CN207684828U - Arm support control device and aerial work platform - Google Patents
Arm support control device and aerial work platform Download PDFInfo
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- CN207684828U CN207684828U CN201721748803.0U CN201721748803U CN207684828U CN 207684828 U CN207684828 U CN 207684828U CN 201721748803 U CN201721748803 U CN 201721748803U CN 207684828 U CN207684828 U CN 207684828U
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Abstract
This disclosure relates to a kind of arm support control device and aerial work platform.Arm support control device includes：Integrated sensor is configured as the length and angle of detection arm support；First control valve and the second control valve are connected respectively to luffing telescoping cylinder to control the luffing compression cylinder；And controller.Controller is configured as length and angle according to the arm support, calculates the pose of the arm support；According to the pose of the arm support, judge whether the arm support is in safety zone；With in the case where the arm support is not in safety zone, the luffing compression cylinder is set to stop by first control valve or the second control valve.The integrated sensor, first control valve and the second control valve, the controller are connected by bus.The disclosure can ensure that arm support is in a safe condition when breaking down, to avoid tumbling.
Description
Technical field
This disclosure relates to safety control technology more particularly to a kind of arm support control device and aerial work platform.
Background technology
Aerial work platform be for transport personnel, tool and material to designated position operation equipment.Working at height is flat
Platform application range is extremely wide, be applied to electric power, fire-fighting, traffic, skin decoration set with cleaning, garden maintenance, communication
A variety of industries and the place such as standby maintenance and repair.
Since aerial work platform is for manned working at height, so must satisfy the " Gao An of manned working at height
Full property " requirement.According to the requirement of EN280 aerial work platform standards, the security performance grade of aerial work platform is PLd, i.e.,
Its per hour dangerous crash rate 10-7To 3 × 10-6Between, so the reliability requirement to system is very high.
Utility model content
Inventor it has been investigated that：The pose of the arm support of aerial work platform, which preferably must be held in safety zone, to be just avoided that
The danger tumbled, and take Redundant Control that can ensure the high reliability for reaching PLd security performance grades.Based on this,
The present disclosure proposes a kind of security control schemes with high reliability.
According to some embodiments of the present disclosure, a kind of arm support control device is provided, including：Integrated sensor is configured
To detect the length and angle of arm support；First control valve and the second control valve, it is described to control to be connected respectively to luffing telescoping cylinder
Luffing compression cylinder；And controller.Controller is configured as：According to the length and angle of the arm support, the position of the arm support is calculated
Appearance；According to the pose of the arm support, judge whether the arm support is in safety zone；It is not in safety zone in the arm support
In the case of, so that the luffing compression cylinder is stopped by first control valve or the second control valve.The integrated sensor, institute
It states the first control valve and the second control valve, the controller is connected by bus.
Optionally, at least one of the integrated sensor, first control valve and described second control valve by with
It is set to：It detects and itself whether there is failure, and status information is sent to the controller.
Optionally, the controller is additionally configured to：When the integrated sensor breaks down, controlled by described first
Valve processed or the second control valve make the luffing compression cylinder stop.
Optionally, the controller is additionally configured to：An appearance in first control valve and the second control valve
When failure, the luffing compression cylinder is set to stop by another in first control valve and the second control valve.
Optionally, first control valve is reversal valve, and second control valve is unloading valve.
Optionally, first control valve and second control valve include multiple control valves of same type.
Optionally, the luffing telescoping cylinder is hydraulic cylinder.
Optionally, the integrated sensor is installed on detected arm support.
Optionally, at least one of the integrated sensor, first control valve and described second control valve are integrated
There are microprocessor, the microprocessor to be used to carry out fault diagnosis according to the information of acquisition.
According to the still other embodiments of the disclosure, a kind of aerial work platform is provided, including such as aforementioned any embodiment
The arm support control device.
In the above-described embodiments, on the one hand, it is moved using Redundant Control to stop arm support when arm support is beyond safety zone,
To meet the high reliability request of security control；On the other hand, assembly difficulty can be reduced using integrated sensor.
Description of the drawings
The attached drawing of a part for constitution instruction describes embodiment of the disclosure, and is used to solve together with the description
Release the principle of the disclosure.
