CN111017838A - Control system and control method for arm type aerial work platform - Google Patents
Control system and control method for arm type aerial work platform Download PDFInfo
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- CN111017838A CN111017838A CN201911417974.9A CN201911417974A CN111017838A CN 111017838 A CN111017838 A CN 111017838A CN 201911417974 A CN201911417974 A CN 201911417974A CN 111017838 A CN111017838 A CN 111017838A
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- 229910001220 stainless steel Inorganic materials 0.000 description 2
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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
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Abstract
The invention relates to the field of engineering machinery design, and provides a control system of an arm type aerial work platform, which comprises the following components: the arm type aerial work platform comprises a platform body, a lifting arm and a chassis, wherein the platform body and the chassis are respectively arranged at two ends of the lifting arm, the control system comprises an upper control box arranged on the platform body and a lower control box arranged on the chassis, and the upper control box and the lower control box are connected through a communication bus. The invention can ensure the safety of the whole vehicle action.
Description
Technical Field
The invention relates to the field of engineering machinery design, in particular to a control system and a control method of an arm type aerial work platform.
Background
At present, main manufacturers of the main arm type aerial work platform are foreign manufacturers, such as JLG (Jie and Jie), Keyny and the like. At present, some host factories in China are actively trying to obtain arm type aerial work platforms, but the related technology of the electronic control system is monopolized by foreign factories and the price is not high.
The arm type high-altitude operation vehicle is lifting equipment for high-altitude operation, and can cross obstacles to carry out high-altitude operation. The platform at the top end can be suspended when being lifted to any position, and the moving equipment at the bottom can enable the whole operation platform to operate while moving. Because of convenient use, the arm-type overhead working truck can be widely applied to the climbing operation of the mounting maintenance machine in the industries of municipal administration, electric power, street lamps, advertisements, communication, photography, gardens, traffic, docks, airports, ports and the like.
On the other hand, even though manufacturers in the domestic electronic control field are trying to do so, few electronic control systems meet the international safety function standards.
Traditionally, safety systems have been implemented individually, operated independently, and often operated in parallel with automation systems. This is a good reason that the security system must remain available at all times. In the "normal" operating state of the machine, faults and unexpected situations must not degrade or defeat the safety precautions.
For safety control systems, the domestic machine manufacturers refer primarily to the design of safety circuits in ISO 13849-1.
The ISO13849-1 standard covers pneumatic systems, hydraulic systems and mechanical safety control systems; the method is officially implemented at the end of 2011, and is a brand new milestone in the field of mechanical function safety. The ISO13849-1 standard adds some evaluations on the fault probability of the system on the certainty of the system required in the past, so that the comprehensive safety from parts to the system can be realized.
Disclosure of Invention
The invention aims to provide a control system of an arm type aerial work platform, which comprises the following steps: the arm type aerial work platform comprises a platform body, a lifting arm and a chassis, wherein the platform body and the chassis are respectively arranged at two ends of the lifting arm, the control system comprises an upper control box arranged on the platform body and a lower control box arranged on the chassis, and the upper control box and the lower control box are connected through a communication bus.
In the control system of the arm-type aerial work platform, the chassis is provided with wheels and a driving device; the lower control box comprises a mobile module; the action module controls the driving device to enable the arm type aerial work platform to move forwards, backwards, leftwards and rightwards.
In the control system of the arm-type aerial work platform, the upper control box includes: the device comprises an upper IO interface module, a display buzzing module and an upper panel control key module; the upper IO interface module comprises a control program and is used for receiving key information provided by the upper panel control key module and sending the key information to the lower control box through the communication bus.
In the control system of the arm-type aerial work platform, the lower control box further comprises: the system comprises a lower IO interface module, a man-machine interaction module, a lower panel control key module and a main control module; the lower IO interface module is connected with the upper IO interface module through the communication bus and sends designated information to the upper IO interface module at regular time; the main control module comprises a control program and is used for receiving information provided by the lower IO interface module, the man-machine interaction module and the lower panel control key module, controlling the arm-type aerial work platform to move according to the information and giving feedback information.
In the control system of the arm-type aerial work platform, the upper panel control key module is used for controlling the action of the arm-type aerial work platform.
In the control system of the arm-type aerial work platform, the human-computer interaction module is used for setting parameters; the lower panel control key module is used for controlling the action of the arm type aerial work platform.
