Engineering machine for aloft work and steering method thereof
By eliminating the slewing structure and adopting a four-wheel steering and movable counterweight design, the problem of insufficient stability caused by the high center of gravity of the aerial work platform has been solved, achieving higher stability and lower cost.
Patent Information
- Application Number
- CN202511428044.9
- Authority / Receiving Office
- CN · China
- Patent Type
- Applications(China)
- Current Assignee / Owner
- Filing Date
- 2025-09-30
- Publication Date
- 2025-12-12
AI Technical Summary
The existing aerial work platforms have a high center of gravity, resulting in insufficient stability. In particular, the tipping moment is unstable after the turntable rotates, increasing the risk of tipping over.
The rotary structure is eliminated and a four-wheel steering design is adopted. The center of gravity is lowered by a movable counterweight and a winch motor system, and the control system enables in-situ rotation and counterweight position switching.
The lower center of gravity of the vehicle improves stability, reduces swaying, optimizes costs, and facilitates transportation and storage.
Smart Images
Figure CN121107323A_ABST
Abstract
Description
TECHNICAL FIELD
[0001] The present application relates to the field of optimal design, in particular to an engineering machine for aerial work and a steering method thereof. BACKGROUND
[0002] At present, the engineering machine for aerial work must ensure that the product stability is sufficient during walking and working. For example, during the working process, when the jib is stretched too long beyond the specified length or the load on the working platform exceeds the specified maximum load, the tipping moment will be increased, the stability of the aerial work platform will be reduced, and the tipping safety risk will be increased.
[0003] For example, taking the front tilting working condition of the engineering machine as an example, when the aerial work platform is parked on the slope for work, in order to ensure that the product stability is sufficient, it is necessary to realize that the stability moment M2 formed by the counterweight and the chassis with the tilting side double wheels as the fulcrum is always greater than the sum of the jib tipping moment M1 and the working platform (including the load) tipping moment. However, when the rotating platform is rotated by 180°, the counterweight is located below the slope at this time, forming a rear tilting working condition, in order to ensure that the product stability is sufficient, at this time, the new tipping moment M2 formed by the counterweight and the chassis with the tilting side double wheels as the fulcrum is always less than the sum of the new stability moment M1 of the jib and the new stability moment of the working platform (including the load). This will bring risks to the product stability.
[0004] However, the existing aerial work platform often uses a fixed size counterweight, which is difficult to adjust at will. Even if the counterweight can be increased, it may increase the risk of the aerial work platform tilting to the counterweight end. Therefore, it is necessary to study how to effectively reduce the center of gravity height of the arm type aerial work platform to prevent overload work and tipping accidents. SUMMARY
[0005] The purpose of the embodiments of the present application is to provide an engineering machine for aerial work and a steering method thereof, and creatively proposes a design of an arm type aerial work platform for reducing the center of gravity and improving the stability, which can greatly improve the stability of the aerial work platform.
[0006] In order to achieve the above-mentioned purpose, the first aspect of the present application provides an engineering machine for aerial work, which comprises: a chassis; a steering tire connected to the chassis; a connecting frame, one end of which is connected to the chassis and the other end of which is connected to a working platform, wherein there is no slewing mechanism between the connecting frame and the chassis; and a counterweight connected to one end of the chassis away from the working platform, wherein the counterweight is movable and the center of gravity height is different at least in two different positions.
[0007] In the embodiment of the present application, the counterweight is hinged to the chassis to switch between a working position and a storage position about the chassis, wherein the center of gravity of the counterweight in the storage position is higher than that in the working position, and wherein the counterweight is above the chassis in the storage position and at least partially below the chassis in the working position.
[0008] In the embodiment of the present application, the engineering machine further comprises a switching device for switching the position of the counterweight, wherein the switching device comprises a winch motor and a traction rope, one end of the traction rope being connected to the winch motor and the other end being connected to the counterweight.
[0009] In the embodiment of the present application, the switching device further comprises at least one pulley above the chassis, the winch motor being below the pulley, and the traction rope being a steel wire rope, the steel wire rope connecting the winch motor and the counterweight through the pulley.