The disclosure can be more clearly understood according to following detailed description with reference to attached drawing, wherein：
Fig. 1 shows the structural schematic diagram of some embodiments of the arm support control device according to the disclosure；
Fig. 2 shows the flow charts according to some embodiments of the arm support control method of the disclosure；
Fig. 3 shows the flow chart of other embodiments of the arm support control method according to the disclosure；With
Fig. 4 shows the block diagram of other embodiments of the arm support control device according to the disclosure.
Specific implementation mode
The various exemplary embodiments of the disclosure are described in detail now with reference to attached drawing.It should be noted that：Unless in addition having
Body illustrates that the unlimited system of component and the positioned opposite of step, numerical expression and the numerical value otherwise illustrated in these embodiments is originally
Scope of disclosure.
Simultaneously, it should be appreciated that for ease of description, the size of attached various pieces shown in the drawings is not according to reality
Proportionate relationship draw.
It is illustrative to the description only actually of at least one exemplary embodiment below, is never used as to the disclosure
And its application or any restrictions that use.
Technology, method and apparatus known to person of ordinary skill in the relevant may be not discussed in detail, but suitable
In the case of, the technology, method and apparatus should be considered as part of specification.
In shown here and discussion all examples, any occurrence should be construed as merely illustrative, without
It is as limitation.Therefore, the other examples of exemplary embodiment can have different values.
It should be noted that：Similar label and letter indicate similar terms in following attached drawing, therefore, once a certain Xiang Yi
It is defined, then it need not be further discussed in subsequent attached drawing in a attached drawing.
Inventor has found：Related arm support apparatus for detecting position and posture and method are mainly to obtain the position and posture information of arm support, greatly
In most cases all not by this Information application in the security control of arm support, cause the reliability of arm support pose detecting system low,
The high reliability request of arm support pose safety control system is not met.
Inventor also found：Redundancy structure raising may be used in the reliability of safety control system, still, inappropriate superfluous
Remaining structure easily causes electrical system quantity and increases, big to occupy volume, and circuit becomes complicated, and economic cost increases.
Based on the above, present disclose provides arm support control devices simple in structure and high reliability.
Fig. 1 shows the structural schematic diagram of some embodiments of the arm support control device according to the disclosure.
As shown in Figure 1, arm support control device include by bus 100 be connected integrated sensor 110, controller 120, with
And first control valve 131 and the second control valve 132.
Integrated sensor 110 is configured as the length and angle of detection arm support.In some embodiments, integrated sensor
110 are installed on detected telescopic jib, are integrated with linear transducer and angular transducer.Integrated sensor 110 can be same
When detect the length and change angle of telescopic jib, compared to the linear transducer and angular transducer of the separation installed respectively,
Reduce the assembly difficulty of system.
In some embodiments, integrated sensor 110 is additionally configured to detect the working condition of itself, has and detects itself
With the presence or absence of the diagnostic function of failure.For example, integrated sensor 110 can be integrated with microprocessor, microprocessor can pass through
The information of sensor carries out fault diagnosis.For example, microprocessor can by read sensor information, with known fault conditions into
Row compares, and then failure judgement state.
Integrated sensor 110 is connected to controller 120 by bus 100, and integrated sensor 110 and controller 120 all prop up
Same safety bus agreement is held, security performance grade is all not less than PLd.Integrated sensor 110 by bus 100 will in real time or
Periodic detection to arm support change angle and the security information such as length send controller 120 to.In some embodiments, it integrates
It itself is normal or failure status information that sensor 110, which is gone back in real time or regularly sent to controller 120,.For example, if
110 testing result of integrated sensor, which is shown, to be all gone well, is in a safe condition, then is sent to controller 120 in a safe condition
Status information.If integrated sensor 110 detects itself there are when failure the shape in failure is sent to controller 120
State information.
Controller 120 is configured as：According to the length and angle of the arm support that integrated sensor 110 is detected, arm support is calculated
Pose；According to the pose of arm support, judge whether arm support is in safety zone；And the case where arm support is not in safety zone
Under, whole system is switched to by safe condition by the first control valve 131 or the second control valve 132.In some embodiments, it controls
Device 120 processed is mountable in platform courses case.
