• 专利附录
  • 专利说明
  • 权利要求
  • 类似技术
  • 同族专利
  • 引用文献
  • 法律状态
  • 优先权
    • 专利摘要:
    Disclosed are an insulated aerial work car and an automatic range limiting method for an insulated work platform thereof. The insulated aerial work car comprises a range limiting device of a work platform. The range limiting device of a work platform comprises: a lower arm inclination angle detection sensor (5); and a lower arm length detection sensor (6), an upper arm range variation detection sensor (7), and an upper arm length detection sensor (8), each comprising an insulated ranging cable and an extension and retraction measurement mechanism for the insulated ranging cable. An extension length of each insulated ranging cable is detected in real time and converted into an actual working range of an insulated work platform. An operator is allowed to take operational actions to increase a working range when the actual working range is less than a set working range maximum, and the operator is prevented from taking any operational actions to increase a working range when the actual working range is greater than or equal to the set working range maximum. Thereby, the present invention guarantees the stability of an entire car, and avoids tipping over of the entire car or damage to arm supports caused by a working range of an insulated work platform being beyond a required working range.
    公开号:ES2737844A2
    申请号:ES201990071
    申请日:2017-04-20
    公开日:2020-01-16
    发明作者:Peiqi Li；Jianping Ding；Dengbo Yuan；Lei Zheng；Zehua Zhang
    申请人:Xuzhou Handler Special Vehicle Co Ltd；
    IPC主号:
    专利说明:

    [0001] ISOLATED VEHICLE MOUNTED WITH AIR WORK PLATFORM AND RADIO AUTOMATIC LIMITATION METHOD FOR ISOLATED WORK PLATFORM
    [0002]
    [0003] Technical field
    [0004]
    [0005] The present disclosure relates to a vehicle mounted with an aerial work platform and a radio limitation method for the air work platform, in particular, to a vehicle mounted with an isolated air work platform and a method of automatic vehicle limitation. radio for the isolated work platform, which belongs to the technical field of the vehicle mounted with aerial work platforms.
    [0006]
    [0007] Background
    [0008]
    [0009] The vehicle mounted with aerial work platform, a special vehicle of specific application that allows the work personnel and the necessary materials to have access for the installation, maintenance and cleaning of the facilities located in high places, is advantageous in terms of a good work performance, a high work efficiency, a safety operation and others, on the traditional work modes in which scaffolding and ladders are used, etc. Currently, vehicles mounted with aerial work platform are widely applied in infrastructure industries, including energy, transportation, petrochemicals, communications, gardening, etc.
    [0010]
    [0011] With economic growth and social evolution, people have consistently demanded greater requirements for maintenance and rapid response of the power supply. Vehicles mounted with an insulated aerial work platform, which have the advantages of a rapid response, high work efficiency, comfort when lifting, a wide operating range and good electrical insulation performance, etc., and They allow to work in real time, they are widely used in the industries of electric power, telecommunications, etc. Vehicles mounted with an insulated aerial work platform are generally coated with insulating paint on the surface, use lubricant for hydraulic isolation system and can be classified according to the insulation levels characterized by the nominal voltages of 10 kV, 35 kV, 63 kV , 110 kV, 220 kV, etc.
    [0012]
    [0013] Vehicles mounted with a high altitude insulated aerial work platform in the prior art mainly employ a hybrid boom structure with double articulation and double telescopic feature. To meet the requirement of real-time insulation to ground in work, the end section arm (i.e., the section arm connected to the work cage) of the upper telescopic arm is usually made of insulated material and It is the main insulation end. In order to meet the requirement to protect ground operators from low-altitude electrified elements, the basic section arm (i.e., the section arm connected to the turntable) of the lower telescopic arm is generally provided with an auxiliary insulation section near the turntable. The arrangement of the auxiliary isolation section prevents the installation of the electronic sensor in the upper telescopic arm which aims to detect the elevation angle and the elongation signal of the upper telescopic arm, thereby disabling real-time monitoring of the control of radius of the working state of the pen. As a result, the existing vehicle mounted with an articulated and insulated aerial work platform does not offer the radio limitation function for the insulated boom. In general, it is the operator on the work platform who takes safety measures to judge based on personal experience and manually control the boom to cross obstacles or avoid them. It is dangerous to carry out safety measures simply relying on the operator's operating experience. If the operator is not familiar with the working conditions at the site or the operations of the work vehicle, then the stability of the work vehicle will be affected, representing that way a risk of causing danger or even tilting / overturning the work vehicle.
    [0014]
    [0015] Chinese Patent No. 104724645A discloses a radio limitation system for an insulated aerial work platform, according to which the amount of elongation of the telescopic arm and the angle of the boom in relation to the ground is determined by monitoring remote of the hydraulic pressure of the lifting cylinder and the flow of liquid in the lifting cylinder, thereby achieving the detection and control of the operating radius of the aerial work platform. However, the detection of hydraulic pressure and flow rate depend on the source of the power supply, and the accuracy of the detection depends on the accuracy of the sensor. Moreover, the signal output of the consecutive movements of the pen must be stored consecutively, so it requires a large amount of data throughput.
    [0016]
    [0017] Summary
    [0018]
    [0019] In view of the aforementioned problems, the present disclosure proposes a vehicle mounted with an isolated aerial work platform and an automatic radio limitation method for the isolated work platform, which can perform the automatic limitation of the articulation boom radius. without configuring radio limitation electrical elements in the articulation and upper insulated boom, to ensure the stability of the entire work vehicle and prevent the isolated work platform from tilting / tipping completely or preventing damage to the boom caused by the movement over the radio range required by the operation.
    [0020]
    [0021] In order to achieve the aforementioned objects, the vehicle mounted with an insulated aerial work platform includes a vehicle body assembly, a turntable, a boom assembly, an insulated work platform, and a radio limitation device of the work platform.
    [0022] The turntable is mounted on the vehicle body assembly by means of a rotation bearing and a rotation module.
