Suction cup adjusting device, suction cup accessory and aerial work platform

Abstract

The application relates to a suction cup adjusting device, a suction cup tool and an aerial work platform, the suction cup adjusting device comprising: an arm support assembly; a first rotating mechanism, so that the arm support assembly rotates around a Z axis with a first origin as a center; the arm support assembly comprising a luffing mechanism, the luffing mechanism comprising a luffing arm, the luffing arm being hingedly connected with a driving connection assembly, the luffing arm rotating around an X axis; a telescopic mechanism, the telescopic mechanism comprising a telescopic arm, the telescopic arm reciprocating along a Y axis; and a second rotating mechanism, the second rotating mechanism comprising a second swing frame, the second swing frame being provided with a main frame assembly of a suction cup at the tail end, the second swing frame being hingedly connected with the telescopic arm, and the second swing frame rotating around a Z axis with a second origin as a center. The suction cup adjusting device provided by the application can adjust the position of the suction cup and a target object gripped on the suction cup in a wide range, so that the glass can enter a frame in the most suitable posture with the frame, and accidents caused by posture adjustment of the glass in the air can be prevented.

Description

TECHNICAL FIELD

[0001] The present application belongs to the field of high-altitude cleaning equipment, and particularly relates to a suction cup adjusting device, a suction cup tool and a high-altitude working vehicle. BACKGROUND

[0002] With the development of society, the application of glass curtain walls of modern high-rise buildings is also more and more widely used, and the wall is directly replaced by glass, but the current building outer wall or curtain wall glass is relatively thick, fragile and difficult to transport, and the installation of large glass is currently generally manually installed a plurality of vacuum suction cups on an installation frame, then the glass is adsorbed on the vacuum suction cup, the installation frame and the glass are hoisted together by a crane, and the inclination and left-right position of the glass are manually adjusted by manual operation, so as to realize the installation.

[0003] In the traditional installation process, the installation angle and left-right position of the glass after being moved to the installation cavity basically need to be manually adjusted by workers, on the one hand, the operation requirement of the workers is high, and the labor intensity of the workers is large, on the other hand, the glass is prone to misalignment when being installed into the frame, so that the glass needs to be repeatedly adjusted when being installed into the frame. SUMMARY

[0004] To solve the above technical problems, the purpose of the present application is to provide a suction cup adjusting device which can adjust the position of the suction cup and the target object grabbed by the suction cup in a large range, so that the glass can be installed into the frame in the most suitable posture, and prevent accidents caused by the adjustment of the posture of the glass in the high altitude. The present application also provides a suction cup tool and a high-altitude working vehicle, both of which comprise the above-mentioned suction cup adjusting device and have the above-mentioned technical effects.

[0005] The technical scheme of the present application is as follows:

[0006] A suction cup adjusting device comprises:

[0007] A first rotating mechanism comprises a driving connection assembly;

[0008] An arm support assembly is connected to the driving connection assembly to rotate around the Z axis with the first origin as the center, and the arm support assembly comprises:

[0009] An amplitude varying mechanism comprises an amplitude varying arm rotating around the X axis, and the amplitude varying arm is hinged to the driving connection assembly;

[0010] A telescopic mechanism comprises a telescopic arm reciprocally moving along the Y axis, and the telescopic arm is connected to the amplitude varying arm;

[0011] A second rotating mechanism, comprising a second swing frame, the second swing frame being provided with a main frame assembly of a suction disc at its end, the second swing frame being hinged to the telescopic arm, the second swing frame rotating around the Z axis with the second origin as the center, the second origin being spaced apart from the first origin by a preset distance.

[0012] Preferably, the arm frame assembly further comprises a translation mechanism, the translation mechanism comprising a translation structure and a translation frame, the translation structure being used to slidingly connect the translation frame along the X axis.

[0013] Preferably, the translation structure comprises a translation guide shaft, the translation guide shaft being provided on the translation frame, the axis of the translation guide shaft being parallel to the X axis, the second swing frame being slidingly connected to the translation guide shaft.

