CN110683491B - Arm type aerial work platform safety function control method and control system - Google Patents
Arm type aerial work platform safety function control method and control system Download PDFInfo
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- CN110683491B CN110683491B CN201910961769.2A CN201910961769A CN110683491B CN 110683491 B CN110683491 B CN 110683491B CN 201910961769 A CN201910961769 A CN 201910961769A CN 110683491 B CN110683491 B CN 110683491B
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66F—HOISTING, LIFTING, HAULING OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD
- B66F11/00—Lifting devices specially adapted for particular uses not otherwise provided for
- B66F11/04—Lifting devices specially adapted for particular uses not otherwise provided for for movable platforms or cabins, e.g. on vehicles, permitting workmen to place themselves in any desired position for carrying out required operations
- B66F11/044—Working platforms suspended from booms
- B66F11/046—Working platforms suspended from booms of the telescoping type
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66F—HOISTING, LIFTING, HAULING OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD
- B66F17/00—Safety devices, e.g. for limiting or indicating lifting force
- B66F17/006—Safety devices, e.g. for limiting or indicating lifting force for working platforms
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Abstract
The invention discloses a safety function control method and a safety function control system for an arm type aerial work platform, wherein monitoring data are acquired in the process of expanding operation according to conventional setting; judging the action direction of the corresponding actuating mechanism according to the acquired monitoring data, and comparing the action direction with the corresponding preset lower and upper limits a1 and b1 of the normal threshold, the preset lower and upper limits a2 and b2 of the safety threshold and the corresponding preset lower and upper limits a3 and b3 of the safety threshold to obtain a judgment and comparison result; a3 < a2 < a1 < b1 < b2 < b 3; and sending an instruction to control the position of the three-position four-way valve of the corresponding execution mechanism or cut off the main valve according to the judgment and comparison result. The concept of a pre-safety mode is introduced, the controllability of the whole vehicle can be considered through the pre-safety mode on the premise that a safety related control system accords with the PLd, and meanwhile, redundant monitoring components and valve components are cut, so that the structure of a hydraulic system is simplified, and the cost is reduced.
Description
Technical Field
The invention relates to the technical field of engineering machinery control, in particular to a safety function control method and a safety function control system for an arm type aerial work platform.
Background
The aerial work platform serves various industries of various countries, CE safety certification qualification is required in European Union international high-end market circulation, the technical specification of CE safety is required to be met, performance level PLr is used as an index for evaluating the safety capability of a product control system, products with high performance level have higher competitiveness in the European Union market, and correspondingly, the higher the safety capability is, the higher the specification of matched parts is, the higher the price is, a redundant channel is required to be arranged when a safety related control system architecture adopts three types of architectures, the number of matched parts is doubled, the cost input is increased, and the whole control system is more complex.
The safety modes of the existing arm type aerial work platform machinery are all designed in a safety control program, and the safety control subsystem can reach the level of PLD, but the safety control subsystem has the following defects:
(1) the safety function of the control system reaches the level of the PLD at the position of the actuating mechanism, each actuating mechanism is required to be provided with a redundant framework and safety-related monitoring elements and valves to realize independent control, and the more the number of the actuating mechanisms is, the more the whole control system is complex and the higher the cost is.
(2) The safety function of the control system reaches the level of the PLD at the position of the main valve, if the safety mode is triggered, the main valve is cut off, the power source of the whole hydraulic system disappears, the upper assembly is completely locked, and the controllability is greatly reduced.
Disclosure of Invention
The purpose is as follows: in order to overcome the defects in the prior art, the invention provides a safety function control method and a safety function control system for an arm type aerial work platform.