    [0023]
    [0024] The pen assembly includes a lower pen part and an upper pen part. The lower boom part includes a basic section arm and a basic telescopic arm, and the upper boom part includes a two section arm and a two section telescopic arm. One end of the basic section arm is articulated connected to the turntable. The basic section arm is provided with an auxiliary isolation section. At least one basic telescopic arm is telescopically provided within the basic section arm. One end of the two-section arm is articulatedly connected to an end part of an end section of the basic telescopic arm. At least one two section telescopic arm is telescopically provided within the two section arm. An end section of the two section telescopic arm is a main insulation end. The main insulation end is connected to the insulated work platform through an automatic leveling device.
    [0025]
    [0026] The radio limitation device of the work platform includes a lower boom inclination angle detection sensor, a lower boom length detection sensor, an upper boom elevation detection sensor, a sensor upper boom length detection and an electrical control mechanism.
    [0027]
    [0028] The lower boom inclination angle detection sensor is provided in a metal section of the root part of the basic section arm, and the metal section of the root part is located behind the auxiliary isolation section near a articulation position of the turntable.
    [0029]
    [0030] The lower boom length detection sensor, the upper boom elevation detection sensor and the upper boom length detection sensor include each one is an isolated distance measurement cable and a retraction and extension measurement mechanism of the isolated distance measurement cable. One end of each isolated distance measurement cable is fixed and a remaining part of the isolated distance measurement cable is wound in the retraction and extension measurement mechanism of the corresponding isolated distance measurement cable. Each retraction and extension measuring mechanism of the insulated distance measuring cable is provided in the metal section of the root part of the basic section arm, and the metal section of the root part is located behind the auxiliary isolation section near the articulation position of the turntable. The retraction and extension measurement mechanism of the insulated distance measurement cable has an automatic rewind structure. The upper boom elevation sensing sensor and the upper boom length sensing sensor each further include an insulated cable guide pulley. Two guide pulleys of the insulated distance measuring cable are placed and mounted in an articulation position of the end part of the end section of the basic telescopic arm. The other end of the isolated distance measuring cable of the lower boom length sensing sensor is connected to a rear of the end section of the basic telescopic arm. The other end of the insulated distance measurement cable of the upper boom lift sensing sensor is connected to a rear of a two-section arm end section through a guide of the guide pulley lift detection of the corresponding insulated cable. The other end of the insulated distance measurement cable of the upper boom length sensing sensor is connected to a rear of the main insulation end through a guide of the corresponding insulated cable guide pulley.
    [0031]
    [0032] The electrical control mechanism includes a central processing unit, a data collection and feedback loop, an output loop and radio calculation of the isolated work platform, a data comparison loop, a control limitation control loop. Radio and a controller. The central processing unit is electrically connected to the sensor for detecting the angle of inclination of the lower boom and the controller, respectively. The central processing unit is electrically connected to the retraction and extension measuring mechanisms of the isolated distance measuring cable of the lower boom length sensing sensor, the upper boom lift detection sensor and the detection sensor of length of the upper pen. The controller is electrically connected to a hydraulic system mounted on the vehicle.
    [0033]
    [0034] As a further improvement of the present disclosure, the lower boom inclination angle detection sensor, the lower boom length detection sensor, the upper boom elevation detection sensor and the detection sensor of the lower boom. Upper boom length are placed and mounted inside the basic section arm. The other ends of the isolated distance measuring cables of the upper boom lift detection sensor and the upper boom length detection sensor are mounted in places within the upper boom portion.
    [0035]
    [0036] As a further improvement of the present disclosure, the isolated distance measuring cable of the lower boom length sensing sensor, the isolated distance measuring cable, located within the lower boom part, of the elevation sensing sensor of the upper boom and the isolated distance measuring cable, located inside the lower boom part, of the upper boom length sensing sensor are all arranged in parallel to a central axis of the lower boom portion. The insulated distance measuring cable, located in the upper boom part, of the upper boom length sensing sensor is arranged parallel to a central axis of the upper boom portion.
    [0037]
    [0038] As a further improvement of the present disclosure, the guide pulley of the insulated cable of the upper boom lift sensing sensor and the guide pulley of the insulated cable of the upper boom length sensing sensor are concentrically mounted.
    [0039] As a further improvement of the present disclosure, the guide pulley of the insulated cable of the upper boom lift sensing sensor and the guide pulley of the insulated cable of the upper boom length sensing sensor are coaxially mounted and dimensionally identical.
    [0040]
    [0041] As a further improvement of the present disclosure, the other end of the isolated distance measuring cable of the upper boom lift sensing sensor is connected to an inner side surface of the back of the two-section arm in a relatively remote position. of the articulation position.
    [0042]
    [0043] An automatic radio limitation method for a vehicle work platform mounted with the isolated aerial work platform includes the following stages:
    [0044]
    [0045] to. data collection: initiate the data collection and feedback loop, collecting, through the central processing unit of the electrical control mechanism, an angle of passage of the lower boom part through the sensor for detecting the inclination angle of the lower boom in real time, and by detecting, by means of the retraction and extension measuring mechanisms of the isolated distance measuring cable of the lower boom length sensing sensor, the upper boom lifting sensing sensor and the sensor of upper boom length detection, insulated distance measurement cable extension lengths of the lower boom length detection sensor, the upper boom radius detection sensor and the pen length detection sensor Superior in real time.
    [0046]
    [0047] b. data calculation: initiate the output loop and radio calculation of the isolated work platform, calculating, by means of the central processing unit of the electrical control mechanism, a real working radius of the isolated work platform according to the feedback of data and an established program;
    [0048] c. data comparison and output: initiate the data comparison loop and the radio limitation control loop, comparing, by means of the central processing unit of the electrical control mechanism, a real working radius of the isolated work platform with a predetermined maximum working radius of the isolated work platform, and then generating a comparison result;
    [0049]
    [0050] d. radio limitation control: when the actual working radius is less than the predetermined maximum working radius, by sending, through the central processing unit of the electrical control mechanism, a signal to the controller to allow an operator to perform an operation action to increase a working radius, and when the actual working radius is greater than or equal to the predetermined maximum working radius, by sending, through the central processing unit of the electrical control mechanism, a signal to the controller to limit the operator from performing any Operational action related to the increase in the working radius.