[0014] A first driving member, one end of the first driving member being hinged to the second swing frame, the elongated end of the first driving member being hinged to the translation frame.

[0015] Preferably, the arm frame assembly further comprises a lifting mechanism, the lifting mechanism being located between the translation frame and the main frame assembly,

[0016] The lifting mechanism comprises a lifting frame.

[0017] A lifting structure, the lifting structure connecting the lifting frame and the translation frame, and enabling the lifting frame to move along the Z axis.

[0018] Preferably, the lifting structure comprises a lifting guide shaft, the lifting guide shaft being installed on the translation frame, the lifting frame being slidingly connected to the lifting guide shaft, the axis of the lifting guide shaft being parallel to the Z axis.

[0019] A lifting driving member, the lifting driving member being installed on the lifting frame, and the telescopic end of the lifting driving member providing driving force for the lifting frame to move along the axis of the lifting guide shaft.

[0020] Preferably, the arm frame assembly further comprises a first rotating mechanism, the first rotating mechanism comprising a rotating assembly, one end of the rotating assembly being connected to the lifting frame, the other end of the rotating assembly being connected to the main frame assembly, and the rotating assembly being used to drive the main frame assembly to rotate around the Y axis.

[0021] Preferably, the rotating assembly comprises a rotating driving member, the rotating driving member being used to drive the main frame assembly to rotate.

[0022] A first connecting flange, the rotating driving member being installed on the lifting frame through the first connecting flange.

[0023] A second connecting flange is connected to the other end of the rotary driving member, and the second connecting flange is connected to the main frame assembly.

[0024] Preferably, the driving connecting assembly comprises a connecting frame.

[0025] A third connecting flange is arranged on the connecting frame.

[0026] A second driving member is connected to the third connecting flange.

[0027] A fourth connecting flange is connected to the other end of the second driving member.

[0028] A first swing frame is connected to the fourth connecting flange and the variable amplitude arm.

[0029] The second driving member drives the fourth connecting flange, the first swing frame and the variable amplitude arm to rotate.

[0030] Preferably, the variable amplitude mechanism comprises a variable amplitude pin shaft, and the variable amplitude arm is hinged to the first swing frame through the variable amplitude pin shaft.

[0031] A third driving member is hinged to the first swing frame through a first pin shaft at a fixed end, and hinged to the variable amplitude arm through a second pin shaft at a telescopic end.

[0032] Preferably, the telescopic mechanism comprises a fourth driving member, a fixed end of the fourth driving member is connected to the variable amplitude arm, and a telescopic end of the fourth driving member is hinged to the telescopic arm through a third pin shaft.

[0033] Preferably, the second rotating mechanism comprises a swing driving member, the swing driving member is at least partially arranged on a side of the telescopic arm, a fixed end of the swing driving member is hinged to the side of the telescopic arm through a fourth pin shaft, and a telescopic end of the swing driving member is hinged to the second swing frame through a fifth pin shaft; a swing pin shaft, through which the second swing frame is hinged to the telescopic arm.

[0034] A suction disc tool comprising the suction disc adjusting device.

[0035] An aerial work platform comprising the suction disc adjusting device, or comprising the suction disc tool.

