CN111847335B - Overhead working platform truck, bearing monitoring method, bearing monitoring device and storage medium - Google Patents
Overhead working platform truck, bearing monitoring method, bearing monitoring device and storage medium Download PDFInfo
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- CN111847335B CN111847335B CN202010858524.XA CN202010858524A CN111847335B CN 111847335 B CN111847335 B CN 111847335B CN 202010858524 A CN202010858524 A CN 202010858524A CN 111847335 B CN111847335 B CN 111847335B
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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
- B66F11/042—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 actuated by lazy-tongs mechanisms or articulated levers
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66F—HOISTING, LIFTING, HAULING OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD
- B66F17/00—Safety devices, e.g. for limiting or indicating lifting force
- B66F17/006—Safety devices, e.g. for limiting or indicating lifting force for working platforms
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Abstract
The present disclosure provides an overhead working truck, a load-bearing monitoring method, a device and a storage medium, wherein the overhead working truck comprises: the device comprises an operation platform, a scissor arm support, a pin roll type sensor and a bearing monitoring device; the working platform is hinged with the scissor fork arm support through a pin shaft type sensor, and the pin shaft type sensor is used for measuring the strain force at the hinged position of the working platform and the scissor fork arm support and generating a stress signal; the load bearing monitoring device acquires stress signals, judges whether the load bearing weight of the operation platform is overloaded according to the corresponding relation between the preset load bearing weight of the operation platform and the stress signals, and executes corresponding operation based on a judging result. According to the overhead working platform truck, the bearing monitoring method, the bearing monitoring device and the storage medium, the functions of monitoring the loading state of the scissor type overhead working platform in real time and limiting overload actions can be achieved, errors caused by feeding back weight through the angle of the arm support and the pressure side face of the oil cylinder are avoided, the measuring result is more accurate and reliable, and the safety is better.
Description
Technical Field
The invention relates to the technical field of overhead operation, in particular to an overhead operation platform truck, a bearing monitoring method, a bearing monitoring device and a storage medium.
Background
The scissor type aerial work platform truck is used for conveying workers and using equipment to a designated height for work, and can walk in a short distance in a work site by utilizing self power. The scissor type aerial work platform truck comprises an arm support, a work platform and a lower truck. The operation control modules of the operation platform are generally divided into a platform control module and a get-off control module. The platform control module is arranged on the operation platform and operated by the handle unit (namely the PCU module), and can operate the operation platform to walk, turn, go up luffing, go down luffing and other actions. The get-off control module is in an auxiliary operation mode, and can operate the upper luffing and the lower luffing of the operation platform through the operation of the get-off operation panel. As high-altitude operation equipment, the overload protection function of an operation platform is an important ring for measuring the safety protection function of the whole machine. In the prior art, weighing calculation is generally carried out on the load of a platform according to a change curve between the height of an arm frame and the pressure of an arm frame luffing cylinder by recording different angle positions of the arm frame, in addition, the influence of the environmental temperature on the pressure of hydraulic oil is considered, and temperature parameters are increased to carry out empirical compensation so as to reduce weighing errors; however, when the load conditions are different, the change curve does not change in a linear scale, and there is a certain error in the measurement of the load on the platform. Therefore, a more accurate measurement solution is needed.
Disclosure of Invention
In view of the above, one technical problem to be solved by the present invention is to provide a platform truck for overhead operation, a method and apparatus for monitoring load bearing, and a storage medium.
According to a first aspect of the present disclosure, there is provided an aerial work platform truck comprising: the device comprises an operation platform, a scissor arm support, a pin roll type sensor and a bearing monitoring device; the working platform is hinged with the scissor fork arm support through the pin shaft type sensor, and the pin shaft type sensor is used for measuring the strain force at the hinge joint of the working platform and the scissor fork arm support and generating a stress signal; the bearing monitoring device is electrically connected with the pin shaft type sensor, acquires the stress signal, judges whether the bearing weight of the operation platform is overloaded according to the corresponding relation between the preset bearing weight of the operation platform and the stress signal, and executes corresponding operation based on a judging result.
Optionally, the method further comprises: an execution unit; the bearing monitoring device is connected with the execution unit and is used for generating a control signal and sending the control signal to the execution unit when the judging result is that the operation platform is overloaded, so that the execution unit executes the operation corresponding to the control signal.
Optionally, the execution unit includes: a boom lifting electromagnetic valve and a traveling electromagnetic valve; the bearing monitoring device is respectively and electrically connected with the arm support lifting electromagnetic valve and the traveling electromagnetic valve and is used for generating a lifting and stopping control signal and a traveling stopping control signal under the condition that the judging result is that the operation platform is overloaded, and respectively sending the lifting and stopping control signal and the traveling stopping control signal to the arm support lifting electromagnetic valve and the traveling electromagnetic valve.
Optionally, the method further comprises: an alarm device; and the bearing monitoring device is electrically connected with the alarm device and is used for sending an alarm signal to the alarm device when the judging result is that the operation platform is overloaded.