First control valve 131 and the second control valve 132 are connected respectively to luffing telescoping cylinder 140 to control luffing compression cylinder.
In some embodiments, the first control valve and the second control valve can be different types of control valves.For example, the first control valve
131 be reversal valve, and the second control valve is unloading valve.It should be understood that first and second be interchangeable concept.Luffing telescoping cylinder
140 be, for example, hydraulic cylinder.In some embodiments, reversal valve and unloading valve are connected to by pipeline (such as hydraulic circuit) respectively
Hydraulic cylinder, and hydraulic cylinder is controlled.For example, reversal valve (such as three-position four-way valve) can be changed by changing spool position
Become oil circuit direction.
It is deposited in the case of a fault in the case where judging that arm support is not in safety zone, or in sensor, controller
120 make luffing compression cylinder 140 stop by the first control valve 131 or the second control valve 132.For example, controller is controlled to second
Valve sends out instruction, and the second control valve makes hydraulic cylinder stop according to the oil circuit of instruction cut-out hydraulic cylinder.That is, controller passes through cut-out
Energy source keeps system in a safe condition.
In some embodiments, the first control valve 131 and the second control valve 132 are also arranged to detect the work shape of itself
State, it may have detect the diagnostic function that itself whether there is failure.For example, control valve can be integrated with microprocessor, and micro- place
Manage the fault diagnosis that device can be by the information of sensor into traveling control valve.For example, one kind as control valve, the valve of reversal valve
It can detect to obtain by position sensor core position.Microprocessor compares detected spool position and spool setting position,
Then judge that reversal valve breaks down if there is deviation.
First control valve 131 and the second control valve 132 are connected to controller 120 also by bus 100.In some embodiments
In, the first control valve 131 and the second control valve 132 to the transmission of controller 120 itself are in real time or regularly just by bus 100
Normal or failure status information.For example, all going well if control valve testing result is shown, being in a safe condition, to control
Device 120 processed sends status information in a safe condition.To controller 120 if control valve detects itself there are when failure
Send the status information in failure.
In some embodiments, in the first control valve there are when failure, controller can be controlled by the second control valve
Luffing telescoping cylinder.Conversely, in the second control valve there are when failure, it is flexible that controller can control luffing by the first control valve
Cylinder.First control valve and the second control valve can also be multiple controls of identical type either different types of control valve
Valve.Since the probability that two control valves exist simultaneously failure is relatively low, so using only two (identical or different type) controls
Valve processed come realize it is just sufficiently reliable to the Redundant Control of luffing compression cylinder in the case of, two control valves can be used only,
So as to simplify circuit.Certainly, as needed, more than two or two class control valves can also be used.
In the above-described embodiments, controller is connect with integrated sensor and multiple control valves respectively by bus, according to reading
The data taken judge the safe condition of system, and can send control instruction in real time, form the redundancy to luffing telescoping cylinder
Control, to reach the high reliability of PLd security performance grades.Also, controller can be simplified using each element of bus marco
The circuit of system, thereby reduces cost.
In some embodiments, since integrated sensor and multiple bus marco valves all support safety bus agreement, and
With fault diagnosis functions.Such self-diagnosing function no longer to need to connect additional information processing unit, simplify
Circuit, reduces the complexity of circuit, and further improves the safety of system.
Fig. 2 shows the flow charts according to some embodiments of the arm support control method of the disclosure.
As shown in Fig. 2, arm support control method includes：Step S210 reads the data of integrated sensor；Step S220, meter
Calculate arm support pose；Step S230, judges whether arm support is in safety zone；Step S240 is not in safety zone in arm support
In the case of, so that luffing telescoping cylinder is stopped.
In step S210, controller reads the length and angle of the arm support of integrated sensor detection.For example, integrated sensing
Device detects the length and angle of arm support in real time, and sends controller to, and controller reads the inspection from integrated sensor in real time
Measured data.