The technical scheme is as follows: in order to solve the technical problems, the technical scheme adopted by the invention is as follows:
a safety function control method for an arm type aerial work platform comprises the following steps:
acquiring wheel steering, rotation, straight arm/telescopic arm amplitude variation, telescopic arm expansion, cantilever lifting, platform rotation and platform leveling monitoring data in the conventional setting and unfolding operation process;
judging the action direction of the corresponding actuating mechanism according to the acquired monitoring data of the amplitude of the straight arm/telescopic arm and the telescopic arm, and comparing the action direction with the corresponding preset lower upper limit a1 and b1 of a normal threshold, the preset lower upper limit a2 and b2 of a safety threshold and the corresponding preset lower upper limit a3 and b3 of the safety threshold to obtain a judgment and comparison result;
presetting a normal threshold value a1 and a safety threshold value a3 of a first action direction of an actuating mechanism; the pre-safety threshold for the first direction of motion is a2,
the normal threshold value of the second action direction of the actuator is preset as b1, and the safety threshold value is preset as b 3; the pre-safety threshold for the second direction of motion is b 2; a3 < a2 < a1 < b1 < b2 < b 3;
and sending an instruction to control the position of the three-position four-way valve of the corresponding execution mechanism or cut off the main valve according to the judgment and comparison result.
The arm-type aerial work platform safety function control method sends an instruction to control the position of the three-position four-way valve of the corresponding execution mechanism according to a comparison result, and comprises the following steps:
responding to the fact that the actuating mechanism is in the first action direction, and monitoring data a are located at a3 < a ≦ a 2; sending an instruction to control the position of a three-position four-way valve corresponding to the constraint execution mechanism, shielding the first action direction and reserving the second action direction;
or, responding to the fact that the executing mechanism is in the second action direction, and the monitoring data b are located at b2 and b < b 3; and sending an instruction to control the position of the three-position four-way valve corresponding to the constraint execution mechanism, shielding the second action direction and reserving the first action direction.
The arm type aerial work platform safety function control method for sending an instruction to control the main valve to be cut off according to a comparison result comprises the following steps:
responding to the fact that the actuating mechanism is in the first action direction, and monitoring data a are located at a and a are not more than a 3; sending an instruction to control the main valve to be cut off, and entering a safety mode;
or, responding to the fact that the executing mechanism is in the second action direction, and the monitoring data b are located at b3 and b; and sending an instruction to control the main valve to be cut off, and entering a safety mode.
According to the arm type aerial work platform safety function control method, each executing mechanism is correspondingly provided with a three-position four-way valve which is used for controlling the action direction of the executing mechanism.
On the other hand, still provide arm-type aerial working platform safety function controlling means, include:
a data acquisition module to: acquiring wheel steering, rotating, straight arm/telescopic arm amplitude variation, telescopic arm stretching, cantilever lifting, platform rotating and platform leveling monitoring data;
a comparison and judgment module, configured to: judging the action direction of the corresponding actuating mechanism according to the acquired monitoring data of the amplitude of the straight arm/telescopic arm and the telescopic arm, and comparing the action direction with corresponding preset lower and upper limits a1 and b1 of a normal threshold, lower and upper limits a2 and b2 of a preset safety threshold and lower and upper limits a3 and b3 of the safety threshold to obtain a judgment and comparison result; the normal threshold value of the first action direction of the preset execution mechanism is a1, the safety threshold value is a3, and the pre-safety threshold value of the first action direction is a 2; the normal threshold value of the second action direction of the actuator is preset as b1, and the safety threshold value is preset as b 3; the pre-safety threshold for the second direction of motion is b 2; a3 < a2 < a1 < b1 < b2 < b 3;
an output control module to: and sending an instruction to control the position of the three-position four-way valve of the corresponding execution mechanism or cut off the main valve according to the judgment and comparison result.