[0010] In the embodiment of the present application, the steering tires are four, and the engineering machine further comprises a control system for controlling the steering tires to perform four-wheel steering.
[0011] In the embodiment of the present application, the control system is further configured to drive four-wheel walking when the steering tires are in a locked state, and drive four-wheel rotation in place when the steering tires are in an unlocked state.
[0012] In the embodiment of the present application, for each steering tire, two oil cylinders connected in parallel by an oil circuit are used to lock and unlock the steering tire.
[0013] In the embodiment of the present application, the control system is further configured to drive the steering tire to rotate in place by the two oil cylinders, including: by pumping the oil in the rodless chamber of one oil cylinder into the rodless chamber of the other oil cylinder, the hinge point between the two oil cylinders is allowed to rotate freely, thereby driving the steering tire to rotate in place.
[0014] In the embodiment of the present application, the engineering machine is a telescopic boom engineering machine, and the connecting frame is a telescopic boom.
[0015] The second aspect of the present application provides a steering method of an engineering machine, applied to the engineering machine for high-altitude operation, the steering method comprising: unlocking the steering tires of the engineering machine; driving the steering tires to rotate in place to a specified position; locking the steering tires; and driving the steering tires to walk.
[0016] Through the technical solutions of the present application, the rotary mechanism between the connecting frame and the chassis is cancelled, the counterweight and the connecting frame are directly installed on the chassis, the movable counterweight structure installed at a lower gravity center position makes the engineering machinery obtain smaller mass and volume, not only improves the stability of the engineering machinery, optimizes the cost, but also facilitates transportation and storage.
[0017] Other features and advantages of the present application will be described in detail in the following specific embodiments. BRIEF DESCRIPTION OF DRAWINGS
[0018] The accompanying drawings are included to provide a further understanding of the present application, and constitute a part of the specification, and are used to explain the present application together with the specific embodiments described below, but do not constitute a limitation on the present application. In the drawings: Figure 1 A high-altitude working platform layout schematic diagram of the prior art is shown; Figure 2 A schematic diagram of an engineering machinery structure for high-altitude work according to an embodiment of the present application is shown; Figure 3 A schematic diagram of a telescopic boom engineering machinery is shown; Figure 4 A counterweight storage schematic diagram according to an embodiment of the present application is shown; Figures 5a-5b A four-wheel rotation schematic diagram according to an embodiment of the present application is shown; Figure 6 A whole system architecture schematic diagram according to an embodiment of the present application is shown; Figure 7 A flowchart of a steering method of the engineering machinery according to an embodiment of the present application is shown. DETAILED DESCRIPTION
[0019] In order to make the purpose, technical solutions and advantages of the present application clearer, the technical solutions in the present application will be described clearly and completely below in conjunction with the drawings in the present application. It should be understood that the specific embodiments described here are only used to illustrate and explain the present application, and are not used to limit the present application. Based on the embodiments in the present application, all other embodiments obtained by those of ordinary skill in the art without making creative efforts fall within the scope of protection of the present application.
[0020] It should be noted that the acquisition, transmission, storage, use, processing and the like of data in the technical solutions of the present application comply with the relevant provisions of national laws and regulations. In the embodiments of the present application, some industry existing solutions such as software, components, models and the like may be mentioned, which should be considered as exemplary, and the purpose is only to illustrate the feasibility in the implementation of the technical solutions of the present application, but it does not mean that the applicant has or will necessarily use the solution.
[0021] It should be noted that if the directionality indication (such as up, down, left, right, front, back, etc.) is involved in the embodiments of the present application, the directionality indication is only used to explain the relative position relationship, motion condition and the like between components in a certain posture (as shown in the drawings), and if the certain posture changes, the directionality indication also changes accordingly.