[0036] Compared with the prior art, the present application provides a suction cup adjusting device for adjusting the adjustment of the posture of a suction cup for grabbing glass, the first rotating mechanism is used to rotate the arm support assembly around the Z axis with the first origin, to realize the coarse adjustment of the main support assembly with the suction cup mounted thereon, on the other hand, the luffing mechanism on the arm support assembly is hinged with the driving connection assembly, to realize the rotation of the luffing arm around the X axis, that is, the adjustment of the pitch angle of the suction cup, at the same time, the telescopic arm is connected with the luffing arm, the telescopic arm reciprocates along the Y axis, to realize the approach or departure of the suction cup to the mounting frame, and the second swing frame telescopic arm on the second rotating mechanism is hinged, the second swing frame can rotate around the Z axis with the second origin as the center, and the second origin is spaced apart from the first origin by a predetermined distance. Through the above structure, the first rotating mechanism can rotate the arm support assembly together with the main support assembly, the suction cup mounted on the main support assembly, and the glass sucked by the suction cup as a whole around the Z axis with the first origin as the center, the initial posture adjustment of the main support assembly and the suction cup is realized by the first rotating mechanism, the pitch angle of the suction cup is adjusted by the luffing mechanism, and the combination of the first rotating mechanism and the luffing mechanism can make the glass on the suction cup adjust to a posture parallel to the target surface (that is, the in-frame working surface of the mounting frame) in the initial stage of work, to prevent the glass from adjusting the posture in the air. On the other hand, under the condition of obtaining a suitable in-frame inclined surface, the direct conveying of the suction cup to the target mounting surface is completed by the movement of the telescopic mechanism along the Y axis. In addition, the rotation center of the second rotating mechanism, that is, the second origin, is closer to the end of the suction cup, which is suitable for the small-range rotation and adjustment of the posture of the suction cup, can reduce the shaking of the suction cup and the glass on the main support assembly, and improve the safety of the glass into the frame. Therefore, the suction cup adjusting device provided by the present application can adjust the posture of the glass away from the mounting frame, so that the glass can enter the frame in the most suitable posture, to prevent accidents caused by the adjustment of the glass posture in the air. At the same time, the suction cup and the target object grabbed by the suction cup can be adjusted in a large range, and the adjustment of the suction cup can be coarsely and finely adjusted, to prevent the shaking caused by the adjustment of the posture of the suction cup and the glass, and to improve the safety of the glass installation.

[0037] The present application provides a suction cup tool comprising the above-mentioned suction cup adjusting device, which also has the above-mentioned technical effects.

[0038] The present application provides an aerial work platform comprising the above-mentioned suction cup adjusting device, or comprising the above-mentioned suction cup tool, which also has the above-mentioned technical effects. BRIEF DESCRIPTION OF DRAWINGS

[0039] The accompanying drawings are used to provide an understanding of the present application and constitute a part of the specification, and are used together with the following specific embodiments to explain the present application, but do not constitute a limitation on the present application. In the drawings:

[0040] Figure 1A structural schematic diagram of the suction disc adjusting device provided by the embodiment of the present application is shown in the figure;

[0041] Figure 2 A motion principle schematic diagram of the suction disc adjusting device provided by the embodiment of the present application is shown in the figure;

[0042] Figure 3 A structural schematic diagram of the first rotating mechanism provided by the embodiment of the present application is shown in the figure;

[0043] Figure 4 A partial enlarged schematic diagram of the first rotating mechanism provided by the embodiment of the present application is shown in the figure;

[0044] Figure 5 A top view of the first rotating mechanism provided by the embodiment of the present application is shown in the figure;

[0045] Figure 6 A structural schematic diagram of the amplitude changing mechanism provided by the embodiment of the present application is shown in the figure;

[0046] Figure 7 A side view of the amplitude changing mechanism provided by the embodiment of the present application is shown in the figure;

[0047] Figure 8 A state schematic diagram of the amplitude changing mechanism provided by the embodiment of the present application is shown in the figure;

[0048] Figure 9 A structural schematic diagram of the telescopic mechanism provided by the embodiment of the present application is shown in the figure;

[0049] Figure 10 A partial enlarged schematic diagram of the telescopic mechanism provided by the embodiment of the present application is shown in the figure;

[0050] Figure 11 A top view of the telescopic mechanism provided by the embodiment of the present application is shown in the figure;

[0051] Figure 12 A structural schematic diagram of the translation mechanism provided by the embodiment of the present application is shown in the figure;

[0052] Figure 13 A partial enlarged schematic diagram of the translation mechanism provided by the embodiment of the present application is shown in the figure;

[0053] Figure 14 A top view of the translation mechanism provided by the embodiment of the present application is shown in the figure;

[0054] Figure 15 A structural schematic diagram of the lifting mechanism provided by the embodiment of the present application is shown in the figure;

[0055] Figure 16 A partial enlarged schematic diagram of the lifting mechanism provided by the embodiment of the present application is shown in the figure;

[0056] Figure 17 A side view of the lifting mechanism provided by the embodiment of the present application is shown in the figure;

[0057] Figure 18 Structure diagram of the first rotary mechanism provided for the embodiment of the present application;

[0058] Figure 19 Local enlarged diagram of the first rotary mechanism provided for the embodiment of the present application;

[0059] Figure 20 Top view of the first rotary mechanism provided for the embodiment of the present application;

[0060] Figure 21 Rotation state diagram of the first rotary mechanism provided for the embodiment of the present application.