In some embodiments, the arm-type aerial work platform safety function control device further includes an output control module, configured to: according to the judgment and comparison result, sending an instruction to control the position of the three-position four-way valve corresponding to the execution mechanism or cut off the main valve, comprising the following steps:
responding to the fact that the actuating mechanism is in the first action direction, and monitoring data a are located at a3 < a ≦ a 2; sending an instruction to control the position of a three-position four-way valve corresponding to the constraint execution mechanism, shielding the first action direction and reserving the second action direction;
or, responding to the fact that the executing mechanism is in the second action direction, and the monitoring data b are located at b2 and b < b 3; sending an instruction to control the position of the three-position four-way valve corresponding to the constraint execution mechanism, shielding the second action direction and reserving the first action direction;
or responding to the fact that the actuating mechanism is in the first action direction, and the monitoring data a is located at a and is not more than a 3; sending an instruction to control the main valve to be cut off, and entering a safety mode;
or, responding to the fact that the executing mechanism is in the second action direction, and the monitoring data b are located at b3 and b; and sending an instruction to control the main valve to be cut off, and entering a safety mode.
According to another aspect of the invention, there is provided an arm aerial platform safety function control system comprising the arm aerial platform safety function control device, the arm aerial platform safety function control device comprising a memory and a processor, the memory storing instructions for controlling the processor to operate to perform the arm aerial platform safety function control method.
In some embodiments, the arm-type aerial work platform safety function control system further includes:
the data monitoring module is used for acquiring wheel steering, rotation, straight arm/telescopic arm amplitude variation, telescopic arm extension, cantilever lifting, platform rotation and platform leveling monitoring data and sending the data to the control device;
and the actuating mechanism comprises working oil cylinders for executing corresponding actions, and each working oil cylinder is provided with a three-position four-way valve for controlling the action direction of the working oil cylinder by restricting the position of the three-position four-way valve.
In some embodiments, in the arm-type aerial work platform safety function control system, the data monitoring module includes a load sensor, an inclination sensor, a travel switch and a pressure gauge, and is responsible for monitoring platform load, an arm rest inclination angle, a telescopic arm travel and hydraulic system pressure.
According to another aspect of the invention, an arm aerial work platform machine is provided, comprising the arm aerial work platform safety function control system.
Has the advantages that: the safety related parts of the arm type aerial working platform control system reach the PLd level, the controllability of the whole vehicle is guaranteed, the safety related parts are cut, the cost is reduced, the pre-safety mode is designed in a non-safety control program, the triggering priority is higher than that of the safety mode, after the pre-safety mode is triggered, the non-safety action direction of an actuating mechanism is shielded, the safety action direction is reserved, the controllability of the whole vehicle is improved, the pre-safety mode is rewritten, and the safety level compliance certification of IEC 61508 standard SIL2 is not required to be carried out again; the safety mode is designed in a safety control program, after the safety mode is triggered, all actions are shielded and installed by cutting off a main valve, operation and control safety is guaranteed, an emergency rescue function is added, safety related parts of the arm type aerial work platform control system reach the PLd level, compared with the method that PLd design is carried out at each execution mechanism position, a large number of parts are cut, and cost is reduced.
(1) The concept of a pre-safety mode is introduced, and on the premise that a safety related control system accords with the PLd, the safety action of an arm type aerial work platform actuating mechanism can be reserved through the mode, so that the controllability of the whole vehicle is improved.
(2) Compared with a safety function framework of a control system designed at the position of an executing mechanism, the hydraulic system with the pre-safety mode is simple in structure, the controllability of the whole vehicle is improved, meanwhile, redundant monitoring parts and valves are cut, and the cost is reduced.
(3) The safety control program is separated from the non-safety control program, the pre-safety mode is designed in the non-safety control program, and the IEC 61508 standard SIL2 safety level compliance certification is not required to be carried out again when the pre-safety mode is rewritten.
Drawings
FIG. 1 is a flow chart of a method for controlling the safety function of an arm aerial work platform according to an embodiment of the present invention;
FIG. 2 is a block diagram of a control system according to an embodiment of the present invention.
Detailed Description
The present invention will be further described with reference to the following examples.