[0022] In addition, if the description of "first", "second" and the like is involved in the embodiments of the present application, the description of "first", "second" and the like is only for the purpose of description, and cannot be understood as indicating or implying the relative importance or implicitly indicating the number of the indicated technical features. Therefore, the features limited by "first", "second" can be explicitly or implicitly included at least one feature. In addition, the technical solutions of each embodiment can be combined with each other, but it must be based on the realization of ordinary skilled in the art, when the combination of technical solutions appears contradictory or unachievable, it should be considered that the combination of technical solutions does not exist, nor within the scope of protection claimed in the present application.
[0023] The applicant finds that in the prior art such as Figure 1 In order to realize the function of rotary operation, a turntable device is added. In order to ensure that the counterweight and the boom are in the same vertical plane during rotation to provide stable torque, a vehicle frame structure is added above the rotary structure (such as a turntable structure, a rotary support) to fix the relative position of the counterweight and the boom, and the counterweight rotates with the boom. However, the overall center of gravity height and the overall weight of the vehicle are greatly increased. That is, the existing structure has the following disadvantages: 1) The current aerial work platform with arm drives the rotary support through the rotary motor to adjust the working position. The existence of the rotary structure causes the overall center of gravity height of the vehicle structure to be high, which reduces the stability of the aerial work platform.
[0024] 2) The responsiveness of the rotary motor and the structural precision of the rotary support cause the aerial work platform to shake a lot when it stops rotating.
[0025] 3) The existing counterweight position is fixed above the turntable and cannot be adjusted, which causes the overall center of gravity to be high.
[0026] Currently, when the telescopic boom aerial work platform is working, it first drives to the designated position, then drives the slewing bearing through the slewing motor, the chassis part of the aerial work platform does not move, the rotating platform part rotates to the designated position, and then the boom is extended and the amplitude is changed to the working position. The applicant found that when the aerial work platform is tilted, the double wheels on the tilting side are often used as the fulcrum, and the stability moment on one side of the fulcrum is less than the tilting moment on the other side. That is, only by ensuring that the stability moment is always greater than the tilting moment, can the tilting lead to personnel casualties or property losses and other situations be avoided. However, when the rotating platform is rotating, it cannot be guaranteed that the tilting moment is always greater than the stability moment of the boom and the load, which will bring risks to the stability of the product. Therefore, if the height of the center of gravity of the telescopic boom aerial work platform can be reduced, the tilting moment can be effectively reduced, and the stability moment M2 can be increased, thereby improving the stability of the product.
[0027] In view of the shortcomings of the prior art, the present patent creatively proposes a telescopic boom aerial work platform design for reducing the center of gravity and improving stability, as shown in Figure 2 The rotating support and other rotating structures and the upper frame structure are directly cancelled. The four-wheel steering of the chassis under the system replaces the old rotating mechanism, thereby reducing the height of the center of gravity of the whole vehicle. This design of the present application can be applied to the telescopic boom engineering machinery as shown in Figure 3 The telescopic boom engineering machinery is a kind of special equipment that realizes high-altitude operation or material handling through a multi-section telescopic boom, and is widely used in the fields of construction, municipal administration, port, etc. The aerial work platform can be widely used in mobile and liftable special products for high-altitude operation in various industries, and is usually composed of a chassis, an extension structure, and a working platform.
[0028] Specifically, the present application provides an engineering machinery for high-altitude operation, as shown in Figure 2 The engineering machinery of the present application can include: a chassis; a steering tire connected to the chassis; a connecting frame, for example, a telescopic boom, one end of which is connected to the chassis, and the other end of which is connected to the working platform, wherein there is no rotating mechanism between the connecting frame and the chassis, so that the connecting frame and the chassis need to be connected in a fixed manner, for example; a weight block with switchable positions, connected to the end of the chassis away from the working platform, wherein the weight block is movable, and the height of the center of gravity is different at least in two different positions.
[0029] It should be noted that the key mechanical structure in the engineering mechanical system architecture mainly refers to the overall vehicle structure layout, counterweight position adjustment structure, tire steering structure and the like. The main functions include the following: the swivel bearing and other swivel structures commonly used in the prior art are cancelled, and the original swivel function is replaced by four-wheel steering, thereby reducing the gravity center height of the overall vehicle through the way of steering in place while retaining the swivel function of the original swivel mechanism. In addition, the application also directly installs the movable counterweight and the boom on the chassis while omitting the frame structure of the vehicle, and further reduces the gravity center height of the overall vehicle by adjusting the gravity center position of the counterweight block.