    [0051]
    [0052] One method to determine the actual working radius of the isolated work platform of this disclosure is as follows:
    [0053]
    [0054] When the basic telescopic arm and the two-section telescopic arm are in an initial state of total retraction, establish an initial length of the lower boom part at L0 lower, establish an initial length of the upper boom part at L0 upper and set an angle initial between the lower boom part and a level surface in A1, where at this time, an angle reading from the lower boom inclination angle detection sensor is A1;
    [0055]
    [0056] set an initial angle between the upper boom part and the lower boom part at A2, set an initial extension length of the isolated distance measuring cable of the lower boom length sensing sensor at L1, set a length of Initial extension of the isolated measuring distance cable of the upper boom lift detection sensor in L2 and set an initial extension length of the isolated distance measuring cable of the upper boom length sensing sensor in L3;
    [0057]
    [0058] when the lower boom part is raised, set the angle between the lower boom part and the level surface at A1 ';
    [0059]
    [0060] When the upper boom part is raised relative to the lower boom part, set an angle between the upper boom part and the lower boom part at A2 ', set a length of the isolated distance measuring cable of the detection sensor of lifting the upper boom at L2 'and establishing a length of the isolated distance measuring cable of the upper boom length sensing sensor at L3';
    [0061]
    [0062] After a nth section arm of the basic telescopic arm of the lower boom portion is extended by a distance, set the length of the isolated distance measuring cable of the lower boom length sensing sensor at L1 ';
    [0063]
    [0064] when a total length of the lower boom part and the angle between the upper boom part and the lower boom part are maintained in the initial state, and a m-th section arm of the telescopic arm of two sections of the part of upper boom extends over a distance, set a length of the isolated distance measuring cable of the upper boom length sensing sensor in L3 ";
    [0065]
    [0066] establish a distance between an output position of the isolated distance measuring cable of the retraction measuring mechanism and extension of the isolated distance measuring cable of the upper boom lift sensing sensor and a tangent point c of the measuring cable of insulated distance and insulated cable guide pulley upper boom elevation sensing sensor on L31, and establish a distance between an end portion of the insulated distance measuring cable, connected to the rear of the two-section arm, of the upper boom lift sensing sensor and a tangent point d of the insulated distance measurement cable and the guide pulley of the insulated cable of the upper boom lift sensing sensor in L33; then, when both the upper boom part and the lower boom part are in the initial state, a length L32 of the isolated distance measuring cable of the upper boom elevation sensing sensor wound on the insulated cable guide pulley of the upper boom lift sensing sensor is
    [0067] L 32 = L 3 - L 31 - L 33;
    [0068]
    [0069] A distance between an exit position of the cable distance measuring isolated from the measurement mechanism and retraction of the cable distance measuring isolated from the detection sensor length of the upper boom and a point tangent to the cable measuring insulated distance and the guide pulley of the insulated cable of the upper boom length sensing sensor in L21 and establish a distance between an end part of the insulated distance measuring cable, connected to the rear of the main insulation end, of the upper boom length sensing sensor and a tangent point b of the insulated distance measuring cable and the insulated cable guide pulley of the upper boom length sensing sensor in L23; then, when the upper boom part and the lower boom part are in the initial state, a length L22 of the isolated distance measuring cable of the upper boom length sensing sensor wound in the guide pulley of the isolated sensor cable upper pen length detection is
    [0070] L 22 = L 2 - L 21 - L 23;
    [0071]
    [0072] set a pitch diameter of a cable groove in the insulated cable guide pulley of the upper boom lift sensing sensor on R1 and establish a pitch diameter of a cable groove in the insulated cable guide pulley of the upper boom length sensing sensor in R2;
    [0073]
    [0074] when the upper boom part and the lower boom part move from the initial state to a given position, the angle between the lower boom part and the level surface is A1 and the length L32 'of the isolated distance measuring cable of the upper boom lift sensing sensor wound on the insulated cable guide pulley of the upper boom lift sensing sensor is
    [0075]
    [0076] L 32 '= ¿32 - ^ • (¿22 í - ¿ 22 ) ;
    [0077]
    [0078] at this time, the length L22 'of the isolated distance measuring cable of the upper boom length sensing sensor wound in the insulated cable guide pulley of the upper boom length sensing sensor is
    [0079] L 22 ' = L 2' - [L 21 + ( L i ' - L i )] - L 23;
    [0080]
    [0081] a variation of the angle between the upper pen part and the lower pen part is
    [0082]
    [0083] A ' A (¿22, _ ^ 22) x 180_
    [0084] A2 A2 = 2;
    [0085] at this time, a length of the bottom pen part is
    [0086] Lower = Loinferior ( Li - Li);
    [0087] at this time, a length of the upper pen part is
    [0088] Lsuperior = Losuperior [L 3 '- L 3 - ( Li' - Li) - L 32 ];
    [0089] then, the actual working radius R of the isolated aerial work platform is calculated as set forth below,
    [0090] when 0 ° <A1 <90 °, and A1 <A2 ',
    [0091] R l¿ inferior • COSA ^ ¿ superior • cos (A- / A2x) |;
    [0092] when 0 ° <A1 '<90 °, and A1>A2',
    [0093] R L lower 'c osA i Lsuperior' cos ( A 2 A 1 ) j
    [0094] when 90 ° <Ai '<180 °, and Ai' <A2 ',
    [0095] R = L; lower • c os AIL upper co s ( 180 ° - A - - A 2 ');
    [0096] when 90 ° <Ai '<180 °, and Ai'> A2 '
    [0097] R = L lower c osA-¡'Lsuperior co s ( A-' - A2 ').