Example 1
A safety function control method for an arm type aerial work platform comprises the following steps:
acquiring wheel steering, rotation, straight arm/telescopic arm amplitude variation, telescopic arm expansion, cantilever lifting, platform rotation and platform leveling monitoring data in the conventional setting and unfolding operation process;
judging the action direction of the corresponding actuating mechanism according to the acquired monitoring data of the amplitude of the straight arm/telescopic arm and the telescopic arm, and comparing the action direction with the corresponding preset lower upper limit a1 and b1 of a normal threshold, the preset lower upper limit a2 and b2 of a safety threshold and the corresponding preset lower upper limit a3 and b3 of the safety threshold to obtain a judgment and comparison result;
presetting a normal threshold value a1 and a safety threshold value a3 of a first action direction of an actuating mechanism; the pre-safety threshold for the first direction of motion is a2,
the normal threshold value of the second action direction of the actuator is preset as b1, and the safety threshold value is preset as b 3; the pre-safety threshold for the second direction of motion is b 2; a3 < a2 < a1 < b1 < b2 < b 3;
and sending an instruction to control the position of the three-position four-way valve of the corresponding execution mechanism or cut off the main valve according to the judgment and comparison result.
The arm-type aerial work platform safety function control method sends an instruction to control the position of the three-position four-way valve of the corresponding execution mechanism according to a comparison result, and comprises the following steps:
responding to the fact that the actuating mechanism is in the first action direction, and monitoring data a are located at a3 < a ≦ a 2; sending an instruction to control the position of a three-position four-way valve corresponding to the constraint execution mechanism, shielding the first action direction and reserving the second action direction;
or, responding to the fact that the executing mechanism is in the second action direction, and the monitoring data b are located at b2 and b < b 3; and sending an instruction to control the position of the three-position four-way valve corresponding to the constraint execution mechanism, shielding the second action direction and reserving the first action direction.
The arm type aerial work platform safety function control method for sending an instruction to control the main valve to be cut off according to a comparison result comprises the following steps:
responding to the fact that the actuating mechanism is in the first action direction, and monitoring data a are located at a and a are not more than a 3; sending an instruction to control the main valve to be cut off, and entering a safety mode;
or, responding to the fact that the executing mechanism is in the second action direction, and the monitoring data b are located at b3 and b; and sending an instruction to control the main valve to be cut off, and entering a safety mode.
According to the arm type aerial work platform safety function control method, each executing mechanism is correspondingly provided with a three-position four-way valve which is used for controlling the action direction of the executing mechanism.
Example 2
An arm-type aerial work platform safety function control device, includes:
a data acquisition module to: acquiring wheel steering, rotating, straight arm/telescopic arm amplitude variation, telescopic arm stretching, cantilever lifting, platform rotating and platform leveling monitoring data;
a comparison and judgment module, configured to: judging the action direction of the corresponding actuating mechanism according to the acquired monitoring data of the amplitude of the straight arm/telescopic arm and the telescopic arm, and comparing the action direction with the corresponding preset lower and upper limits (a 1 and b 1) of a normal threshold, the preset lower and upper limits (a 2 and b 2) of a safety threshold and the corresponding preset lower and upper limits (a 3 and b 3) of the safety threshold to obtain a judgment and comparison result; the normal threshold value of the first action direction of the preset execution mechanism is a1, the safety threshold value is a3, and the pre-safety threshold value of the first action direction is a 2; the normal threshold value of the second action direction of the actuator is preset as b1, and the safety threshold value is preset as b 3; the pre-safety threshold for the second direction of motion is b 2; a3 < a2 < a1 < b1 < b2 < b 3;
an output control module to: and sending an instruction to control the position of the three-position four-way valve of the corresponding execution mechanism or cut off the main valve according to the judgment and comparison result.