In the control system of the arm-type aerial work platform, the upper control box and the lower control box both further comprise an emergency stop button, and the emergency stop button is directly connected with the lower control box and stops all operations of the arm-type aerial work platform when pressed down.
Another object of the present invention is to provide a method for controlling an arm-type aerial work platform, comprising the steps of:
s1, acquiring switch information and built-in inclination information of each current control key;
s2, controlling the state;
s3, monitoring the voltage of the whole vehicle;
s4, weighing, calibrating and detecting;
s5, calibrating and detecting the built-in inclination angle;
s6, displaying related information;
s7, storing the current data; and if the operation has a fault, alarming.
In the above method for controlling the arm-type aerial work platform, when the control right is in the upper control box, the switch information of the control key in step S1 is from the upper control box; when the control right is in the lower control box, the switch information of the control key described in step S1 comes from the lower control box.
The control method of the arm type aerial work platform further comprises a production line test mode;
the production line test mode comprises the following steps:
p1, timing the transmission of DI data;
p2, sending the handle displacement data at regular time;
p3, sending analog quantity acquisition information at regular time;
p4, inquiring the issued command and executing.
Compared with the prior art, the technical scheme of the invention considers various machine types of the host manufacturer, can be developed in a customized manner according to the customer requirements, and effectively meets the requirement of the host manufacturer on the control of the whole vehicle. The upper control box and the lower control box are connected through a communication bus, the working contents of the two control boxes can be coordinated, the basic action requirements are met, the lower control box serves as a core control part, and when the upper control box is abnormal, the upper control box can find and carry out related abnormal processing in time, so that the safety of the action of the whole vehicle can be guaranteed. The so-called abnormal operating states include: the signal line of the upper control operating handle is short-circuited to the ground, the 5V signal is short-circuited, the CAN bus loses packet, the sampling influence of the temperature symmetrical retransmission sensor is caused when the vehicle runs at high speed, and the like.
Drawings
FIG. 1 is an overall schematic view of an embodiment of the present invention;
FIG. 2 is an overall schematic view of yet another embodiment of the present invention;
FIG. 3 is a schematic illustration of a front panel of the upper control box of the present invention;
FIG. 4 is a schematic illustration of a front panel of the lower control box of the present invention;
FIG. 5 is a detailed example of a control routine in the upper control box in the present invention;
fig. 6 is a detailed example of a control routine in the lower control box in the present invention.
Detailed Description
In order to make the objects and features of the present invention more comprehensible, embodiments of the present invention are described in detail below with reference to the accompanying drawings. This invention may, however, be embodied in different forms and should not be construed as limited to the embodiments set forth herein. Also, the embodiments and features of the embodiments in the present application are allowed to be combined with or substituted for each other without conflict. The advantages and features of the present invention will become more apparent in conjunction with the following description.
It is to be noted that the drawings are in a very simplified form and are not to precise scale, which is merely for the purpose of facilitating and distinctly claiming the embodiments of the present invention.
It should also be noted that the numbering of the steps in the present invention is for ease of reference and not for limitation of the order of the steps. Specific language will be used herein to describe the particular sequence of steps which is required.
The design idea of the invention is that the electronic control system of the arm-type aerial work platform is designed according to the standard recommended in the industry, so that the electronic control system can detect the load on the work platform and the stability of the whole work platform system, thereby ensuring the safety of aerial work.
The invention arranges control boxes at the chassis (on the ground) and on the operation platform (at high altitude), and both control boxes are provided with an alarm device and an emergency stop button. The two alarm devices alarm synchronously and simultaneously give an alarm to ground and aerial operators so as to deal with emergency situations in time. The two emergency stop buttons are respectively controlled by the aerial working personnel and the ground working personnel and are respectively and directly connected with the driving device, namely, no matter which emergency stop button is pressed, no matter what task is currently executed, the operation is stopped immediately, and the arm type aerial working platform is recovered to a safer posture. The two emergency stop buttons are respectively controlled by an aerial worker and a ground worker, and are intended to ensure the height safety of the aerial worker and the arm type aerial work platform.