    [0098]
    [0099] Compared to the prior art, the radio limitation device of the work platform of the vehicle mounted with an insulated aerial work platform includes the lower boom inclination angle detection sensor, the sensor length detection sensor. lower boom, the upper boom lift detection sensor and the upper arm length detection sensor. In addition, the lower boom length detection sensor, the upper boom elevation detection sensor and the upper boom length detection sensor each include the insulated distance measuring cable and the measuring mechanism of retraction and extension of the isolated distance measurement cable. The sensor for detecting the angle of inclination of the lower boom and all the retraction and extension measuring mechanisms of the insulated distance measuring cable are provided in the metal section of the root part of the basic section arm behind the section of Auxiliary insulation near the articulation position of the turntable. The extension length of each isolated distance measurement cable is detected in real time to calculate the real working radius of the isolated work platform. When the actual working radius is less than the predetermined maximum working radius, the central processing unit of the electrical control mechanism sends the signal to the controller to allow the operator to perform an operation action related to the increase in the working radius. When the actual working radius is greater than or equal to the predetermined maximum working radius, the central processing unit of the electrical control mechanism sends the signal to the controller to limit the operator from performing any operation related to increasing the working radius. Therefore, automatic limitation of the articulation boom radius is achieved without the need to provide electrical limitation elements of radius on the upper insulated articulation boom, to ensure the stability of the entire vehicle and prevent the isolated work platform from tilting / tipping completely or preventing damage to the boom caused by movement over the radius range required by the operation . This disclosure is especially valid for isolated aerial work vehicles.
    [0100]
    [0101] Brief description of the drawings
    [0102]
    [0103] FIG. 1 is a structural schematic diagram showing the radio limitation device of the work platform in accordance with the present disclosure mounted on the boom assembly;
    [0104]
    [0105] FIG. 2 is a schematic diagram showing the installation and length measurement of the lower boom length sensing sensor according to the present disclosure;
    [0106]
    [0107] FIG. 3 is a schematic diagram showing the installation and length measurement of the upper boom elevation sensing sensor in accordance with the present disclosure;
    [0108]
    [0109] FIG. 4 is a schematic diagram showing the installation and length measurement of the upper boom length sensing sensor according to the present disclosure;
    [0110]
    [0111] FIG. 5 is a schematic diagram showing the length measurement of the lower boom length sensing sensor with the variation of the radius of the isolated work platform in accordance with the present disclosure;
    [0112]
    [0113] FIG. 6 is a schematic diagram showing the length measurement of the upper boom elevation sensing sensor with the variation of the radius of the isolated work platform in accordance with the present disclosure;
    [0114] FIG. 7 is a schematic diagram showing the length measurement of the upper boom length sensing sensor with the variation of the radius of the isolated work platform in accordance with the present disclosure; Y
    [0115]
    [0116] FIG. 8 is a control flow diagram of the automatic radio limitation method for the isolated work platform of the vehicle mounted with the isolated aerial work platform in accordance with the present disclosure.
    [0117]
    [0118] In the figures: 1, basic section arm, 11, auxiliary isolation section, 2, basic telescopic arm, 3, two section arm, 4, two section telescopic arm, 41, main isolation end, 5, sensor Tilt angle detection of lower boom, 6, lower boom length detection sensor, 7, upper boom lift detection sensor, 8, upper boom length detection sensor.
    [0119]
    [0120] Detailed description of the realizations
    [0121]
    [0122] The present disclosure will be described further below with reference to the drawings.
    [0123]
    [0124] The vehicle mounted with an insulated aerial work platform includes a vehicle body assembly, a turntable, a boom assembly, an isolated work platform and a work platform radio limitation device.
    [0125]
    [0126] The turntable is mounted on the vehicle body assembly by means of a rotation bearing and a rotation module.
    [0127]
    [0128] As shown in FIG. 1, the pen assembly includes the lower pen part and the upper pen part. The lower boom part includes the basic section arm 1 and the basic telescopic arm 2. The upper boom part includes the two section arm 3 and the two section telescopic arm 4. One end of the basic section arm 1 is connected in an articulated manner to the turntable. The basic section arm 1 is provided with the auxiliary isolation section 11. At least one basic telescopic arm 2 is telescopically provided within the basic section arm 1. One end of the two section arm 3 is articulated connected to the part end of the end section of the basic telescopic arm 2. At least one two section telescopic arm 4 is telescopically provided within the two section arm 3. The end section of the two section telescopic arm 4 is the main insulating end 41. The main insulation end 41 is connected to the insulated work platform through an automatic leveling device.
    [0129]
    [0130] The radio limitation device of the work platform includes the lower boom inclination angle detection sensor 5, the lower boom length detection sensor 6, the upper boom lift detection sensor 7, the upper boom length sensing sensor 8 and the electrical control mechanism.
    [0131]
    [0132] The sensor 5 for detecting the angle of inclination of the lower boom is provided in the metal section of the root part, located behind the auxiliary isolation section 11 near the articulation position of the turntable, of the basic section arm one.