In some embodiments, the arm-type aerial work platform safety function control device further includes an output control module, configured to: according to the judgment and comparison result, sending an instruction to control the position of the three-position four-way valve corresponding to the execution mechanism or cut off the main valve, comprising the following steps:
responding to the fact that the actuating mechanism is in the first action direction, and monitoring data a are located at a3 < a ≦ a 2; sending an instruction to control the position of a three-position four-way valve corresponding to the constraint execution mechanism, shielding the first action direction and reserving the second action direction;
or, responding to the fact that the executing mechanism is in the second action direction, and the monitoring data b are located at b2 and b < b 3; sending an instruction to control the position of the three-position four-way valve corresponding to the constraint execution mechanism, shielding the second action direction and reserving the first action direction;
or responding to the fact that the actuating mechanism is in the first action direction, and the monitoring data a is located at a and is not more than a 3; sending an instruction to control the main valve to be cut off, and entering a safety mode;
or, responding to the fact that the executing mechanism is in the second action direction, and the monitoring data b are located at b3 and b; and sending an instruction to control the main valve to be cut off, and entering a safety mode.
Example 3
A safety function control system of an arm type aerial work platform comprises a safety function control device of the arm type aerial work platform, wherein the safety function control device of the arm type aerial work platform comprises a memory and a processor, the memory is used for storing instructions, and the instructions are used for controlling the processor to operate so as to execute the safety function control method of the arm type aerial work platform.
In some embodiments, the arm-type aerial work platform safety function control system further includes:
the data monitoring module is used for acquiring wheel steering, rotation, straight arm/telescopic arm amplitude variation, telescopic arm extension, cantilever lifting, platform rotation and platform leveling monitoring data and sending the data to the control device;
and the actuating mechanism comprises working oil cylinders for executing corresponding actions, and each working oil cylinder is provided with a three-position four-way valve for controlling the action direction of the working oil cylinder by restricting the position of the three-position four-way valve.
In some embodiments, in the arm-type aerial work platform safety function control system, the data monitoring module includes a load sensor, an inclination sensor, a travel switch and a pressure gauge, and is responsible for monitoring platform load, an arm rest inclination angle, a telescopic arm travel and hydraulic system pressure.
In some embodiments, as shown in fig. 2, the hardware associated with the control system includes a power supply system, a sensor monitoring system, a hydraulic system and a vehicle control system,
the power supply system supplies power to other systems.
The sensor monitoring system comprises a load sensor, an inclination angle sensor, a travel switch and a pressure gauge and is responsible for monitoring platform load, an arm support inclination angle, telescopic arm travel and hydraulic system pressure.
The hydraulic system comprises a hydraulic pump, a hydraulic valve, a pipeline and an oil cylinder, and is a power system and an execution mechanism which are arranged on the whole aerial work platform.
The whole vehicle control system executes related actions by controlling a hydraulic system and utilizes sensor monitoring data to carry out real-time safety monitoring and control.
As shown in fig. 1, the specific workflow of the control method (in the example of the straight-arm type aerial work platform, but the invention is not limited to the straight-arm type):
1. a safety mode is designed in the safety control program, the safety mode comprises a plurality of safety functions, each safety function has specific triggering conditions and corresponding limited operation, and safety mode related components are configured at the position of the main valve according to the PLd level.
2. The method comprises the steps of designing a pre-safety mode in a non-safety control program, setting the same triggering condition, wherein the set threshold value is contained by the set threshold value of the safety mode, namely the pre-safety mode is triggered preferentially, and related components of the pre-safety mode only need a three-position four-way valve without safety level requirements, redundant architecture and PLd level.
3. When an operator operates the aerial working platform, after misoperation occurs (taking a position control safety function as an example), the control system judges and triggers through sensor monitoring data, the vehicle control unit judges that the vehicle enters a pre-safety mode from a normal mode, and under the pre-safety mode, the positions of the three-position four-way valve of the straight arm and the telescopic arm execution mechanism are restrained, the non-safety action directions of the straight arm and the telescopic arm are shielded, the safety action directions are reserved, and other mechanisms act normally and continuously take effect.
4. After the pre-safety mode is triggered, an operator can control the straight arm or the telescopic arm to move towards the safety direction to break away from the pre-safety mode.
5. Due to the existence of the pre-safety mode, the safety mode can not be triggered generally, the controllability of the whole vehicle is improved, and the safety mode can be entered when the triggering condition of the safety mode is met or the pre-safety mode fails.