[0030] In addition, due to the cancellation of the swivel mechanism, the counterweight position can also be lowered, for example, the counterweight is hinged to the chassis, further reducing the gravity center height of the overall vehicle. As shown in Figure 4 , the counterweight block can be hinged to the chassis to switch between the working position and the storage position around the chassis, wherein the gravity center height of the counterweight block in the storage position is higher than that in the working position. Wherein, in the storage position, the counterweight block is located above the chassis, and in the working position, the counterweight block is located below the chassis, for example, at least partially contacts the side wall of the chassis.
[0031] In the embodiment of the application, the engineering machinery further comprises: a switching device for switching the position of the counterweight block. As shown in Figure 4 , the switching device can include a winch motor, a traction rope, one end of the traction rope being connected to the winch motor, and the other end being connected to the counterweight block. For example, the traction rope can be a steel wire rope. In addition, the switching device can further include at least one pulley located above the chassis, for example, above the counterweight block, and the winch motor is located below the pulley, for example, can be arranged on the chassis. The steel wire rope passes through the pulley, one end is connected to the winch motor, and the other end is fixed to the counterweight block, so as to realize the connection of the winch motor and the counterweight block through the pulley by the steel wire rope. In this way, the traction point of the counterweight block can be conveniently adjusted without having to specially arrange the winch motor above the counterweight block. At the same time, the steel wire rope does not have to occupy space in a straight line, but can conveniently set the traction route according to the actual situation, effectively utilize the existing space to realize the traction function, and save space. In addition, multiple pulleys can be arranged to form a pulley block structure, so that the existing space of the whole machine can be conveniently utilized for combination without having to specially reserve the position of the pulley block. In this way, the motor winch pulley block structure can be controlled to store the movable counterweight block.
[0032] It can be seen that, for Figure 4As for the articulated counterweight structure, the application can utilize the hoist motor, the steel wire rope and the pulley to realize the position switching of the counterweight block through the control system and the power system included in the engineering machinery. The hoist motor is controlled by the control system to release or raise the cylinder pressure to realize the winding and unwinding of the steel wire rope. For example, the control system can switch the working mode and the storage mode according to the personnel operation and / or the vehicle state. When the working mode is entered, the steel wire rope is loosened to lower the counterweight block to the working position to reduce the gravity center and increase the stability arm. When the storage mode is switched, the hoist motor is controlled to operate to tighten the steel wire rope to lift the counterweight block to the storage position to reduce the space occupation.
[0033] In the embodiment of the application, the steering tires can be four, and the control system can be further used to control the steering tires to perform four-wheel steering to realize the switching of the driving mode and the turning mode.
[0034] Specifically, the control system is further used to perform: 1) driving the four-wheel walking when the steering tires are in the locked state; and 2) driving the four-wheel turning in place when the steering tires are in the unlocked state.
[0035] In the embodiment of the application, for each steering tire, two oil cylinders in parallel connection can be used to lock and unlock the steering tire. Specifically, the two oil cylinders are used to drive the steering tire to turn in place, including: the oil in the rodless chamber of one oil cylinder is pumped into the rodless chamber of the other oil cylinder to make the hinge point between the two oil cylinders freely rotate, thereby driving the steering tire to turn in place.
[0036] The application can utilize the walking power of the tires to drive the tires to steer. As shown in Figure 5a When the control system is switched to the turning mode, the control system unlocks the parallel oil lines, i.e. the oil in the rodless chamber of the oil cylinder A is pumped into the rodless chamber of the oil cylinder B, so that the two oil cylinders can freely rotate around the point O. Conversely, the oil in the rodless chamber of the oil cylinder B is pumped into the rodless chamber of the oil cylinder A, which can also achieve the effect. In this way, a single tire can be controlled to turn in place. Then, as shown in Figure 5b When the four tires are distributed in a circle, the hydraulic oil line is locked to prevent the oil cylinders AB from extending and retracting, so that the tire position can be fixed. Then, the control motor is operated to drive the four tires to walk at this angle, which can realize the turning in place of the whole vehicle. Obviously, the structure can also be used to realize the steering function of the vehicle.