Fig. 1 is an arm type aerial work platform with chassis (vehicles) separately installed on four-wheel trolleys. The driving device 2 is arranged on the four-wheel trolley 1, and the driving device 2 is used for driving the four-wheel trolley 1 to move forwards or backwards or turn left and right. The lifting arm 3 comprises a main arm 31, a folding arm 32 and a fly arm 33, wherein driving devices are arranged between the main arm 31 and the folding arm 32 and between the folding arm 32 and the fly arm 33 so as to drive the main arm 31, the folding arm 32 and the fly arm 33 to move relatively. The work platform body 34 is arranged at one end of the fly jib 33, and a driving device is also arranged between the work platform body 34 and the fly jib 33, so that the work platform body 34 can independently rotate left and right besides moving along with the fly jib 33.
Similarly, fig. 2 shows the boom aerial platform mounted on the platform of a truck with the four-wheel trolley 1 and the drive unit 2 integrated into the truck. Further, the main arm 31 and the knuckle arm 32 shown in fig. 2 are both retractable robot arms.
Fig. 3 and 4 show the external appearance of the upper control box 4 and the lower control box 5, respectively. Wherein, the upper control box 4 is arranged on the operation platform body 34 and is used by the high-altitude operation personnel; the lower control box 5 is arranged on the outer surface of the driving device 2 or the four-wheel trolley 1 and the like close to the ground, and is mainly used by ground operators.
The upper control box 4 is provided with a single Y-axis handle, a double-axis handle, a buzzer, a waterproof toggle switch, an emergency stop switch, an indicator light bank (also can be a display screen) and the like. The single Y-axis handle is used for selecting the current operation platform body 34 or the chassis, the double-axis handle is used for controlling the front-back or left-right movement direction of the chassis, the buzzer is used for alarming, the group of waterproof toggle switches in the middle area of the panel is used for controlling the movement of the lifting arm 3, the emergency stop switch is used for immediately forbidding operation in emergency, and the indicating lamp bank is used for indicating some state information of the arm type aerial work platform.
The lower control box 5 is provided with a waterproof toggle switch, an emergency stop switch, a selective lock and the like. The waterproof toggle switches at the middle lower part of the panel are used for controlling the lifting arm 3 and the chassis to move, the emergency stop switch is used for immediately forbidding operation in emergency, and the selection lock below the emergency stop switch is used for selecting the current parameter setting state, the lower control box control state or the upper control box control state.
In addition, the shells (the shell and the protective cover) of the upper control box 4 and the lower control box 5 are in a non-mold-opening form and made of stainless steel materials; the handle adopts a single-shaft Hall sensor handle (right-hand handle) and a double-shaft Hall sensor handle (left-hand handle) which are commonly used in the north valley; the fastening is performed using galvanized or nickel-plated stainless steel screws or bolts. The communication cable between the two control boxes is connected through the circular aviation plug, and the waterproof and anti-corrosion performances of outdoor use are guaranteed. Further, the lower control box 5 is vertically installed, so that the control is convenient.
The control system of the arm-type aerial work platform comprises a work platform body 34, a lifting arm 3 and a chassis (namely a four-wheel trolley 1 in a figure 1, a driving device 2 and a truck in a figure 2), wherein the work platform body 34 and the chassis are respectively arranged at two ends of the lifting arm 3, the control system comprises an upper control box 4 arranged on the work platform body 34 and a lower control box 5 arranged on the chassis, and the upper control box 4 and the lower control box 5 are connected through a communication bus. The communication bus transmits information of the control keys on the surface of the control box (including switch information or position information) and some information for display between the upper control box 4 and the lower control box 5. The communication bus includes but is not limited to general bus protocols such as CAN, RS485 and the like, and even wireless communication protocols. Further, the information transmitted on the communication bus is exchanged according to cycles and timing.
Further, the chassis is provided with wheels and a driving device; the lower control box 5 comprises a motion module which controls the driving device to enable the arm type aerial work platform to move left and right.
The upper control box 4 includes, corresponding to a panel of the upper control box 4: go up IO interface module, show buzzing module and top panel control key module. The upper IO interface module comprises a control program and is used for receiving key information provided by the upper panel control key module and sending the key information to the lower control box through the communication bus. Furthermore, the upper panel control key module is used for controlling the action of the arm type aerial work platform.