6. After the safety mode is triggered, the main valve of the whole vehicle is cut off, the power source of the hydraulic system disappears, only the walking function is kept, and emergency rescue needs to be carried out for ensuring the safety of workers.
7. The manual process reverts to the normal operating mode.
In some embodiments, the boom aerial platform machine further comprises the boom aerial platform safety function control system.
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 flow diagrams and/or block diagrams, and combinations of flows and/or blocks in the flow diagrams 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.
The above description is only of the preferred embodiments of the present invention, and it should be noted that: it will be apparent to those skilled in the art that various modifications and adaptations can be made without departing from the principles of the invention and these are intended to be within the scope of the invention.
Claims (7)
1. A safety function control method for an arm type aerial work platform is characterized by comprising the following steps:
acquiring wheel steering, rotation, straight arm/telescopic arm amplitude variation, telescopic arm expansion, cantilever lifting, platform rotation and platform leveling monitoring data in the conventional setting and unfolding operation process;
judging the action direction of the corresponding actuating mechanism according to the acquired monitoring data of the amplitude of the straight arm/telescopic arm and the telescopic arm, and comparing the action direction with a corresponding preset normal threshold lower limit a1, an upper limit b1, a preset safety threshold lower limit a2, an upper limit b2, a safety threshold lower limit a3 and an upper limit b3 to obtain a judgment and comparison result;
the lower limit of a normal threshold of a first action direction of the preset executing mechanism is a1, and the lower limit of a safety threshold is a 3; the lower pre-safety threshold for the first direction of motion is a2,
the upper limit of a normal threshold of a second action direction of the actuator is preset as b1, and the upper limit of a safety threshold is preset as b 3; the upper limit of the pre-safety threshold of the second action direction is b 2; a3 < a2 < a1 < b1 < b2 < b 3;
sending an instruction to control the position of the three-position four-way valve of the corresponding actuating mechanism or cut off the main valve according to the judgment and comparison result;
according to the comparison result, the position of the three-position four-way valve of the corresponding execution mechanism is controlled by sending an instruction, and the method comprises the following steps:
responding to the fact that the actuating mechanism is in the first action direction, and monitoring data a are located at a3 < a ≦ a 2; sending an instruction to control the position of a three-position four-way valve corresponding to the constraint execution mechanism, shielding the first action direction and reserving the second action direction;
or, responding to the fact that the executing mechanism is in the second action direction, and the monitoring data b are located at b2 and b < b 3; sending an instruction to control the position of the three-position four-way valve corresponding to the constraint execution mechanism, shielding the second action direction and reserving the first action direction;
according to the comparison result, the main valve is controlled to be cut off by sending an instruction, and the main valve cutting off control method comprises the following steps:
responding to the fact that the actuating mechanism is in the first action direction, and monitoring data a are located at a and a are not more than a 3; sending an instruction to control the main valve to be cut off, and entering a safety mode;
or, responding to the fact that the executing mechanism is in the second action direction, and the monitoring data b are located at b3 and b; and sending an instruction to control the main valve to be cut off, and entering a safety mode.
2. The arm-type aerial work platform safety function control method of claim 1, wherein each actuator is correspondingly provided with a three-position four-way valve for controlling the action direction of the actuator.
