravity center of the working platform and the arm head, L B0 is the distance between the hinge point of the arm tail and the center of the slewing bearing, M b1 is one arm of the weight of the arm support, M b2 is the weight of two arms of the weight of the arm support, L BM1 is the distance between the gravity center of one arm and the arm head, L BM2 is the distance between the gravity center of two arms and the arm head, and M z is the weight of the turntable, and L z is the distance between the gravity center of the turntable and the center of the slewing bearing.
In one embodiment, the processor is further configured to: determining a target counterweight moment according to the target counterweight position; determining a minimum slewing bearing moment according to the target counterweight moment and the non-counterweight slewing bearing moment; judging whether the minimum slewing bearing moment is larger than a preset moment threshold value or not and whether the load of the working platform in the weight of the working platform is larger than a rated load or not; and sending an alarm signal and limiting the action of the aerial working platform under the condition that the minimum slewing bearing moment is larger than a preset moment threshold value or the load of the working platform is larger than a rated load.
According to the technical scheme, the weight of the working platform, the arm support length and the arm support amplitude variation angle of the arm support and the chassis inclination angle of the chassis are obtained, then the weight-free slewing bearing moment without considering the moment generated by the movable balancing weight is determined according to the weight of the working platform, the arm support length, the arm support amplitude variation angle and the chassis inclination angle, then the target weight moment interval is determined according to the weight-free slewing bearing moment, further the target weight position corresponding to the movable balancing weight is determined according to the target weight moment interval, and the movable balancing weight is controlled to move to the target weight position. According to the application, the target counterweight position corresponding to the movable counterweight block is determined according to the target counterweight moment interval, and the movable counterweight block is controlled to move to the target counterweight position, so that the stability of the aerial work platform can be improved, the aerial work platform can work in an environment with a large ground inclination angle, the application range of the aerial work platform is enlarged, and the flexibility of the aerial work platform in different work scenes is enhanced.
Fig. 3 schematically shows a block diagram of an aerial work platform in accordance with an embodiment of the present application. As shown in fig. 3, an embodiment of the present application further provides an aerial work platform, including: a processor (not shown); a working platform 1; a boom 2; a chassis 8; a slewing bearing 7; and a movable counterweight 4.
Specifically, the aerial work platform includes, but is not limited to, a processor, a work platform 1, a boom 2, a turntable 3, a slewing bearing 7, a chassis 8, a movable counterweight 4, a guide rail 5 where the movable counterweight 4 is located, and a driving unit 6 for driving the movable counterweight 4 to move. Therefore, the processor can determine the non-counterweight slewing bearing moment according to the moment of the working platform, the moment of the arm support and the moment of the turntable, further determine a target counterweight moment interval according to the non-counterweight slewing bearing moment, determine a target counterweight position according to the target counterweight moment interval, and further control the movable counterweight 4 to move to the target counterweight position, so that the counterweight moment generated by the movable counterweight 4 reaches the target counterweight moment, thereby enhancing the stability of the aerial working platform.
The embodiment of the application also provides a machine-readable storage medium, which stores instructions for causing a machine to execute the control method for the aerial work platform.
It will be appreciated by those skilled in the art that embodiments of the present application may be provided as a method, system, or computer program product. Accordingly, the present application may take the form of an entirely hardware embodiment, an entirely software embodiment or an embodiment combining software and hardware aspects. Furthermore, the present application may take the form of a computer program product embodied on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROM, optical storage, and the like) having computer-usable program code embodied therein.
The present application is described with reference to flowchart illustrations and/or block diagrams of methods, apparatus (systems) and computer program products according to embodiments of the application. It will be understood that each flow and/or block of the flowchart illustrations and/or block diagrams, and combinations of flows and/or blocks in the flowchart illustrations and/or block diagrams, can be implemented by computer program instructions. These computer program instructions may be provided to a processor of a general purpose computer, special purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, create means for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be stored in a computer-readable memory that can direct a computer or other programmable data processing apparatus to function in a particular manner, such that the instructions stored in the computer-readable memory produce an article of manufacture including instruction means which implement the function specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be loaded onto a computer or other programmable data processing apparatus to cause a series of operational steps to be performed on the computer or other programmable apparatus to produce a computer implemented process such that the instructions which execute on the computer or other programmable apparatus provide steps for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
In one typical configuration, a computing device includes one or more processors (CPUs), input/output interfaces, network interfaces, and memory.
The memory may include volatile memory in a computer-readable medium, random Access Memory (RAM) and/or nonvolatile memory, etc., such as Read Only Memory (ROM) or flash RAM. Memory is an example of a computer-readable medium.
Computer readable media, including both non-transitory and non-transitory, removable and non-removable media, may implement information storage by any method or technology. The information may be computer readable instructions, data structures, modules of a program, or other data. Examples of storage media for a computer include, but are not limited to, phase change memory (PRAM), static Random Access Memory (SRAM), dynamic Random Access Memory (DRAM), other types of Random Access Memory (RAM), read Only Memory (ROM), electrically Erasable Programmable Read Only Memory (EEPROM), flash memory or other memory technology, compact disc read only memory (CD-ROM), digital Versatile Discs (DVD) or other optical storage, magnetic cassettes, magnetic tape disk storage or other magnetic storage devices, or any other non-transmission medium, which can be used to store information that can be accessed by a computing device. Computer-readable media, as defined herein, does not include transitory computer-readable media (transmission media), such as modulated data signals and carrier waves.
It should also be noted that the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising one … …" does not exclude the presence of other like elements in a process, method, article, or apparatus that comprises an element.
The foregoing is merely exemplary of the present application and is not intended to limit the present application. Various modifications and variations of the present application will be apparent to those skilled in the art. Any modification, equivalent replacement, improvement, etc. which come within the spirit and principles of the application are to be included in the scope of the claims of the present application.