The lower control box 5 further includes, corresponding to the panel of the lower control box 5: the system comprises a lower IO interface module, a man-machine interaction module, a lower panel control key module and a main control module. The lower IO interface module is connected with the upper IO interface module through the communication bus and sends designated information to the upper IO interface module at regular time; the main control module comprises a control program and is used for receiving information provided by the lower IO interface module, the man-machine interaction module and the lower panel control key module, controlling the arm-type aerial work platform to move according to the information and giving feedback information. Further, the human-computer interaction module is used for setting parameters; the lower panel control key module is used for controlling the action of the arm type aerial work platform.
The invention also provides a control method of the arm type aerial work platform. The method comprises the following steps:
and S1, acquiring the switch information and the built-in inclination angle information of each current control key.
And S2, controlling the state, which is mainly embodied in controlling a motor driver and a related electromagnetic valve to lift a main arm, lift a folding arm, lift a fly arm, rotate a rotary table, and drive or steer the whole vehicle.
And S3, monitoring the voltage of the whole vehicle, and giving an alarm sound through a buzzer when the voltage is too low so as to prompt manual intervention.
And S4, weighing, calibrating and detecting. Wherein the weighing is calibrated as a one-time operation at the start of the work. Because the weighing sensor is installed and fixed below the platform basket, and the weighing sensor has an output offset error, in order to remove the output offset error and the dead weight of the platform basket, weighing calibration is required. The detection refers to the total weight of the goods and/or the personnel carried on the platform basket. When the vehicle is static (the vehicle does not act), if the overload is detected, all actions are forbidden, and only after the overload condition is relieved, the vehicle can perform other actions; if an overload is detected in the case of vehicle dynamics (vehicle behavior), the motion is allowed to continue.
And S5, calibrating and detecting the built-in inclination angle. The built-in dip angles comprise 2 dip angles which are respectively an included angle between the front and back directions of the vehicle and the horizontal plane and an included angle between the left and right directions of the vehicle and the horizontal plane. Since the built-in tilt angle may be deviated due to installation deviation introduced when the ECU is fixedly installed, in order to remove the angular deviation caused by installation, calibration of the built-in tilt angle is required. Similarly, the calibration of the built-in inclination angle only needs to be carried out once when the ECU is installed. The built-in tilt angle detection is performed by two-axis gravitational acceleration. When the vehicle is in a collection state, detecting that the angle exceeds the range, and not prohibiting the action; when the vehicle is in a non-collection state, if the detected angle exceeds the range, all actions are forbidden, and the vehicle is prevented from rolling over.
And S6, displaying the related information. Specifically, when the vehicle has no fault, the information such as working time, battery voltage and the like is displayed on an LCD screen; when the vehicle breaks down, displaying fault code information; pressing the specific combination key can display other state monitoring information of the current vehicle.
And S7, storing the data, and alarming if a fault occurs in the operation process.
The above steps are solidified in the lower control box 5 in the form of software, and when the control right is on the upper control box 4, the switch information of the control key described in the step S1 comes from the upper control box 4; when the control right is in the lower control box 5, the switch information of the control key described in step S1 comes from the lower control box 5. Fig. 6 is a more complete and detailed flow chart.
The control program (software) in the lower control box 5 includes a boot loader and an application. The startup program needs to be burnt to the Flash designated interval of the main chip, and the application program can be burnt and can also be updated to the application program area through a software updating tool. The application program embodies all safety functions which can be realized by the arm type (straight arm and crank arm, electric drive and diesel) overhead truck, and comprises the stretching of a main arm, the lifting of the main arm, the lifting of a folding arm (the straight arm truck is not provided with the folding arm), the lifting of a flying arm, the steering of a rotary table, the rotation of a platform, the leveling of the platform, the steering and braking of the walking of a vehicle and the like.
The upper control box 4 also contains a control program, which is used primarily to collect control key information and transmit it to the lower control box 5 via the communication bus. Of course, when the lower control box 5 sends some display or alarm information, the control program is also received through the communication bus and displays the display or alarm information on the panel of the upper control box 4. The control program of the lower control box 5 receives control key information from the upper control box 4 as a main control program, and executes these control instructions (control key information). The relationship between the upper control box 4 and the lower control box 5 is: the lower control box 5 is the main one, and the upper control box 4 is the auxiliary one. The control program of the upper control box 4 receives some feedback information, such as display information, from the lower control box 5; at the same time, the control key information on the panel of the upper control box 4 is faithfully transmitted and is specifically executed by the lower control box 5.