Optionally, the method further comprises: a man-machine interaction unit; the load bearing monitoring device is electrically connected with the man-machine interaction unit and is used for receiving the calibration instruction sent by the man-machine interaction unit and sending the platform load capacity and the fault reminding information corresponding to the stress signals to the man-machine interaction unit.
Optionally, the method further comprises: a signal processing module; the signal processing module is respectively and electrically connected with the pin shaft type sensor and the bearing monitoring device and is used for correspondingly processing stress signals sent by the pin shaft type sensor and sending the processed stress signals to the bearing monitoring device; wherein, signal processing module pass through the bus with bearing monitoring device electricity is connected, the bus includes: and a CAN bus.
Optionally, the number of the pin shaft type sensors is four, and the four pin shaft type sensors are respectively positioned at four corners of the bottom of the working platform.
Optionally, the load-bearing monitoring device is further configured to calculate a load capacity of the working platform according to a corresponding relationship between the load capacity of the working platform and the stress signal; and judging whether the load capacity of the working platform exceeds the product of the rated load capacity of the platform and a proportion threshold value, and if so, determining that the working platform is overloaded.
Optionally, the load-bearing monitoring device is further configured to obtain four first stress signals corresponding to the four pin shaft sensors when the working platform is empty, and set a sum of values of the four first stress signals as a zero weight reference; when the rated load is placed at a calibrated counterweight position on the operation platform, four second stress signals corresponding to the four pin shaft sensors are obtained, and the sum of the values of the four second stress signals is set as a rated load corresponding amount corresponding to the rated load; setting the corresponding relation according to the rated load, the sum of the values of the four first stress signals, the sum of the values of the four second stress signals and the sum of the values of the four third stress signals; and when the load monitoring is carried out, acquiring the four third stress signals corresponding to the four pin shaft sensors.
Optionally, the correspondence relationship is: m=m Forehead (forehead) /(S Forehead (forehead) -S Empty space )*(S Time of day -S Empty space ) The method comprises the steps of carrying out a first treatment on the surface of the Wherein M is Forehead (forehead) Is the weight of rated load, S Forehead (forehead) Is the sum of the values of the four second stress signals, S Empty space Is the sum of the values of four first stress signals, S Time of day Is the sum of the values of the four third stress signals.
Optionally, the load bearing monitoring device is configured to obtain a signal value range of the pin shaft sensor, determine whether the value of the stress signal is in the signal value range, and if not, determine that the pin shaft sensor fails.
According to a second aspect of the present disclosure, there is provided a load-bearing monitoring method of an aerial platform truck, including: acquiring stress signals sent by a pin shaft type sensor; the working platform is hinged with the scissor fork arm support through the pin shaft type sensor, and the pin shaft type sensor is used for measuring the strain force at the hinge joint of the working platform and the scissor fork arm support and generating the stress signal; and acquiring the stress signal, judging whether the load capacity of the operation platform is overloaded according to the corresponding relation between the preset load capacity of the operation platform and the stress signal, and executing corresponding operation based on a judging result.
Optionally, the performing the corresponding operation based on the determination result includes: and generating a control signal and sending the control signal to an execution unit under the condition that the judging result is that the working platform is overloaded, so that the execution unit executes the operation corresponding to the control signal.
Optionally, the execution unit includes: a boom lifting electromagnetic valve and a traveling electromagnetic valve; and when the judging result is that the operation platform is overloaded, generating a control signal and sending the control signal to the execution unit comprises the following steps: generating a landing stop control signal and a walking stop control signal under the condition that the judging result is that the working platform is overloaded; and sending the lifting stop control signal and the walking stop control signal to the arm support lifting electromagnetic valve and the walking electromagnetic valve respectively.
Optionally, receiving a calibration instruction sent by the man-machine interaction unit, and performing calibration processing; and sending the platform carrying capacity and fault reminding information corresponding to the stress signals to the man-machine interaction unit.
Optionally, the determining whether the load of the working platform is overloaded includes: calculating the carrying capacity of the working platform according to the corresponding relation between the carrying capacity of the working platform and the stress signals; and judging whether the load capacity of the working platform exceeds the product of the rated load capacity of the platform and a proportion threshold value, and if so, determining that the working platform is overloaded.
Optionally, the number of the pin shaft type sensors is four, and the four pin shaft type sensors are respectively positioned at four corners of the bottom of the working platform; the method further comprises the steps of: acquiring four first stress signals corresponding to the four pin shaft sensors when the operation platform is empty, and setting the sum of the values of the four first stress signals as a zero weight reference; when the rated load is placed at a calibrated counterweight position on the operation platform, four second stress signals corresponding to the four pin shaft sensors are obtained, and the sum of the values of the four second stress signals is set as a rated load corresponding amount corresponding to the rated load; setting the corresponding relation according to the rated load, the sum of the values of the four first stress signals, the sum of the values of the four second stress signals and the sum of the values of the four third stress signals; and when the load monitoring is carried out, acquiring the four third stress signals corresponding to the four pin shaft sensors.