In step S220, controller calculates the pose of arm support according to the length and angle of arm support
In step 230, controller judges whether arm support is in safety zone according to the pose of arm support.If result is
It is that is, in the case where arm support is in safety zone, then return to step S220, controller continue to read integrated sensor transmission
Data.If result is no, i.e., in the case where arm support is not in safety zone, S240 is entered step, controller passes through first
Control valve or the second control valve make luffing compression cylinder stop.
Fig. 3 shows the flow chart of other embodiments of the arm support control method according to the disclosure.
Being differing principally in that for arm support control method further comprises step S301-S304 shown in Fig. 3 and Fig. 2.It below will knot
Close Fig. 3 detailed description steps S301-S304.
In step S301, controller reads the status information of sensor transmission.Next in step s 302, controller
Judge that sensor whether there is failure according to the status information of the sensor of reading.If it is judged that being yes, then enter step
Rapid S340 makes luffing compression cylinder stop.If it is judged that being no, then S303 is entered step.
In step S303, controller reads the status information of the first control valve and the second control valve.Next in step
In S304, controller judges the first control valve and the second control according to the first control valve of reading and the status information of the second control valve
Valve processed whether there is failure.If it is judged that being yes, i.e., deposited in the case of a fault in any one control valve, all enters step
Rapid S340 makes luffing compression cylinder stop.If there are failure, controllers to be made by the second control valve for the first control valve
Luffing compression cylinder stops；And if the second control valve is there are failure, controller can make luffing pressure by the first control valve
Contracting cylinder stops.
As previously mentioned, the first control valve and the second control valve can be different types of control valves, can also be mutually of the same race
Multiple control valves of class.Since the probability that two control valves exist simultaneously failure is relatively low, so (identical or not using only two
It is congener) control valve come realize it is just sufficiently reliable to the Redundant Control of luffing compression cylinder in the case of, can be used only
Two control valves, so as to simplify control.Certainly, as needed, more than two or two class control valves can also be used.
If judging result in step s 304 is all no, i.e., control valve is then entered step all in safe condition
S310.Step S310-S340 is similar with step S210-S240 in arm support control method shown in Fig. 2, differs only in and is judging
Arm support is in the processing after safety zone, and the method for Fig. 3 is to return to read status information and the method for Fig. 2 is to return to reading
Sensing data is taken, similar place repeats no more.
Fig. 4 shows the structure diagram of the other embodiment of the arm support control device of the disclosure.
As shown in figure 4, arm support control device includes：Memory 41 and the processor 42 for being coupled to the memory 41, place
Reason device 42 is configured as executing the arm support control in the disclosure in some arbitrary embodiments based on the instruction being stored in memory 41
Method processed.
Memory 41 is such as may include system storage, fixed non-volatile memory medium.System storage is for example
It is stored with operating system, application program, Boot loader (Boot Loader), database and other programs etc..
The disclosure additionally provides a kind of aerial work platform, includes the arm support control device in any of the above-described embodiment.
Those skilled in the art should be understood that embodiment of the disclosure can be provided as method, apparatus or computer journey
Sequence product.Therefore, complete hardware embodiment, complete software embodiment or combining software and hardware aspects can be used in the disclosure
The form of embodiment.Moreover, the disclosure can be used in one or more wherein include computer usable program code calculating
Machine can use the meter implemented on non-transient storage medium (including but not limited to magnetic disk storage, CD-ROM, optical memory etc.)
The form of calculation machine program product.
So far, it is described in detail according to the arm support control method of the disclosure, device and computer readable storage medium.
In order to avoid covering the design of the disclosure, some details known in the field are not described.Those skilled in the art are according to upper
The description in face, completely it can be appreciated how implementing technical solution disclosed herein.
Disclosed method and device may be achieved in many ways.For example, can by software, hardware, firmware or
Software, hardware, firmware any combinations realize disclosed method and device.The said sequence of the step of for the method
Merely to illustrate, the step of disclosed method, is not limited to sequence described in detail above, special unless otherwise
It does not mentionlet alone bright.In addition, in some embodiments, also the disclosure can be embodied as to record program in the recording medium, these programs
Include for realizing according to the machine readable instructions of disclosed method.Thus, the disclosure also covers storage for executing basis
The recording medium of the program of disclosed method.