[0061] Explanation of reference numerals

[0062] 1, first rotation mechanism; 11, first origin; 12, connecting frame; 13, third connecting flange; 14, second driving member; 15, fourth connecting flange; 16, first swing frame; 2, amplitude changing mechanism; 21, amplitude changing arm; 22, amplitude changing pin shaft; 23, third driving member; 24, first pin shaft; 25, second pin shaft; 3, telescopic mechanism; 31, telescopic arm; 32, fourth driving member; 33, third pin shaft; 4, second rotation mechanism; 41, second swing frame; 42, second origin; 43, swing driving member; 44, fourth pin shaft; 45, fifth pin shaft; 46, swing pin shaft; 5, translation mechanism; 51, translation frame; 52, translation guide shaft; 53, first driving member; 6, lifting mechanism; 61, lifting frame; 62, lifting guide shaft; 63, lifting driving member; 7, first rotary mechanism; 71, rotary driving member; 72, first connecting flange; 73, second connecting flange; 8, main frame assembly; 81, suction cup. DETAILED DESCRIPTION

[0063] In order to enable persons skilled in the art to better understand the technical solutions in the present application, the technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application. Obviously, the described embodiments are only a part of the embodiments of the present application, rather than all the embodiments of the present application. Based on the embodiments in the present application, all other embodiments obtained by persons skilled in the art without creative labor should fall within the scope of protection of the present application.

[0064] In the description of the present application, it should be understood that the terms "upper", "lower", etc. indicate the orientation or position relationship, which are only for the convenience of describing the present application and simplifying the description, and do not indicate or imply that the components or elements referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation on the present application.

[0065] As Figures 1 to 21In the embodiment shown, a chuck adjusting device is disclosed, comprising: an arm support assembly; a first rotating mechanism 1, the first rotating mechanism 1 comprising a driving connection assembly, the driving connection assembly being connected with the arm support assembly to enable the arm support assembly to rotate around a Z axis with a first origin 11 as the center; the arm support assembly comprising: a luffing mechanism 2, the luffing mechanism 2 comprising a luffing arm 21, the luffing arm 21 being hinged with the driving connection assembly, the luffing arm 21 rotating around an X axis; a telescopic mechanism 3, the telescopic mechanism 3 comprising a telescopic arm 31, the telescopic arm 31 being connected with the luffing arm 21, the telescopic arm 31 reciprocating along a Y axis; a second rotating mechanism 4, the second rotating mechanism 4 comprising a second swing arm 41, the second swing arm 41 having a main support assembly 8 of a chuck 81 at the end thereof, the second swing arm 41 being hinged with the telescopic arm 31, the second swing arm 41 rotating around a Z axis with a second origin 42 as the center, the second origin 42 being spaced apart from the first origin 11 by a preset distance.