Optionally, the correspondence relationship is: m=m Forehead (forehead) /(S Forehead (forehead) -S Empty space )*(S Time of day -S Empty space ) The method comprises the steps of carrying out a first treatment on the surface of the Wherein M is Forehead (forehead) Is the weight of rated load, S Forehead (forehead) Is the sum of the values of the four second stress signals, S Empty space Is the sum of the values of four first stress signals, S Time of day Is the sum of the values of the four third stress signals.
Optionally, acquiring a signal value range of the pin shaft type sensor, judging whether the value of the stress signal is in the signal value range, and if not, determining that the pin shaft type sensor fails.
According to a third aspect of the present disclosure, there is provided a load-bearing monitoring apparatus for an aerial platform truck, comprising: the signal acquisition module is used for acquiring stress signals sent by the pin shaft type sensor; the working platform is hinged with the scissor fork arm support through the pin shaft type sensor, and the pin shaft type sensor is used for measuring the strain force at the hinge joint of the working platform and the scissor fork arm support and generating the stress signal; the bearing processing module is used for acquiring the stress signal, judging whether the bearing weight of the operation platform is overloaded according to the corresponding relation between the preset bearing weight of the operation platform and the stress signal, and executing corresponding operation based on a judging result.
According to a fourth aspect of the present disclosure, there is provided a load-bearing monitoring apparatus for an aerial platform truck, comprising: a memory; and a processor coupled to the memory, the processor configured to perform the method as described above based on instructions stored in the memory.
According to a fifth aspect of the present disclosure, there is provided a computer readable storage medium storing computer instructions for execution by a processor of a method as described above.
According to the overhead working platform truck, the bearing monitoring method, the device and the storage medium, the working platform is hinged with the scissor type cantilever crane through the pin shaft type sensor, the pin shaft type sensor is used for measuring the strain force at the hinged position of the working platform and the scissor type cantilever crane, judging whether the bearing weight of the working platform is overloaded or not based on the stress signal and according to the corresponding relation between the preset bearing weight of the working platform and the stress signal, and the functions of monitoring the bearing state of the scissor type overhead working platform in real time and limiting overload actions can be realized; by converting the load capacity of the platform into the strain force of the pin shaft position, the error caused by the feedback weight of the arm support angle and the pressure side surface of the oil cylinder is avoided, meanwhile, the weighing precision error caused by the influence of the ambient temperature on the pressure can be effectively avoided, and the measuring result is more accurate and reliable; the real-time monitoring device can monitor the carrying capacity of the whole vehicle platform in real time when the platform is operated, prevent the whole vehicle from tipping due to overload, cause safety accidents and achieve better safety.
Drawings
In order to more clearly illustrate the embodiments of the present disclosure or the solutions in the prior art, a brief description will be given below of the drawings required for the embodiments or the description of the prior art, it being obvious that the drawings in the following description are only some embodiments of the present disclosure, and that other drawings may be obtained according to these drawings without inventive faculty for a person skilled in the art.
FIG. 1A is a schematic diagram of one embodiment of an overhead working truck; FIG. 1B is a schematic diagram of the connection of a load bearing monitoring apparatus to a sensor; FIG. 1C is a schematic diagram of the installation of a sensor;
FIG. 2 is a schematic diagram of a hardware architecture for implementing load bearing monitoring functions in one embodiment of an aerial vehicle of the present disclosure;
FIG. 3 is a schematic diagram of a hardware architecture for implementing load bearing monitoring functions in another embodiment of an aerial vehicle of the present disclosure;
FIG. 4 is a schematic illustration of a location for performing calibration weights;
FIG. 5 is a flow diagram of one embodiment of a method of load bearing monitoring of an aerial platform truck according to the present disclosure;
FIG. 6 is a flow chart of setting a load versus signal correspondence in one embodiment of a method of load bearing monitoring for an overhead working truck according to the present disclosure;
FIG. 7 is a block diagram of one embodiment of a load bearing monitoring apparatus of an overhead working truck according to the present disclosure;
FIG. 8 is a block diagram of a load handling module in one embodiment of a load monitoring apparatus of an overhead working truck according to the present disclosure;
fig. 9 is a block diagram of another embodiment of a load bearing monitoring apparatus of an overhead working truck according to the present disclosure.
Detailed Description
The present disclosure now will be described more fully hereinafter with reference to the accompanying drawings, in which exemplary embodiments of the disclosure are shown. The following description of the technical solutions in the embodiments of the present disclosure will be made clearly and completely with reference to the accompanying drawings in the embodiments of the present disclosure, and it is apparent that the described embodiments are only some embodiments of the present disclosure, not all embodiments. Based on the embodiments in this disclosure, all other embodiments that a person of ordinary skill in the art would obtain without making any inventive effort are within the scope of protection of this disclosure.
As shown in fig. 1A and 1B, the present disclosure provides an overhead working truck comprising a lower truck 1, a working platform 3, a scissor boom 2, a pin sensor 01, and a load-bearing monitoring device 02. The handle operation device 4 can control actions such as walking, steering, upper luffing, lower luffing and the like of the overhead working platform truck. The working platform 3 is hinged with the scissor arm support 2 through a pin shaft type sensor 01, and the pin shaft type sensor 01 is used for measuring strain force at the hinge joint of the working platform and the scissor arm support and generating a stress signal. The pin sensor 01 may be any of a variety of existing pin sensors, such as a strain pin sensor.