    [0133]
    [0134] The lower boom length detection sensor 6, the upper boom lift detection sensor 7 and the upper boom length detection sensor 8 each include an insulated distance measuring cable and a measuring mechanism of retraction and extension of the isolated distance measurement cable. The length and diameter of the insulated distance measurement cable are kept constant before and after being applied with a tensile force. One end of each isolated distance measurement cable is fixed and the remaining part of the isolated distance measurement cable is wound in the mechanism of Retraction measurement and extension of the corresponding insulation distance measurement cable. All the retraction and extension measuring mechanisms of the insulated distance measuring cable are provided in the metal section of the root part, located behind the auxiliary isolation section 11 near the articulation position of the swivel plate, of the arm of basic section 1. The retraction and extension measuring mechanism of the insulated distance measuring cable is provided with an automatic rewind structure. The upper boom elevation detection sensor 7 and the upper boom length detection sensor 8 further include an insulated cable guide pulley. Two insulated distance measurement cable guide pulleys are placed and mounted in the articulation position of the end part of the end section of the basic telescopic arm 2. The other end of the isolated distance measurement cable of the sensor 6 of Detection of the length of the lower boom is connected to the back of the end section of the basic telescopic arm 2. During the extension of the basic telescopic arm 2, the insulated distance measuring cable of the sensor 6 of length detection of the cable is pulled The bottom pen. The other end of the insulated distance measuring cable of the upper boom lift sensing sensor 7 is connected to the rear of the two section arm 3 through the guide of the corresponding insulated cable guide pulley. During stretching of the arm of two sections 3, the insulated distance measuring cable of the upper boom lift sensing sensor 7 is pulled. The other end of the insulated distance measuring cable of the upper boom length sensing sensor 8 is connected to the rear of the main insulation end 41 through the guide of the corresponding insulated cable guide pulley. During the extension of the telescopic arm of two sections 4, the isolated measuring distance cable of the upper boom length sensor 8 is pulled.
    [0135]
    [0136] The electrical control mechanism includes the central processing unit, the data collection and feedback loop, the output loop and radio calculation of the isolated work platform, the data comparison loop, the control limitation control loop. radio and the controller. The central processing unit is electrically connected to the sensor 5 for detecting the angle of inclination of the lower boom and to the controller, respectively. The central processing unit is electrically connected to the retraction and extension measuring mechanisms of the isolated distance measuring cable of the lower boom length sensor 6, the upper boom lift detection sensor 7, and the sensor 8 for detecting the length of the upper boom, respectively. The controller is electrically connected to the hydraulic system mounted on the vehicle.
    [0137]
    [0138] In order to protect the lower boom inclination angle detection sensor 5, the lower boom length detection sensor 6, the upper boom lift detection sensor 7, and the detection sensor 8 of upper boom length of accidental damage that can cause detection failures, and to achieve an orderly appearance, as a further improvement of the present disclosure, the sensor 5 for detecting the angle of inclination of the lower boom, the detection sensor 6 of the length of the lower boom, the upper boom lift detection sensor 7, and the upper boom length detection sensor 8 are placed and mounted within the basic section arm 1. The other ends of the cables isolated distance measurement of the upper boom lift detection sensor 7 and the upper boom length detection sensor 8 are provided within the upper boom portion erior.
    [0139]
    [0140] In order to collect the length information in a relatively simpler manner and to ensure the accuracy of the collected length information, as a further improvement of the present disclosure, the isolated distance measuring cable of the length detection sensor 6 of the lower boom, the isolated distance measuring cable, located inside the lower boom part, of the upper boom elevation sensing sensor 7 and the isolated distance measuring cable, located inside the lower boom part , of the sensor 8 for detecting the length of the upper boom are all arranged parallel to the central axis of the lower boom. The insulated distance measuring cable, located inside of the upper boom part, of the upper boom length detection sensor 8 is arranged parallel to the central axis of the upper boom portion.
    [0141]
    [0142] In order to facilitate installation and collect the length information in a relatively simple manner, as a further improvement of the present disclosure, the insulated cable guide pulley of the upper boom elevation sensing sensor 7 and the pulley of Insulated cable guide of the upper boom length sensing sensor 8 are concentrically mounted.
    [0143]
    [0144] In order to facilitate installation and collect the length information in a relatively simpler manner, as a further improvement of the present disclosure, the insulated cable guide pulley of the upper boom elevation sensing sensor 7 and the pulley Insulated cable guide of sensor 8 of upper boom length detection are coaxially mounted and have identical dimensions.
    [0145]
    [0146] In order to reduce the contact area between the insulated distance measuring cable and the guide pulley of the insulated cable of the upper boom lift sensing sensor 7, thereby reducing the wear of the isolated distance measuring cable caused by the insulated cable guide pulley, as a further improvement of the present disclosure, the other end of the insulated distance measuring cable of the upper boom elevation sensing sensor 7 is connected to the inner side surface, which is relatively far from the articulation position, from the back of the arm of two sections 3.
    [0147]
    [0148] In the process of controlling the radio change of the vehicle mounted with an insulated aerial work platform, the radio limitation device of the work platform continues to operate at all times. As shown in Fig. 8, first, the data collection and feedback loop is started. The central processing unit of the electrical control mechanism collects the angle of passage of the lower boom part by means of the sensor 5 for detecting the angle of inclination of the lower boom in real time, and the retraction and extension measuring mechanisms of the isolated distance measuring cable of the sensor 6 for detecting the length of the lower boom, the sensor 7 of the upper boom lift detection, and the upper boom length detection sensor 8 detect the extension lengths of the insulation distance measuring cables of the lower boom length detection sensor 6, the sensor 7 of detection of elevation of the upper boom, and the sensor 8 of detection of length of the upper boom, in real time. Then, the output loop and radio calculation of the isolated work platform is started. The central processing unit of the electrical control mechanism calculates a real working radius of the isolated work platform according to the data feedback and the established program. Subsequently, the data comparison loop and the radio limitation control loop are started. The central processing unit of the electrical control mechanism compares the actual working radius of the isolated work platform with a predetermined maximum working radius of the isolated work platform and then generates the result of the comparison. When the actual working radius is less than the predetermined maximum working radius, the central processing unit of the electrical control mechanism sends the signal to the controller to allow the operator to perform the operational action related to the increase in the working radius. When the actual working radius is greater than or equal to the predetermined maximum working radius, the central processing unit of the electrical control mechanism sends the signal to the controller to limit the operator to perform any operation action related to increasing the working radius .
    [0149]
    [0150] When the basic telescopic arm 2 and the two section telescopic arm 4 are in an initial state of total retraction, the initial length of the lower boom part is set to L0 lower, the initial length of the upper boom part is set to L0 upper and the initial angle between the lower boom part and a level surface is set to A1. At this time, an angle reading from the inclination angle detection sensor 5 of The bottom pen is Ai.
