阅读说明：本技术 一种臂式高空作业平台安全功能控制方法及控制系统 (Arm type aerial work platform safety function control method and control system ) 是由 陈文鹏 王绍腾 刘成昊 程婷 于 2019-10-11 设计创作，主要内容包括：本发明公开了一种臂式高空作业平台安全功能控制方法及控制系统,按照常规设置展开作业过程中,获取监测数据；根据获取的监测数据,判断对应执行机构的动作方向,并与对应预设的正常阈值下上限a1、b1、预安全阈值下上限a2、b2及安全阈值下上限a3、b3进行比较,得到判断比较结果；a3＜a2＜a1＜b1＜b2＜b3；根据判断比较结果,发出指令控制对应执行机构三位四通阀的位置或切断主阀。引入了预安全模式概念,在安全相关控制系统符合PLd前提下,能够通过此模式兼顾整车操控性,同时裁剪冗余的监测部件和阀类部件,简化液压系统结构,降低成本。(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.)

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 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.

2. The arm-type aerial work platform safety function control method of claim 1, wherein issuing a command to control the position of the corresponding actuator three-position four-way valve according to the comparison result comprises:

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.

3. The arm-type aerial work platform safety function control method of claim 1, wherein issuing a command to control the main valve to be shut off according to the comparison result comprises:

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.

4. 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.

5. 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 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.

6. The arm aerial work platform safety function control device of claim 5, wherein the output control module is 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.

7. An armed aerial platform safety function control system comprising the armed aerial platform safety function control device of claim 5 or 6, 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 any one of claims 1 to 4.

8. The arm aerial work platform safety function control system of claim 7, 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.

9. The boom aerial platform safety function control system of claim 8, 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.

10. An arm aerial work platform machine comprising the arm aerial work platform safety function control system of any one of claims 7-9.

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.