3. The utility model provides an arm-type aerial working platform safety function controlling means which characterized in that includes:
a data acquisition module to: acquiring wheel steering, rotating, straight arm/telescopic arm amplitude variation, telescopic arm stretching, cantilever lifting, platform rotating and platform leveling monitoring data;
a comparison and judgment module, configured to: judging the action direction of the corresponding actuating mechanism according to the acquired monitoring data of the amplitude of the straight arm/telescopic arm and the telescopic arm, and comparing the action direction with a corresponding preset normal threshold lower limit a1, an upper limit b1, a preset safety threshold lower limit a2, an upper limit b2, a safety threshold lower limit a3 and an upper limit b3 to obtain a judgment and comparison result; the lower limit of the normal threshold of the first action direction of the preset execution mechanism is a1, the lower limit of the safety threshold is a3, and the lower limit of the preset safety threshold of the first action direction is a 2; the upper limit of a normal threshold of a second action direction of the actuator is preset as b1, and the upper limit of a safety threshold is preset as b 3; the upper limit of the pre-safety threshold of the second action direction is b 2; a3 < a2 < a1 < b1 < b2 < b 3;
an output control module to: according to the judgment and comparison result, sending an instruction to control the position of the three-position four-way valve corresponding to the execution mechanism or cut off the main valve, comprising the following steps:
responding to the fact that the actuating mechanism is in the first action direction, and monitoring data a are located at a3 < a ≦ a 2; sending an instruction to control the position of a three-position four-way valve corresponding to the constraint execution mechanism, shielding the first action direction and reserving the second action direction;
or, responding to the fact that the executing mechanism is in the second action direction, and the monitoring data b are located at b2 and b < b 3; sending an instruction to control the position of the three-position four-way valve corresponding to the constraint execution mechanism, shielding the second action direction and reserving the first action direction;
or responding to the fact that the actuating mechanism is in the first action direction, and the monitoring data a is located at a and is not more than a 3; sending an instruction to control the main valve to be cut off, and entering a safety mode;
or, responding to the fact that the executing mechanism is in the second action direction, and the monitoring data b are located at b3 and b; and sending an instruction to control the main valve to be cut off, and entering a safety mode.
4. An armed aerial platform safety function control system comprising the armed aerial platform safety function control device of claim 3, the armed aerial platform safety function control device comprising a memory and a processor, the memory for storing instructions for controlling the processor to operate to perform the armed aerial platform safety function control method of claim 1 or 2.
5. The arm aerial work platform safety function control system of claim 4, further comprising:
the data monitoring module is used for acquiring wheel steering, rotation, straight arm/telescopic arm amplitude variation, telescopic arm extension, cantilever lifting, platform rotation and platform leveling monitoring data and sending the data to the control device;
and the actuating mechanism comprises working oil cylinders for executing corresponding actions, and each working oil cylinder is provided with a three-position four-way valve for controlling the action direction of the working oil cylinder by restricting the position of the three-position four-way valve.
6. The boom aerial platform safety function control system of claim 5, wherein the data monitoring module comprises a load sensor, a tilt sensor, a travel switch and a pressure gauge, and is responsible for monitoring platform load, boom tilt angle, boom travel and hydraulic system pressure.
7. An arm aerial work platform machine comprising the arm aerial work platform safety function control system of any one of claims 4-6.
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| CN112125240B (en) * | 2020-09-11 | 2021-11-30 | 江苏徐工工程机械研究院有限公司 | Multifunctional operation platform, aerial operation vehicle and control method thereof |
| CN112408287B (en) * | 2020-11-27 | 2022-05-06 | 江苏徐工工程机械研究院有限公司 | System for monitoring position of telescopic arm of aerial work platform and control method |
| CN113401802B (en) * | 2021-05-18 | 2022-11-18 | 中联重科股份有限公司 | Method and device for estimating operation safety level of tower crane |
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| US6272413B1 (en) * | 1999-03-19 | 2001-08-07 | Kabushiki Kaisha Aichi Corporation | Safety system for boom-equipped vehicle |
| CN100410164C (en) * | 2005-07-19 | 2008-08-13 | 江阴市华澄特种机械工程有限公司 | Straight arm self-propelled high-altitude operating platform |
| CN201756438U (en) * | 2010-06-22 | 2011-03-09 | 北京京城重工机械有限责任公司 | Hydraulic system of straight arm self-propelled high-altitude operating platform machinery |
| CN102530784B (en) * | 2011-12-15 | 2014-12-24 | 长沙中联消防机械有限公司 | Work arm hydraulic system of high-altitude operation vehicle and high-altitude operation vehicle with the hydraulic system |
| CN106829815B (en) * | 2017-03-27 | 2022-08-23 | 徐工消防安全装备有限公司 | Arm support control system of aerial work platform and aerial work platform |
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