    [0151]
    [0152] The initial angle between the upper boom part and the lower boom part is set to A2. As shown in Fig. 2, the initial extension length of the isolated distance measuring cable of the lower boom length detection sensor 6 is set to L1. The initial extension length of the isolated measuring distance cable of the upper boom lift detection sensor 7 is set to L2. The initial extension length of the insulation distance measuring cable of the upper boom length detection sensor 8 is set to L3.
    [0153]
    [0154] When the lower boom part is lifted, the angle between the lower boom part and the level surface is set to A1 '.
    [0155]
    [0156] When the upper boom part is raised relative to the lower boom portion, the angle between the upper boom portion and the lower boom portion is set at A2 ', the length of the isolated distance measuring cable of the sensor 7 of Upper boom lift detection is set to L2 'and the length of the isolated distance measuring cable of the upper boom length sensing sensor 8 is set to L3'.
    [0157]
    [0158] As shown in Fig. 5, after the nth section arm of the basic telescopic arm 2 of the lower boom portion is extended by a distance, the length of the isolated distance measuring cable of the sensor 6 The lower boom's length detection is set to L1 '.
    [0159]
    [0160] When the total length of the lower boom part and the angle between the upper boom part and the lower boom part are maintained in the initial state, and the m-th section arm of the two-section telescopic arm 4 of the part upper boom extends over a distance, the length of the isolated distance measuring cable of the sensor 8 of Upper boom length detection is set to L3 ".
    [0161]
    [0162] As shown in Fig. 3, the distance between an output position of the isolation distance measurement cable of the retraction measurement mechanism and extension of the isolated distance measurement cable of the elevation detection sensor 7 upper boom and the tangent point c of the insulated distance measuring cable and the guide pulley of the insulated cable of the upper boom lift sensing sensor 7 is set to L31. The distance between the end portion of the insulated distance measuring cable, connected to the rear of the two-section arm 3, of the upper boom lift sensing sensor 7 and the tangent point d of the isolated distance measuring cable and the guide pulley of the insulated cable of the upper boom lift sensing sensor 7 is set to L33. When both the upper boom part and the lower boom part are in the initial state, the length L32 of the isolated distance measuring cable of the upper boom lift sensing sensor 7 wound in the guide pulley of the insulated cable of the 7 sensor of upper boom lift detection is
    [0163] L 32 = L 3 - L 31 - L 33 .
    [0164]
    [0165] As shown in Fig. 4, the distance between an output position of the isolated distance measuring cable of the retraction and extension measuring mechanism of the isolated distance measuring cable of the pen length sensing sensor 8 upper and the tangent point a of the insulated distance measurement cable and the guide pulley of the insulated cable of the upper boom length sensor 8 is set to L21. The distance between an end part of the insulated distance measuring cable, connected to the rear of the main isolation end 41, of the upper boom length sensing sensor 8 and the tangent point b of the isolated distance measuring cable and the insulated cable guide pulley of the upper boom length detection sensor 8 is set to L23. When both the upper boom part and the lower boom part are in the initial state, the length L22 of the sensor isolated distance measurement cable 8 upper boom length sensing wound on the insulated cable guide pulley sensor 8 upper boom length detection is
    [0166] L 22 = L 2 - L 21 - L 23.
    [0167]
    [0168] The passage diameter of a cable groove in the insulated cable guide pulley of the upper boom lift detection sensor 7 is set to R1 and the passage diameter of a cable groove in the insulated cable guide pulley of sensor 8 of upper boom length detection is set to R2.
    [0169]
    [0170] As shown in Fig. 6, when the upper boom part and the lower boom part move from the initial state to a given position, the angle between the lower boom part and the level surface is A1 ', and the length L32 'of the insulated distance measuring cable of the upper boom lift detection sensor 7 wound on the insulated cable guide pulley of the upper boom lift sensing sensor 7 is
    [0171]
    [0172] ^ 32 = ^ 32 R ^ (¿22 ¿ 22 ) -
    [0173]
    [0174] As shown in Fig. 7, at this time, the length L22 'of the insulated distance measuring cable, wound on the guide pulley of the insulated cable of the upper boom length sensing sensor 8, of the sensor 8 upper boom length detection is
    [0175] L 22 = L 2 ' - [L 21 + ( L i' - L i )] - L 23- The variation of the angle between the upper boom part and the lower boom part is Af A (¿22, _ ^ 22 ) x 180
    [0176] ^ 2 ^ 2 “ n-R2 -The length of the lower boom part is
    [0177] L lower = L or lower + ( L i - L i ) .
    [0178] The length of the upper pen part is
    [0179] Upper L = L or higher + [L 3 ' - L 3 - ( L i' - L i ) - L 32 ]
    [0180]
    [0181] Then, the actual working radius R of the isolated aerial work platform is calculated as set forth below,
    [0182] when 0 ° <A1 <90 °, and A1 <A2 ',
    [0183] R Línferíor ' COSA i ^ su perio r • cos (A i A 2 ) ;
    [0184] when 0 ° <A1 <90 °, and A1 '> A2',
    [0185] R - ^ í n / er í or • COsA i ^ su perio r • cos (A 2 A i ) ;
    [0186] when 90 ° <A1 <180 °, and A1 '<A2',
    [0187] R ^ ín / er í or • COsA i + ^ its per io r • cos (180 A i A2);
    [0188] when 90 ° <A1 '<180 °, and A1'> A2 '
    [0189] R ^ ín / er í or • COsA i + ^ your per io r • cos (A i A 2 ) ■
    [0190]
    [0191] The maximum working radius of the isolated work platform of the vehicle mounted with the isolated aerial work platform is set to Ro. When the actual working radius R calculated and fed back by the central processing unit according to the calculation of the radius of the isolated work platform and the output loop is smaller than the predetermined maximum working radius Ro, the central processing unit sends the signal to the controller to allow the operator to perform the operation action related to the increase of the working radius. When the actual working radius R calculated and fed back by the central processing unit according to the calculation of the radius of the isolated work platform and the output loop is greater than or equal to the predetermined maximum working radius Ro, the central unit of Processing sends the signal to the controller to limit the operator to perform any operation action related to the increase in the working radius.