The number of the pin shaft type sensors can be four, and the four pin shaft type sensors are respectively positioned at four corners of the bottom of the operation platform. As shown in fig. 1C, the pin-type sensor 01 is mounted at positions denoted by 001 and 002 in the figure, and two mounting positions are provided on the corresponding back surface. The bearing monitoring device 02 is electrically connected with the pin shaft type sensor 01, acquires stress signals, judges whether the bearing weight of the operation platform 3 is overloaded according to the corresponding relation between the preset bearing weight of the operation platform and the stress signals, and executes corresponding operation based on the judging result.
In one embodiment, as shown in fig. 2, the load bearing monitoring apparatus 02 is connected to the execution unit 03, and in a state that the operation platform is overloaded as a result of the determination, the load bearing monitoring apparatus 02 generates a control signal and sends the control signal to the execution unit 03, so that the execution unit 03 performs an operation corresponding to the control signal.
For example, the execution unit 03 includes a boom lifting solenoid valve, a traveling solenoid valve, and the like; the bearing monitoring device 02 is respectively and electrically connected with the arm support lifting electromagnetic valve and the traveling electromagnetic valve; and when the judging result is that the working platform is overloaded, the bearing monitoring device 02 generates a lifting and falling stop control signal and a traveling stop control signal, and sends the lifting and falling stop control signal and the traveling stop control signal to the arm support lifting electromagnetic valve and the traveling electromagnetic valve respectively.
The bearing monitoring device 02 is electrically connected with an alarm device, which can be a buzzer, an indicator light and the like. And the bearing monitoring device 02 sends an alarm signal to the alarm device when the judging result is that the operation platform is overloaded, and the alarm device carries out alarm processing based on the alarm signal.
The man-machine interaction unit 04 can be a notebook computer, a vehicle-mounted computer, a handheld terminal and the like. The load bearing monitoring device 02 is electrically connected with the man-machine interaction unit 04, receives the calibration instruction sent by the man-machine interaction unit 04 and performs calibration processing, wherein the calibration instruction can be a weighing function calibration instruction and the like. The load-bearing monitoring device 02 transmits the platform load capacity corresponding to the stress signal and the fault reminding information to the man-machine interaction unit 04.
The signal processing module 05 is electrically connected with the pin shaft type sensor 01 and the bearing monitoring device 02 respectively, and is used for correspondingly processing stress signals sent by the pin shaft type sensor 01, and can be used for filtering, amplifying, converting and the like. The signal processing module 05 sends the processed stress signal to the bearing monitoring device 02; the signal processing module 05 is electrically connected with the bearing monitoring device 02 through a bus and the like, wherein the bus comprises a CAN bus, an R485 bus and the like.
The load-bearing monitoring device 02 calculates the load capacity of the working platform according to the corresponding relation between the load capacity of the working platform and the stress signals. The load-bearing monitoring device 02 judges whether the load capacity of the operation platform exceeds the product of the rated load capacity of the platform and the proportion threshold value, and if so, the overload of the operation platform is determined. The ratio threshold may be 110%, 120%, etc., for example, if the work platform load capacity is determined to exceed the product of the platform rated load capacity and 110%, then the work platform overload is determined.
In one embodiment, as shown in fig. 3, the signal input portion includes four strain pin sensors S1, S2, S3, S4 and a signal processing module L1. The four strain pin shaft sensors replace four pin shafts at the hinge positions of the operation platform and the arm support. The signal processing module amplifies and converts the signal of the strain pin sensor, and transmits the load bearing monitoring device through a CAN bus communication mode, wherein the load bearing monitoring device CAN comprise an Electronic Control Unit (ECU), and the EUC is used as a controller for executing signal processing and safety logic control.
And the ECU collects sensor signals and then carries out logic processing, so as to construct the corresponding relation between the load capacity of the working platform and stress signals of the four pin shaft sensors. If the load of the working platform exceeds 110% of the rated load capacity of the platform, the ECU executes equipment to stop, and the output of the boom lifting electromagnetic valve and the traveling electromagnetic valve is cut off. The ECU simultaneously controls the audible and visual alarm prompt of the buzzer. The man-machine interaction unit is used for completing weighing function calibration, and has the functions of real-time platform load capacity display, fault code reminding and the like.
In one embodiment, the load bearing monitoring apparatus 02 obtains four first stress signals corresponding to the four pin sensors when the work platform is empty, and sets the sum of the values of the four first stress signals to a zero weight reference. When the rated load is placed at the position of the calibrated counterweight on the operation platform, the load-bearing monitoring device 02 acquires four second stress signals corresponding to the four pin-type sensors, and the sum of the values of the four second stress signals is set as the rated load corresponding amount corresponding to the rated load.