In addition, in order to facilitate production debugging, the control programs of the upper control box 4 and the lower control box 5 further include a production line test mode, that is, when the control programs are in a state of debugging program (especially, adjusting the communication state between the two control programs), the method includes the following steps:
p1, timing the transmission of DI data;
p2, sending the handle displacement data at regular time;
p3, sending analog quantity acquisition information at regular time;
p4, inquiring the issued command and executing.
Fig. 5 is a flowchart showing a more detailed example of the control program in the upper control box 4, which further includes a part of the flow of the in-line test mode.
The control system and the control method of the arm-type aerial work platform effectively solve the problem of vehicle control of a host manufacturer, can meet the basic action requirements, consider various possible abnormal conditions and respectively process the abnormal conditions, and can ensure the safety of vehicle actions.
It will be apparent to those skilled in the art that various changes and modifications may be made in the invention without departing from the spirit and scope of the invention. Thus, if such modifications and variations of the present invention fall within the scope of the claims of the present invention and their equivalents, the present invention is also intended to include such modifications and variations.
Claims (11)
1. The arm type aerial work platform is characterized by comprising an upper control box arranged on the platform body and a lower control box arranged on the chassis, wherein the upper control box is connected with the lower control box through a communication bus.
2. The boom aerial work platform control system of claim 1 wherein:
the chassis is provided with wheels and a driving device;
the lower control box comprises a mobile module;
the action module controls the driving device to enable the arm type aerial work platform to move forwards, backwards, leftwards and rightwards.
3. The boom aerial platform control system of claim 2, wherein the upper control box comprises: the device comprises an upper IO interface module, a display buzzing module and an upper panel control key module;
the upper IO interface module comprises a control program and is used for receiving key information provided by the upper panel control key module and sending the key information to the lower control box through the communication bus.
4. The boom aerial platform control system of claim 3 wherein the lower control box further comprises: the system comprises a lower IO interface module, a man-machine interaction module, a lower panel control key module and a main control module;
the lower IO interface module is connected with the upper IO interface module through the communication bus and sends designated information to the upper IO interface module at regular time;
the main control module comprises a control program and is used for receiving information provided by the lower IO interface module, the man-machine interaction module and the lower panel control key module, controlling the arm-type aerial work platform to move according to the information and giving feedback information.
5. The boom aerial platform control system of claim 3,
the upper panel control key module is used for controlling the action of the arm type aerial work platform.
6. The boom aerial platform control system of claim 4,
the human-computer interaction module is used for setting parameters;
the lower panel control key module is used for controlling the action of the arm type aerial work platform.
7. The boom aerial platform control system of any one of claims 1-6, wherein the upper control box and the lower control box each further comprise a crash stop button, the crash stop button being directly connected to the lower control box and when depressed stopping all operations of the boom aerial platform.
8. The boom aerial platform control system of any one of claims 1-6, wherein the lower control box further comprises a selection lock for selecting a current entry parameter setting state, a lower control box control state, or an upper control box control state.
9. A control method of an arm type aerial work platform is characterized by comprising the following steps:
s1, acquiring switch information and built-in inclination information of each current control key;
s2, controlling the state;
s3, monitoring the voltage of the whole vehicle;
s4, weighing, calibrating and detecting;
s5, calibrating and detecting the built-in inclination angle;
s6, displaying related information;
s7, storing the current data; and if the operation has a fault, alarming.
10. The method of claim 9 wherein when the control is right to the upper control box, the switch information of the control key in step S1 is from the upper control box; when the control right is in the lower control box, the switch information of the control key described in step S1 comes from the lower control box.
11. The method of claim 9, further comprising a line test mode;
the production line test mode comprises the following steps:
p1, timing the transmission of DI data;
p2, sending the handle displacement data at regular time;
p3, sending analog quantity acquisition information at regular time;
p4, inquiring the issued command and executing.
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| CN201911417974.9A CN111017838A (en) | 2019-12-31 | 2019-12-31 | Control system and control method for arm type aerial work platform |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN113830011A (en) * | 2021-08-31 | 2021-12-24 | 江苏汇智高端工程机械创新中心有限公司 | Complete machine control system and method for full-electric scissor-type aerial work platform |
| CN115963769A (en) * | 2023-02-20 | 2023-04-14 | 临工重机股份有限公司 | Remote control system of aerial work platform and aerial work platform |
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