    权利要求:
    Claims (8)
    [1]
    1. A vehicle mounted with an insulated aerial work platform, comprising a vehicle body assembly, a turntable, a boom assembly, an insulated work platform and a radio limitation device of the work platform, where The turntable is mounted on the vehicle body assembly by means of a rotation bearing and a rotation module; the pen assembly comprises a lower pen part and an upper pen part; the lower boom part comprises a basic section arm (1) and a basic telescopic arm (2), and the upper boom part comprises a two section arm (3) and a two section telescopic arm (4); one end of the basic section arm (1) is connected in an articulated manner to the turntable; the basic section arm (1) is provided with an auxiliary isolation section (11); at least one basic telescopic arm (2) is telescopically provided within the basic section arm (1); an end of the two section arm (3) is articulatedly connected to an end part of an end section of the basic telescopic arm (2); at least one two section telescopic arm (4) is telescopically provided within the two section arm (3); an end section of the two section telescopic arm (4) is a main insulation end (41); the main insulation end (41) is connected to the insulated work platform through an automatic leveling device; wherein, the radio limitation device of the work platform comprises a sensor (5) for detecting the angle of inclination of the lower boom, a sensor (6) for detecting the length of the lower boom, a sensor (7) for upper boom elevation detection, an upper boom length detection sensor (8) and an electrical control mechanism;
    the sensor (5) for detecting the lower inclination angle of the boom is provided in a metal section of the root part of the basic section arm (1), and the metal section of the root part is located behind the insulation section auxiliary (11) near an articulation position of the turntable;
    the lower boom length detection sensor (6), the detection sensor (7) for lifting the upper boom and the sensor (8) for detecting the length of the upper boom each comprise an insulated distance measuring cable and a retraction and extension measuring mechanism of the isolated distance measuring cable; one end of the insulated distance measuring cable is fixed and a remaining part of the isolated distance measuring cable is correspondingly wound in the retraction and extension measuring mechanism of the isolated distance measuring cable; all the retraction and extension measuring mechanisms of the insulated distance measuring cable are provided in the metal section of the root part of the basic section arm (1), and the metal section of the root part is located behind the section of auxiliary insulation (11) near the articulation position of the turntable; the retraction and extension measuring mechanism of the insulated distance measuring cable is provided with an automatic rewind structure; the upper boom lift detection sensor (7) and the upper boom length detection sensor (8) each further comprise an insulated cable guide pulley; the two guide pulleys of the insulated distance measuring cable are placed and mounted in an articulation position of the end part of the end section of the basic telescopic arm (2); the other end of the isolated distance measuring cable of the lower boom length sensor (6) is connected to the end portion of the end section of the basic telescopic arm (2); The other end of the insulated distance measuring cable of the upper boom lift sensing sensor (7) is connected to a rear of the two-section arm (3) through an insulated cable guide pulley guide correspondent; The other end of the insulated distance measuring cable of the upper boom length sensing sensor (8) is connected to a rear of the main insulation end (41) through an insulated cable guide pulley guide correspondent; Y
    The electrical control mechanism comprises a central processing unit, a data collection and power loop, an output loop and radio calculation of the isolated work platform, a data comparison loop, a limitation control loop radio and a controller; the central processing unit is connected electrically to the sensor (5) for detecting the angle of inclination of the lower boom and to the controller respectively; The central processing unit is electrically connected to the retraction and extension measuring mechanisms of the distance measuring cable isolated from the lower boom length sensor (6), the boom lift sensor (7) upper and upper boom length detection sensor (8); and the controller is electrically connected to a hydraulic system mounted on the vehicle.
    [2]
    2. The vehicle mounted with the insulated aerial work platform according to claim 1, wherein the lower boom inclination angle detection sensor (5), the lower boom length detection sensor (6), the upper boom elevation detection sensor (7) and the upper boom length detection sensor (8) are placed and mounted within the basic section arm (1); and the other ends of the isolated distance measuring cables of the upper boom elevation detection sensor (7) and the upper boom length detection sensor (8) are both mounted within the upper boom portion.
    [3]
    3. The vehicle mounted with the insulated aerial work platform according to claim 2, wherein the insulated distance measuring cable of the lower boom length sensor (6), the insulated distance measuring cable, located inside the lower boom part, of the upper boom elevation sensing sensor (7) and the insulated distance measuring cable, located within the lower boom portion, of the length detection sensor (8) of the upper boom are all arranged parallel to a central axis of the lower boom part; and the insulated distance measuring cable, located in the upper boom part, of the upper boom length sensing sensor (8) is arranged parallel to a central axis of the upper boom portion.
    [4]
    4. The vehicle mounted with the insulated aerial work platform in accordance with the claim 1,2 or 3, wherein the insulated cable guide pulley of the upper boom lift detection sensor (7) and the insulated cable guide pulley of the upper boom length sensor (8) are concentrically mounted.
    [5]
    5. The vehicle mounted with the insulated aerial work platform according to claim 4, wherein the insulated cable guide pulley of the upper boom lift sensing sensor (7) and the insulated cable guide pulley of the sensor (8) Upper boom length detection are coaxially mounted and have identical dimensions.
    [6]
    6. The vehicle mounted with the insulated aerial work platform according to claim 1, 2 or 3, wherein the other end of the insulated distance measuring cable of the upper boom lift sensing sensor (7) is connected to an inner side surface of the back of the arm of two sections (3), and the inner side surface is located away from the articulation position.