The load bearing monitoring device 02 sets a corresponding relation according to the rated load, the sum of the values of the four first stress signals, the sum of the values of the four second stress signals and the sum of the values of the four third stress signals; and when the load is monitored, four third stress signals corresponding to the four pin shaft sensors are acquired.
The corresponding relation is as follows:
M＝M forehead (forehead) /(S Forehead (forehead) -S Empty space )*(S Time of day -S Empty space )(1-1)；
Wherein M is Forehead (forehead) Is the weight of rated load, S Forehead (forehead) Is the sum of the values of the four second stress signals, S Empty space Is the sum of the values of four first stress signals, S Time of day Is the sum of the values of the four third stress signals.
In one embodiment, centering is required when calibrating the load by measuring stress through four pin positions. As shown in fig. 4, the rated load is placed at the position of the calibrated counterweight on the working platform, so that errors caused by uneven stress distribution of the load at different positions of the platform can be effectively counteracted.
Firstly, under the no-load state of a platform, an ECU (electronic control unit) of a bearing monitoring device records the numerical values of stress signals generated by four strain pin shaft sensors S1, S2, S3 and S4, and the sum of the numerical values is S Empty space The method comprises the steps of carrying out a first treatment on the surface of the The value of the stress signal is the value generated by the strain pin sensor and is used for representing the measured stress, for example, the values of the stress signals are 30, 40 and the like. S is transmitted through a display Empty space The calibration is 0kg of corresponding quantity, namely the zero weight standard. Rated load M Forehead (forehead) The four strain pin sensors S1, S2, S3 and S4 are arranged at the calibration weight positions in FIG. 4, and the values of stress signals generated by the four strain pin sensors are recorded to be the sum of the values S Forehead (forehead) S is carried out through a display Forehead (forehead) Marked as M Forehead (forehead) The corresponding quantity is the rated load corresponding quantity. Let the sum of the values of the real-time stress signals measured by the four strain pin shaft sensors be S Time of day Its corresponding platform real-time load m=m Forehead (forehead) /(S Forehead (forehead) -S Empty space )*(S Time of day -S Empty space )。
The load bearing monitoring device 02 acquires the signal value range of the pin shaft type sensor, judges whether the value of the stress signal is in the signal value range, and if not, determines that the pin shaft type sensor fails. According to the range of the strain pin sensor, the upper limit and the lower limit of the normal signal value can be confirmed, the lower limit is a, the upper limit is b, and the normal value of the stress signal is between a and b. If the value of the stress signal generated by the pin shaft sensor read by the ECU is not in the range, the sensor is judged to be faulty.
Fig. 5 is a flow chart of one embodiment of a method of monitoring load bearing of an aerial platform truck according to the present disclosure, as shown in fig. 5:
step 501, a stress signal sent by a pin-type sensor is obtained. The working platform is hinged with the scissor arm support through a pin shaft type sensor, and the pin shaft type sensor is used for measuring the strain force at the hinged position of the working platform and the scissor arm support and generating a stress signal.
Step 502, obtaining a stress signal, judging whether the load capacity of the operation platform is overloaded according to a preset corresponding relation between the load capacity of the operation platform and the stress signal, and executing corresponding operation based on a judging result.
In one embodiment, in a state that the judging result is that the operation platform is overloaded, a control signal is generated and sent to the execution unit, so that the execution unit executes an operation corresponding to the control signal. The execution unit comprises an arm support lifting electromagnetic valve, a traveling electromagnetic valve and the like; generating a landing stop control signal and a walking stop control signal under the condition that the judging result is that the working platform is overloaded; and sending the lifting and falling control signal and the walking stop control signal to the arm support lifting electromagnetic valve and the walking electromagnetic valve respectively.
Receiving a calibration instruction sent by a man-machine interaction unit, and performing calibration treatment; and sending the platform carrying capacity and fault reminding information corresponding to the stress signals to a man-machine interaction unit. And calculating the load capacity of the working platform according to the corresponding relation between the load capacity of the working platform and the stress signals. And judging whether the load capacity of the operation platform exceeds the product of the rated load capacity of the platform and the proportion threshold value, and if so, determining that the operation platform is overloaded.
The number of the pin shaft type sensors can be four, and the four pin shaft type sensors are respectively positioned at four corners of the bottom of the operation platform. And acquiring a signal value range of the pin shaft type sensor, judging whether the value of the stress signal is in the signal value range, and if not, determining that the pin shaft type sensor fails.
Fig. 6 is a flow chart illustrating a relationship between a set load and a signal in an embodiment of a method for monitoring a load of an overhead working truck according to the present disclosure, as shown in fig. 6:
and 601, acquiring four first stress signals corresponding to the four pin shaft sensors when the operation platform is empty, and setting the sum of the values of the four first stress signals as a zero weight reference.
And 602, when the rated load is placed at a calibrated counterweight position on the operation platform, acquiring four second stress signals corresponding to the four pin shaft sensors, and setting the sum of the values of the four second stress signals as the rated load corresponding amount corresponding to the rated load.
Step 603, setting a corresponding relation according to the rated load, the sum of the values of the four first stress signals, the sum of the values of the four second stress signals and the sum of the values of the four third stress signals; and when the load is monitored, four third stress signals corresponding to the four pin shaft sensors are acquired.