[0037] As can be seen, the design scheme of the application includes four parts of mechanical structure, hydraulic system, control system and detection system, and the overall system architecture diagram is shown in Figure 6By directly canceling the common rotary bearing and other rotary structures on the mechanical structure, the height of the product gravity center is directly reduced, and the four-wheel steering is controlled by the control system to realize the whole aerial work platform in situ rotation, replacing the original rotary bearing function; at the same time, the movable counterweight and the boom are directly installed on the chassis, the frame structure of the vehicle is saved, the height of the gravity center of the whole vehicle is further reduced, and the movable counterweight is stored by controlling the motor winch pulley block structure by the control system, the size of the land occupied by the vehicle in the storage state is reduced, and the shaking caused by the gap or wear gap of the rotary structure is avoided.
[0038] In this way, the product in the design scheme of the application is lighter, easier to transport, and has lower cost; at the same time, the lower gravity center height can make the stability better.
[0039] In summary, the beneficial technical effects of the application include: 1) The traditional rotary structure is abolished by the in situ rotation design, the overall gravity center height is reduced, not only the stability of the aerial work platform is improved, but also the shaking caused by the traditional structure is weakened, the operability and experience of the equipment are improved, and the cost is reduced.
[0040] 2) Compared with the traditional hydraulic drive steering structure, the tire steering is realized by using the power of the tire walking motor, and the hydraulic structure in the design is only used to lock the tire position.
[0041] 3) By canceling the rotary mechanism between the connecting frame and the chassis, the counterweight and the boom are directly installed on the chassis, the movable counterweight structure is installed at a lower gravity center position, and the hoist is used to lower and store the articulated counterweight, so that the aerial work platform has smaller mass and volume, not only the stability of the aerial work platform is improved, but also the cost is optimized, and the transportation and storage are convenient.
[0042] On the other hand, the application provides a steering method 100 of an engineering machine, which can be applied to the engineering machine for aerial work according to the above, such as Figure 7 As shown, it can include the following steps S110-S140.
[0043] Step S110, control the steering tires of the engineering machine to be unlocked.
[0044] In the embodiment of the application, the engineering machine can include four steering tires. For each steering tire, the steering tire can be locked and unlocked by two oil cylinders in parallel through an oil circuit. Specifically, the steering tire is driven to rotate in situ by two oil cylinders, including: by pumping the oil in the rodless cavity of one oil cylinder into the rodless cavity of the other oil cylinder, the hinge point between the two oil cylinders is free to rotate, thereby driving the steering tire to rotate in situ.
[0045] Step S120, driving each steering tire to rotate in place to a specified position.
[0046] The application can drive the tire to steer by using the tire's own walking power. As shown in the figure, two oil cylinder oil circuits are connected in parallel. When the control system switches to the turning mode, the control system unlocks the parallel oil circuits, i.e. the oil pressure in the rodless cavity of oil cylinder A is input into the rodless cavity of oil cylinder B, so that the two oil cylinders can rotate freely around point O. Conversely, the oil pressure in the rodless cavity of oil cylinder B is input into the rodless cavity of oil cylinder A, which can also achieve the same effect. In this way, a single tire can be controlled to rotate in place, which can include driving each steering tire to rotate in place one by one or synchronously. Figure 5a
[0047] Step S130, locking the steering tire.
[0048] After each tire is rotated to a specified position, the tire needs to be locked. As shown in an embodiment, the four tires can be distributed in a circle. At this time, the hydraulic oil circuit is locked to prevent the extension and contraction of oil cylinders AB, so that the tire position can be fixed. Figure 5b
[0049] Step S140, driving the steering tire to walk.