Although some specific embodiments of the disclosure are described in detail by example, the skill of this field
Art personnel it should be understood that above example merely to illustrate, rather than in order to limit the scope of the present disclosure.The skill of this field
Art personnel are it should be understood that can modify to above example in the case where not departing from the scope of the present disclosure and spirit.This public affairs
The range opened is defined by the following claims.
Claims (10)
1. a kind of arm support control device, which is characterized in that including：
Integrated sensor is configured as the length and angle of detection arm support；
First control valve and the second control valve are connected respectively to luffing telescoping cylinder to control the luffing compression cylinder；With
Controller is configured as
According to the length and angle of the arm support, the pose of the arm support is calculated,
According to the pose of the arm support, judge whether the arm support is in safety zone, and safety zone is not in the arm support
In the case of domain, the luffing compression cylinder is set to stop by first control valve or the second control valve；
Wherein, the integrated sensor, first control valve and the second control valve, the controller are connected by bus.
2. arm support control device according to claim 1, which is characterized in that the integrated sensor, first control
At least one of valve and second control valve are configured as：It detects and itself whether there is failure, and sent out to the controller
Send status information.
3. arm support control device according to claim 2, which is characterized in that the controller is additionally configured to：Described
When integrated sensor breaks down, the luffing compression cylinder is set to stop by first control valve or the second control valve.
4. arm support control device according to claim 2, which is characterized in that the controller is additionally configured to：Described
One in first control valve and the second control valve when breaking down, by another in first control valve and the second control valve
One makes the luffing compression cylinder stop.
5. the arm support control device according to any one of claim 1-4, which is characterized in that first control valve is to change
To valve, second control valve is unloading valve.
6. the arm support control device according to any one of claim 1-4, which is characterized in that first control valve and institute
State multiple control valves that the second control valve includes same type.
7. the arm support control device according to any one of claim 1-4, which is characterized in that the luffing telescoping cylinder is liquid
Cylinder pressure.
8. the arm support control device according to any one of claim 1-4, which is characterized in that the integrated sensor installation
In on the arm support detected.
9. the arm support control device according to any one of claim 1-4, which is characterized in that the integrated sensor, institute
It states at least one of the first control valve and second control valve and is integrated with microprocessor, the microprocessor is used for basis and adopts
The information of collection carries out fault diagnosis.
10. a kind of aerial work platform, which is characterized in that including the arm support control device described in any one of claim 1-9.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201721748803.0U CN207684828U (en) | 2017-12-14 | 2017-12-14 | Arm support control device and aerial work platform |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201721748803.0U CN207684828U (en) | 2017-12-14 | 2017-12-14 | Arm support control device and aerial work platform |
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| Publication Number | Publication Date |
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| CN207684828U true CN207684828U (en) | 2018-08-03 |
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| CN201721748803.0U Active CN207684828U (en) | 2017-12-14 | 2017-12-14 | Arm support control device and aerial work platform |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108083188A (en) * | 2017-12-14 | 2018-05-29 | 徐工集团工程机械有限公司 | Arm support control device and method, aerial work platform and computer readable storage medium |
| WO2022095470A1 (en) * | 2020-11-09 | 2022-05-12 | 浙江三一装备有限公司 | Crane and control method therefor |
-
2017
- 2017-12-14 CN CN201721748803.0U patent/CN207684828U/en active Active
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108083188A (en) * | 2017-12-14 | 2018-05-29 | 徐工集团工程机械有限公司 | Arm support control device and method, aerial work platform and computer readable storage medium |
| WO2022095470A1 (en) * | 2020-11-09 | 2022-05-12 | 浙江三一装备有限公司 | Crane and control method therefor |
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| GR01 | Patent grant | ||
| TR01 | Transfer of patent right |
Effective date of registration: 20220715 Address after: 221004 26 Tuo Lan Shan Road, Xuzhou economic and Technological Development Zone, Jiangsu Patentee after: Jiangsu XCMG Guozhong Laboratory Technology Co.,Ltd. Address before: 221004 26 Tuo Lan Shan Road, Xuzhou economic and Technological Development Zone, Jiangsu Patentee before: XCMG CONSTRUCTION MACHINERY Co.,Ltd. |
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| TR01 | Transfer of patent right |