In one embodiment, as shown in fig. 7, the present disclosure provides a load bearing monitoring apparatus of an aerial platform truck, comprising: a signal acquisition module 71 and a bearer processing module 72. The signal acquisition module 71 acquires stress signals sent by the pin-type sensor; the working platform is hinged with the scissor arm support through a pin shaft type sensor, and the pin shaft type sensor is used for measuring strain force at the hinged position of the working platform and the scissor arm support and generating a stress signal. The load handling module 72 obtains the stress signal and determines whether the load weight of the work platform is overloaded according to the preset corresponding relation between the load weight of the work platform and the stress signal, and performs a corresponding operation based on the determination result.
In one embodiment, as shown in fig. 8, the bearer processing module 72 includes: an execution unit 721, an information processing module 722, a calculation unit 723, and a calibration unit 724. The execution unit 721 generates a control signal and transmits the control signal to the execution unit in a state in which the determination result is that the job platform is overloaded, so that the execution unit performs an operation corresponding to the control signal.
The execution unit comprises an arm support lifting electromagnetic valve, a traveling electromagnetic valve and the like; when the operation platform is overloaded as a result of the determination, the execution unit 721 generates a landing stop control signal and a travel stop control signal, and the execution unit 721 transmits the landing stop control signal and the travel stop control signal to the boom landing solenoid valve and the travel solenoid valve, respectively.
The information processing unit 723 receives the calibration instruction sent by the man-machine interaction unit, performs calibration processing, and sends the platform load capacity and the fault reminding information corresponding to the stress signal to the man-machine interaction unit. The information processing unit 723 acquires the signal value range of the pin-type sensor, judges whether the value of the stress signal is within the signal value range, and if not, determines that the pin-type sensor fails.
The calculation unit 723 calculates the work platform load capacity according to the correspondence between the work platform load capacity and the stress signal. The computing unit 723 determines whether the work platform load capacity exceeds the product of the platform rated load capacity and the proportional threshold, and if so, determines that the work platform is overloaded.
In one embodiment, the number of the pin shaft type sensors is four, and the four pin shaft type sensors are respectively positioned at four corners of the bottom of the operation platform; the calibration unit 724 obtains four first stress signals corresponding to the four pin shaft sensors when the operation platform is empty, and sets the sum of the values of the four first stress signals as a zero weight reference.
When the rated load is placed at the calibration weight position on the work platform, the calibration unit 724 acquires four second stress signals corresponding to the four pin shaft sensors, and sets the sum of the values of the four second stress signals to the rated load corresponding amount corresponding to the rated load.
The calibration unit 724 sets a corresponding relation according to the rated load, the sum of the values of the four first stress signals, the sum of the values of the four second stress signals and the sum of the values of the four third stress signals; and when the load is monitored, four third stress signals corresponding to the four pin shaft sensors are acquired.
Fig. 9 is a block diagram of yet another embodiment of a load bearing monitoring apparatus of an overhead working truck according to the present disclosure. As shown in fig. 9, the apparatus may include a memory 91, a processor 92, a communication interface 93, and a bus 94. The memory 91 is configured to store instructions, and the processor 92 is coupled to the memory 91, and the processor 92 is configured to implement the load bearing monitoring method of the aerial platform truck based on the instructions stored in the memory 91.
The memory 91 may be a high-speed RAM memory, a nonvolatile memory (non-volatile memory), or the like, and the memory 91 may be a memory array. The memory 91 may also be partitioned and the blocks may be combined into virtual volumes according to certain rules. The processor 92 may be a central processing unit CPU, or an application specific integrated circuit ASIC (Application Specific Integrated Circuit), or one or more integrated circuits configured to implement the load bearing monitoring method of the aerial platform truck of the present disclosure.
In one embodiment, the present disclosure provides a computer readable storage medium storing computer instructions that when executed by a processor implement a load bearing monitoring method for an aerial work platform truck as in any of the embodiments above.
According to the aerial work platform truck, the bearing monitoring method, the device and the storage medium, the work platform is hinged with the scissor type cantilever crane through the pin shaft type sensor, the pin shaft type sensor is used for measuring the strain force at the hinged position of the work platform and the scissor type cantilever crane, judging whether the bearing weight of the work platform is overloaded or not based on the stress signal and according to the corresponding relation between the preset bearing weight of the work platform and the stress signal, and realizing the functions of monitoring the bearing state of the scissor type aerial work platform in real time and limiting overload actions; by converting the load capacity of the platform into the strain force of the pin shaft position, the error caused by the feedback weight of the arm support angle and the pressure side surface of the oil cylinder is avoided, meanwhile, the weighing precision error caused by the influence of the ambient temperature on the pressure can be effectively avoided, and the measuring result is more accurate and reliable; the real-time monitoring device can monitor the carrying capacity of the whole vehicle platform in real time when the platform is operated, prevent the whole vehicle from tipping due to overload, cause safety accidents and achieve better safety.