Claims (11)

1. The control method for the aerial work platform is characterized by comprising a working platform, an arm support, a chassis, a slewing bearing and a movable balancing weight, and comprises the following steps:
acquiring the weight of a working platform of the working platform, the arm support length and the arm support amplitude variation angle of the arm support and the chassis inclination angle of the chassis;
Determining a non-counterweight slewing bearing moment according to the weight of the working platform, the length of the arm support, the amplitude variation angle of the arm support and the chassis inclination angle, wherein the non-counterweight slewing bearing moment is a moment born by the slewing bearing under the condition of not considering the moment generated by the movable balancing weight;
determining a target counterweight moment interval according to the counterweight-free slewing bearing moment;
Determining a target counterweight position corresponding to the movable counterweight block according to the target counterweight moment interval;
And controlling the movable balancing weight to move to the target balancing weight position.
2. The control method according to claim 1, wherein the determining a target counterweight moment interval from the counterweight-free slewing bearing moment includes:
Acquiring the weight of the movable balancing weight, the maximum weight moment position and the minimum weight moment position;
determining a maximum counterweight torque according to the counterweight weight, the maximum counterweight torque position, and the chassis inclination angle, and determining a minimum counterweight torque according to the counterweight weight, the minimum counterweight torque position, and the chassis inclination angle;
comparing the negative number of the non-counterweight slewing bearing moment with the maximum counterweight moment and the minimum counterweight moment respectively;
Determining a target counterweight moment interval as a first target counterweight moment interval under the condition that the negative number of the counterweight-free slewing bearing moment is larger than or equal to the minimum counterweight moment and smaller than or equal to the maximum counterweight moment;
Determining a target counterweight moment interval as a second target counterweight moment interval under the condition that the negative number of the counterweight-free slewing bearing moment is larger than the maximum counterweight moment;
Determining a target counterweight moment interval as a third target counterweight moment interval under the condition that the negative number of the counterweight-free slewing bearing moment is smaller than the minimum counterweight moment;
The third target weight moment interval is smaller than the first target weight moment interval, and the first target weight moment interval is smaller than the second target weight moment interval.
3. The control method according to claim 2, wherein, in the case where the target weight moment section is the first target weight moment section, the determining, according to the target weight moment section, a target weight position corresponding to the movable weight includes:
And determining the target counterweight position according to the counterweight-free slewing bearing moment, the chassis inclination angle and the counterweight weight.
4. A control method according to claim 3, wherein said determining the target counterweight position from the counterweight-free slewing bearing moment, the chassis inclination angle, and the counterweight weight includes determining the target counterweight position according to formula (1):
Wherein, L yt is the target counterweight position, M is the counterweight-free slewing bearing moment, M y is the counterweight weight, and a is the chassis inclination angle.
5. The control method according to claim 2, wherein, in the case where the target weight moment section is the second target weight moment section, the determining, according to the target weight moment section, a target weight position corresponding to the movable weight includes:
Determining the maximum counterweight moment position as the target counterweight position.
6. The control method according to claim 2, wherein, in the case where the target weight moment section is the third target weight moment section, the determining, according to the target weight moment section, a target weight position corresponding to the movable weight includes:
determining the minimum counterweight moment position as the target counterweight position.
7. The control method according to claim 1, wherein the determining a counterweight-free slewing bearing moment based on the work platform weight, the boom length, the boom luffing angle, and the chassis inclination angle comprises:
Acquiring the weight of the arm support, the weight of the turntable, a first distance and a second distance, wherein the first distance is the distance between the arm tail hinge point of the arm support and the center of the slewing bearing, and the second distance is the distance between the center of gravity of the turntable and the center of the slewing bearing;
Determining a moment of the working platform according to the weight of the working platform, the inclination angle of the chassis, the length of the arm support and the amplitude variation angle of the arm support;
Determining boom moment according to the chassis inclination angle, the boom weight, the boom length, the boom amplitude angle and the first distance;
Determining a turntable moment according to the chassis inclination angle, the turntable weight and the second distance;
And adding the moment of the working platform, the moment of the arm support and the moment of the turntable to obtain the slewing bearing moment without the counterweight.
8. The control method of claim 7, wherein said determining a work platform torque based on said work platform weight, said chassis tilt angle, said boom length, and said boom luffing angle comprises determining said work platform torque based on equation (2):
Mp＝mp×[(LB1+LS)×cos(θ-a)+(LP-LB0)×cosa] (2)
The step of determining the boom moment according to the chassis inclination angle, the boom weight, the boom length, the boom amplitude angle and the first distance comprises the step of determining the boom moment according to a formula (3):
Mb＝mb1×[(LB1-LBM1)×cos(θ-a)-LB0×cosa]+mb2×
[(LB1+LS-LBM2)×cos(θ-a)-LB0×cosa](3)
The determining a turntable torque from the chassis inclination angle, the turntable weight, and the second distance comprises determining the turntable torque from equation (4):
Mz＝-mz×Lz×cosa (4)
Wherein, M p is the moment of the working platform, M b is the moment of the arm support, M z is the moment of the rotary table, M p is the weight of the working platform, L B1 is the length of one arm of the arm support, L S is the telescopic length of two arms of the arm support, θ is the amplitude angle of the arm support, a is the inclination angle of the chassis, L P is the distance between the gravity center of the working platform and the arm head, L B0 is the distance between the hinge point of the arm tail and the center of the rotary support, M b1 is the weight of one arm of the arm support, M b2 is the weight of two arms of the arm support, L BM1 is the distance between the gravity center of one arm and the arm head, L BM2 is the distance between the gravity center of two arms and the arm head, M z is the weight of the rotary table, and L z is the distance between the gravity center of the rotary table and the center of the rotary support.
9. The control method according to claim 1, characterized in that the control method further comprises:
determining a target counterweight moment according to the target counterweight position;
determining a minimum slewing bearing moment according to the target counterweight moment and the non-counterweight slewing bearing moment;
judging whether the minimum slewing bearing moment is larger than a preset moment threshold value or not and whether the working platform load in the working platform weight is larger than a rated load or not;
And sending an alarm signal and limiting the action of the aerial work platform under the condition that the minimum slewing bearing moment is larger than a preset moment threshold value or the load of the work platform is larger than a rated load.
10. A processor configured to perform the control method for an aerial work platform of any of claims 1 to 9.
11. An aerial work platform, comprising:
the processor of claim 10;
A working platform;
Arm support;
A chassis;
a slewing bearing; and
And a movable balancing weight.
CN202410462325.5A 2024-04-17 2024-04-17 Control method for aerial work platform, processor and aerial work platform Pending CN118270703A (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN202410462325.5A CN118270703A (en) 2024-04-17 2024-04-17 Control method for aerial work platform, processor and aerial work platform

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN202410462325.5A CN118270703A (en) 2024-04-17 2024-04-17 Control method for aerial work platform, processor and aerial work platform

Publications (1)

Publication Number Publication Date
CN118270703A true CN118270703A (en) 2024-07-02

Family

ID=91649570

Family Applications (1)

Application Number Title Priority Date Filing Date
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Country Status (1)

Country Link
CN (1) CN118270703A (en)

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