[0050] Subsequently, the motor is controlled to operate, and the four wheels are driven to walk at the above-mentioned specified angle, so that the whole vehicle can rotate in place. Obviously, the structure can also be used to realize the steering function of the vehicle.
[0051] On the other hand, the application also provides a steering device of an engineering machine, which can be applied to the engineering machine for aerial work according to the above, and the steering device can include: an unlocking element for unlocking the steering tire of the engineering machine; a locking element for locking the steering tire; and a driving element for driving each steering tire to rotate in place to a specified position when the steering tire is unlocked, and driving the steering tire to walk when the steering tire is locked.
[0052] The beneficial technical effects of the steering method and the steering device of the application include: 1) The traditional turning structure is abolished by the in-place turning design, the overall gravity center height is reduced, the stability of the aerial work platform is improved, the shaking caused by the traditional structure is weakened, the operability and experience of the equipment are improved, and the cost is reduced.
[0053] 2) Compared with the traditional hydraulic driving steering structure, the tire steering is realized by using the tire walking motor power itself, and the hydraulic structure in the design is only used to lock the tire position.
[0054] It should also be noted that the terms "comprising", "comprises" or other variations thereof are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but can also include other elements not expressly listed or inherent to such process, method, article, or apparatus.
[0055] The above embodiments are only used to illustrate the present application, but not to limit it. Instead of the above, various modifications and changes can be made to the application by those skilled in the art. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the application shall fall into the scope of the claims of the application.
Claims
1. An engineering machine for high-altitude operations, characterized in that, The engineering machinery includes: Chassis; Steering tires are connected to the chassis; A connecting frame, one end connected to the chassis and the other end connected to the work platform, wherein there is no rotating mechanism between the connecting frame and the chassis; and A counterweight is connected to the end of the chassis away from the work platform, wherein the counterweight is movable and has a different center of gravity at at least two different positions.
2. The engineering machinery according to claim 1, characterized in that, The counterweight is hinged to the chassis to switch between a working position and a stored position around the chassis. The center of gravity of the counterweight in the stored position is higher than that in the working position. In the storage position, the counterweight is located above the chassis; in the working position, the counterweight is at least partially located below the chassis.
3. The engineering machinery according to claim 1 or 2, characterized in that, The engineering machinery also includes a switching device for switching the position of the counterweight, wherein the switching device includes a winch motor and a traction rope, one end of the traction rope being connected to the winch motor and the other end being connected to the counterweight.
4. The engineering machinery according to claim 3, characterized in that, The switching device further includes at least one pulley located above the counterweight, and the winch motor located below the pulley. The traction rope is a steel wire rope, which passes through the pulley and connects the winch motor to the counterweight.
5. The engineering machinery according to claim 1, characterized in that, The steering tires are four in number, and the engineering machinery also includes a control system for controlling the steering tires to perform four-wheel steering.
6. The engineering machinery according to claim 5, characterized in that, The control system is also used for: With the steering tires locked, all four wheels are driven; and With the steering tires in the unlocked state, the four wheels are driven to rotate in place.
7. The engineering machinery according to claim 6, characterized in that, For each of the steering tires, the steering tire is locked and unlocked by two hydraulic cylinders connected in parallel via hydraulic lines.
8. The engineering machinery according to claim 7, characterized in that, The control system is also used to drive the steering tire to rotate in place via the two hydraulic cylinders, including: By injecting oil from the rodless chamber of one cylinder into the rodless chamber of another cylinder, the hinge point between the two cylinders is allowed to rotate freely, thereby driving the steering tire to rotate in place.
9. The engineering machinery according to any one of claims 1-8, characterized in that, The construction machinery is a telescopic boom type construction machinery, and the connecting frame is a telescopic boom.
10. A steering method for engineering machinery, applied to engineering machinery used for high-altitude operations according to any one of claims 1-9, characterized in that, The steering method includes: Unlock the steering tires of the construction machinery; Drive the steering tire to rotate in place to a designated position; Lock the steering tire; and Drive the steering tires to move.