The methods and systems of the present disclosure may be implemented in a number of ways. For example, the methods and systems of the present disclosure may be implemented by software, hardware, firmware, or any combination of software, hardware, firmware. The above-described sequence of steps for the method is for illustration only, and the steps of the method of the present disclosure are not limited to the sequence specifically described above unless specifically stated otherwise. Furthermore, in some embodiments, the present disclosure may also be implemented as programs recorded in a recording medium, the programs including machine-readable instructions for implementing the methods according to the present disclosure. Thus, the present disclosure also covers a recording medium storing a program for executing the method according to the present disclosure.
The description of the present disclosure has been presented for purposes of illustration and description, and is not intended to be exhaustive or limited to the disclosure in the form disclosed. Many modifications and variations will be apparent to those of ordinary skill in the art. The embodiments were chosen and described in order to best explain the principles of the disclosure and the practical application, and to enable others of ordinary skill in the art to understand the disclosure for various embodiments with various modifications as are suited to the particular use contemplated.
Claims (20)
1. An aerial work platform truck comprising:
the device comprises an operation platform, a scissor arm support, a pin roll type sensor and a bearing monitoring device; the working platform is hinged with the scissor fork arm support through the pin shaft type sensor, and the pin shaft type sensor is used for measuring the strain force at the hinge joint of the working platform and the scissor fork arm support and generating a stress signal;
the bearing monitoring device is electrically connected with the pin shaft type sensor, acquires the stress signal, judges whether the bearing weight of the operation platform is overloaded according to the corresponding relation between the preset bearing weight of the operation platform and the stress signal, and executes corresponding operation based on a judging result;
the bearing monitoring device is used for acquiring a signal value range of the pin shaft type sensor, judging whether the value of the stress signal is in the signal value range, and if not, determining that the pin shaft type sensor fails.
2. The aerial work platform truck of claim 1, further comprising: an execution unit;
the bearing monitoring device is connected with the execution unit and is used for generating a control signal and sending the control signal to the execution unit when the judging result is that the operation platform is overloaded, so that the execution unit executes the operation corresponding to the control signal.
3. The aerial platform truck of claim 2, wherein the execution unit comprises: a boom lifting electromagnetic valve and a traveling electromagnetic valve;
the bearing monitoring device is respectively and electrically connected with the arm support lifting electromagnetic valve and the traveling electromagnetic valve and is used for generating a lifting and stopping control signal and a traveling stopping control signal under the condition that the judging result is that the operation platform is overloaded, and respectively sending the lifting and stopping control signal and the traveling stopping control signal to the arm support lifting electromagnetic valve and the traveling electromagnetic valve.
4. The aerial work platform truck of claim 1, further comprising: an alarm device;
and the bearing monitoring device is electrically connected with the alarm device and is used for sending an alarm signal to the alarm device when the judging result is that the operation platform is overloaded.
5. The aerial work platform truck of claim 1, further comprising: a man-machine interaction unit;
the load bearing monitoring device is electrically connected with the man-machine interaction unit and is used for receiving the calibration instruction sent by the man-machine interaction unit and sending the platform load capacity and the fault reminding information corresponding to the stress signals to the man-machine interaction unit.
6. The aerial work platform truck of claim 1, further comprising: a signal processing module;
the signal processing module is respectively and electrically connected with the pin shaft type sensor and the bearing monitoring device and is used for correspondingly processing stress signals sent by the pin shaft type sensor and sending the processed stress signals to the bearing monitoring device;
wherein, signal processing module pass through the bus with bearing monitoring device electricity is connected, the bus includes: and a CAN bus.
7. The aerial platform truck of claim 1, wherein,
the number of the pin shaft type sensors is four, and the four pin shaft type sensors are respectively positioned at four corners of the bottom of the working platform.
8. The aerial platform truck of claim 7, wherein,
the load bearing monitoring device is also used for calculating the load capacity of the operation platform according to the corresponding relation between the load capacity of the operation platform and the stress signal; and judging whether the load capacity of the working platform exceeds the product of the rated load capacity of the platform and a proportion threshold value, and if so, determining that the working platform is overloaded.
9. The aerial platform truck of claim 8, wherein,
the load bearing monitoring device is also used for acquiring four first stress signals corresponding to the four pin shaft sensors when the operation platform is in idle load, and setting the sum of the numerical values of the four first stress signals as a zero weight reference; when the rated load is placed at a calibrated counterweight position on the operation platform, four second stress signals corresponding to the four pin shaft sensors are obtained, and the sum of the values of the four second stress signals is set as a rated load corresponding amount corresponding to the rated load; setting the corresponding relation according to the rated load, the sum of the values of the four first stress signals, the sum of the values of the four second stress signals and the sum of the values of the four third stress signals; and when the load monitoring is carried out, acquiring the four third stress signals corresponding to the four pin shaft sensors.
10. The aerial platform truck of claim 1, wherein,
the corresponding relation is as follows: m=m Forehead (forehead) /(S Forehead (forehead) -S Empty space )*(S Time of day -S Empty space )；
Wherein M is Forehead (forehead) Is the weight of rated load, S Forehead (forehead) Is the sum of the values of the four second stress signals, S Empty space Is the sum of the values of four first stress signals, S Time of day Is the sum of the values of the four third stress signals.