    [7]
    7. A method of automatic radio limitation for an isolated aerial work platform of a vehicle mounted with the isolated aerial work platform, comprising the following stages:
    to.
    [8]
    8. The method of automatic radio limitation for the isolated work platform of the vehicle mounted with the insulated aerial work platform according to claim 7, wherein in step b, the actual working radius of the isolated work platform is determined by the following stages:
    When a basic telescopic arm (2) and a two-section telescopic arm (4) are in an initial state of total retraction, establish an initial length of the lower boom part at lower L0, establish an initial length of the upper boom part in upper L0 and set an initial angle between the lower boom part and a level surface in A1; where, at this time, a reading of an angle from the sensor (5) for detecting the angle of inclination of the lower boom is A1;
    establish an initial angle between the upper boom part and the lower boom part in A 2 , establish an initial extension length of the isolated distance measuring cable of the lower boom length sensor (6) in L 1 , establish an initial extension length of the isolated measurement distance cable of the upper boom lift sensing sensor (7) in L 2 and set an initial extension length of the sensor isolation distance measurement cable (8) of upper boom length detection in L 3 ;
    when the lower boom part is raised, set an angle between the lower boom part and the level surface at A 1 ';
    When the upper boom part is raised in relation to the lower boom part, establish an angle between the upper boom part and the lower boom part at A 2 ', set a length of the isolated distance measuring cable of the sensor ( 7) of detection of elevation of the upper boom in L 2 'and establish a length of the measurement cable of isolation distance of the sensor (8) of detection of length of the upper boom in L 3 ';
    After the nth section arm of the basic telescopic arm (2) of the lower boom portion is extended by a distance, set the length of the isolated distance measuring cable of the sensor (6) for detecting the length of the lower boom in L 1 ';
    When a total length of the lower boom part and the angle between the upper boom portion and the lower boom portion are maintained in the initial state, and the m-th section arm of the two-section telescopic arm (4) of the upper boom part extends over a distance, establish a length of the isolated distance measuring cable of the upper boom length sensor (8) in L 3 ";
    establish a distance between an output position of the isolated distance measuring cable of the retraction and extension measuring mechanism of the isolated distance measuring cable of the upper boom elevation sensing sensor (7) and a tangent point c of the cable of isolated distance measurement and the guide pulley of the insulated cable of the sensor (7) of elevation of the upper boom in L 31 , and establish a distance between an end part of the insulated distance measuring cable, connected to a rear part of the two-section arm (3), of the upper boom elevation sensing sensor (7) and a tangent point d of the measuring cable of insulated distance and the guide pulley of the insulated cable of the sensor (7) of elevation of the upper boom in L 33 ; where, when both the upper boom part and the lower boom part are in the initial state, a length L 32 of the isolated distance measuring cable of the upper boom lift sensing sensor (7) wound on the guide pulley Insulated cable sensor (7) upper boom lift detection is
    L 32 = L 3 - L 31 - L 33;
    establish a distance between an output position of the isolation distance measuring cable of the retraction and extension measuring mechanism of the isolated distance measuring cable of the upper boom length sensing sensor (8) and a point tangent to insulated distance measuring cable and the guide pulley of the insulated sensor sensor cable (8) of upper boom length in L 21 , and establish a distance between an end part of the isolated distance measuring cable, connected to a rear part of the main insulation end (41), of the upper boom length sensing sensor (8) and a tangent point b of the insulated distance measuring cable and the insulated cable guide pulley of the sensor (8) for detecting the length of the upper boom in L 23 ; where, when the upper boom part and the lower boom part are in the initial state, a length L 22 of the isolated distance measuring cable of the upper boom length sensing sensor (8) wound in the guide pulley Insulated cable sensor (8) upper boom length detection is
    L 22 = L 2 - L 21 - L 23;
    establish a passage diameter of a cable groove in the insulated cable guide pulley of the upper boom lift sensing sensor (7) in R 1 , and establish a passage diameter of a cable groove in the pulley of insulated cable guide sensor (8) sensing the upper boom length in R 2;
    where, when the upper pen part and the lower pen part move from the initial state up to a given position, the angle between the lower boom part and the level surface is A1 ', and the length L32' of the isolated distance measuring cable of the sensor (7) for detecting elevation of the upper boom rolled on the guide pulley of the sensor insulated cable (7) of the upper boom lift detection is

    at this time, the length L 22 'of the insulated distance measuring cable of the upper boom length sensing sensor (8) wound on the insulated cable guide pulley of the upper boom length sensing sensor (8) it is
    L 22 '= L 2 ' - [L 21 + ( L i '- L i )] - L 23 ;
    a variation of the angle between the upper pen part and the lower pen part is
    n! A (¿22, _ ^ 22) X180_
    AA 2 ;
    at this time, a length of the bottom pen part is
    L lower = L or lower + ( L i - L i );
    at this time, a length of the upper pen part is
    L upper = L or higher + [L 3 '- L 3 - ( L i ' - L i ) - L 32 ];
    then, the actual working radius R of the isolated aerial work platform is calculated as set forth below,
    when 0 ° < A 1 < 90 °, and A 1 <A 2 ',
    R ILinferior • COSAi Lsuperior • cos ( A i A 2 ) | ;
    when 0 ° <A 1 <90 °, and A 1 '> A 2 ',
    R ILinferior • COsAi Lsuperior • cos (A2 A i) | ;
    when 90 ° <A 1 <180 °, and A 1 '<A 2 ',
    R = L lower cos A to 'L upper cos ( 180 ° - A i - A 2');
    when 90 ° <A1 '<180 °, and A1'> A2
    R L lower • COsAi + Lsuperior • cos ( A i A 2 )
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    同族专利:
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    JP6811871B2|2021-01-13|
    US20200039805A1|2020-02-06|
    ES2737844B2|2022-02-21|
    WO2018170982A1|2018-09-27|
    ES2737844R1|2020-11-18|
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    US10815107B2|2020-10-27|
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    优先权:
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