11. A load-bearing monitoring method of an aerial working platform truck comprises the following steps:
acquiring stress signals sent by a pin shaft type sensor;
the working platform is hinged with the scissor arm support through the pin shaft type sensor, and the pin shaft type sensor is used for measuring the strain force at the hinge joint of the working platform and the scissor arm support and generating the stress signal;
acquiring the stress signal, judging whether the load weight of the operation platform is overloaded according to the corresponding relation between the preset load weight of the operation platform and the stress signal, and executing corresponding operation based on a judging result;
and acquiring a signal value range of the pin shaft type sensor, judging whether the value of the stress signal is in the signal value range, and if not, determining that the pin shaft type sensor fails.
12. The method of claim 11, further comprising: an execution unit; the performing the corresponding operation based on the judgment result includes:
and generating a control signal and sending the control signal to an execution unit under the condition that the judging result is that the working platform is overloaded, so that the execution unit executes the operation corresponding to the control signal.
13. The method of claim 12, wherein the execution unit comprises: a boom lifting electromagnetic valve and a traveling electromagnetic valve; and when the judging result is that the operation platform is overloaded, generating a control signal and sending the control signal to the execution unit comprises the following steps:
generating a landing stop control signal and a walking stop control signal under the condition that the judging result is that the working platform is overloaded;
and sending the lifting stop control signal and the walking stop control signal to the arm support lifting electromagnetic valve and the walking electromagnetic valve respectively.
14. The method of claim 11, further comprising:
receiving a calibration instruction sent by a man-machine interaction unit, and performing calibration treatment;
and sending the platform carrying capacity and fault reminding information corresponding to the stress signals to the man-machine interaction unit.
15. The method of claim 11, wherein determining whether the load-bearing weight of the work platform is overloaded comprises:
calculating the carrying capacity of the working platform according to the corresponding relation between the carrying capacity of the working platform and the stress signals;
and judging whether the load capacity of the working platform exceeds the product of the rated load capacity of the platform and a proportion threshold value, and if so, determining that the working platform is overloaded.
16. The method of claim 11, wherein the number of the pin-type sensors is four, and the four pin-type sensors are respectively positioned at four corners of the bottom of the working platform; the method further comprises the steps of:
acquiring four first stress signals corresponding to the four pin shaft sensors when the operation platform is empty, and setting the sum of the values of the four first stress signals as a zero weight reference;
when the rated load is placed at a calibrated counterweight position on the operation platform, four second stress signals corresponding to the four pin shaft sensors are obtained, and the sum of the values of the four second stress signals is set as a rated load corresponding amount corresponding to the rated load;
setting the corresponding relation according to the rated load, the sum of the values of the four first stress signals, the sum of the values of the four second stress signals and the sum of the values of the four third stress signals; and when the load monitoring is carried out, acquiring the four third stress signals corresponding to the four pin shaft sensors.
17. The method of claim 16, wherein,
the corresponding relation is as follows: m=m Forehead (forehead) /(S Forehead (forehead) -S Empty space )*(S Time of day -S Empty space )；
Wherein M is Forehead (forehead) Is the weight of rated load, S Forehead (forehead) Is the sum of the values of the four second stress signals, S Empty space Is the sum of the values of four first stress signals, S Time of day Is the sum of the values of the four third stress signals.
18. A load-bearing monitoring device for an overhead working platform truck, comprising:
the signal acquisition module is used for acquiring stress signals sent by the pin shaft type sensor; the working platform is hinged with the scissor arm support through the pin shaft type sensor, and the pin shaft type sensor is used for measuring the strain force at the hinge joint of the working platform and the scissor arm support and generating the stress signal;
the bearing processing module is used for acquiring the stress signal, judging whether the bearing weight of the operation platform is overloaded according to the corresponding relation between the preset bearing weight of the operation platform and the stress signal, and executing corresponding operation based on a judging result;
and the information processing unit is used for acquiring the signal value range of the pin shaft type sensor, judging whether the value of the stress signal is in the signal value range, and if not, determining that the pin shaft type sensor fails.
19. A load-bearing monitoring device for an overhead working platform truck, comprising:
a memory; and a processor coupled to the memory, the processor configured to perform the method of any of claims 11-17 based on instructions stored in the memory.
20. A computer readable storage medium storing computer instructions for execution by a processor of the method of any one of claims 11 to 17.
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| CN113063481B (en) * | 2021-03-25 | 2022-11-15 | 梅特勒-托利多(常州)精密仪器有限公司 | Service life prediction method for aerial work platform weighing sensor |
| CN114314463B (en) * | 2021-11-29 | 2024-01-05 | 湖南中联重科智能高空作业机械有限公司 | Method and device for load control and all-electric aerial working equipment |
| CN115196562B (en) * | 2022-06-08 | 2023-04-28 | 湖南中联重科智能高空作业机械有限公司 | Wheel support counter force detection device, system and aerial work platform |
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