[0066] Compared with the prior art, please like Figures 1 to 11As shown, the suction cup adjusting device provided by the application is used for adjusting the posture adjustment of the suction cup 81 for grabbing glass. The arm frame assembly is rotated around the Z axis by the first rotating mechanism 1 to realize the coarse adjustment of the main frame assembly 8 with the suction cup 81 mounted on the arm frame assembly. On the other hand, the amplitude changing mechanism 2 on the arm frame assembly is hinged with the driving connection assembly to realize the rotation of the amplitude changing arm 21 around the X axis, that is, the adjustment of the pitch angle of the suction cup 81. Meanwhile, the telescopic arm 31 is connected with the amplitude changing arm 21, and the telescopic arm 31 reciprocates along the Y axis to realize the approach or departure of the suction cup 81 to the mounting frame. The second swing frame 41 on the second rotating mechanism 4 is hinged with the telescopic arm 31, the second swing frame 41 can rotate around the Z axis with the second origin 42 as the center, and the second origin 42 is separated from the first origin 11 by a preset distance. Through the above structure, the first rotating mechanism 1 can realize the rotation of the arm frame assembly, the main frame assembly 8, the suction cup 81 mounted on the main frame assembly 8, and the glass sucked by the suction cup 81 around the Z axis with the first origin 11 as the center. The initial posture adjustment of the main frame assembly 8 and the suction cup 81 is realized by the first rotating mechanism 1, and the pitch angle is adjusted by the amplitude changing mechanism 2. The combination of the first rotating mechanism 1 and the amplitude changing mechanism 2 can make the glass on the suction cup 81 adjust to the parallel posture of the installation work surface and the target surface (that is, the in-frame work surface) in the initial stage of work, so as to prevent the glass from adjusting the posture in the air. On the other hand, in the case of obtaining a suitable in-frame inclined surface, the direct conveying of the suction cup 81 to the target installation surface is completed by the movement of the telescopic mechanism 3 along the Y axis. In addition, the rotation center of the second rotating mechanism 4, that is, the second origin 42, is closer to the end of the suction cup 81, which is suitable for the small-range rotation adjustment of the suction cup 81, can reduce the shaking of the suction cup 81 and the glass on the main frame assembly 8, and improve the installation of the glass into the frame. Therefore, the suction cup adjusting device provided by the application can adjust the posture of the glass at a position away from the mounting frame, so that the glass can enter the frame in the most suitable posture, preventing accidents caused by the adjustment of the glass posture in the air. At the same time, the suction cup 81 and the target object grabbed by the suction cup 81 can be adjusted in a large range, and the adjustment of the suction cup 81 can be coarsely and finely adjusted, preventing the shaking caused by the adjustment of the suction cup 81 and the glass, and improving the safety of the glass installation.

[0067] It should be noted that in order to make the first rotating mechanism 1 and the second rotating mechanism 4 cooperate with each other to adapt to different working conditions or grasp different kinds, sizes and weights of target objects, the setting mode of the first origin 11 and the second origin 42 can be further improved, wherein the straight line formed by the first origin 11 and the second origin 42 coincides with or is parallel to the Y-axis, so that the arm assembly obtains good structural rigidity and can reduce damage and the like caused by excessive local load of the arm assembly. In addition, the straight line formed by the first origin 11 and the second origin 42 can be non-parallel to the Y-axis, that is, the second origin 42 is staggered with the first origin 11 in the projection direction of the Y-axis. In addition to obtaining the adjustment scheme of coarse adjustment and fine adjustment of the main frame assembly 8, the suction cup 81 and the grasped target object, a larger grasping range can be obtained, and the swing in a negative angle in some extreme conditions can be realized, so that the suction cup adjusting device obtains a more efficient working mode.

[0068] Similarly, in order to improve the structural rigidity of the arm assembly, the telescopic mechanism 3 can also be improved. The direction of reciprocating movement of the telescopic arm 31 can be based on the first origin 11, that is, the first origin 11 is the intersection point of the Z-axis and the Y-axis. On the other hand, the first rotating mechanism 1, the amplitude changing mechanism 2, the telescopic mechanism 3 and the second rotating mechanism 4 on the suction cup adjusting device can all realize their respective movements in the Cartesian coordinate system formed by the first origin 11. In this way, the movement reference coordinate systems of the respective mechanisms are the same, which can reduce the movement error in the movement process of each mechanism and improve the adjustment accuracy of the suction cup adjusting device.

[0069] Further, the rotation angle range of the first rotating mechanism 1 and the second rotating mechanism 4 can be limited. For example, if the rotation angle range of the first rotating mechanism 1 is α1 and the rotation angle range of the second rotating mechanism 4 is α2, when α1 is less than α2, the first rotating mechanism 1 sacrifices a certain rotation angle range in exchange for the stability of the operation of the suction cup adjusting device. For example, the range of α1 can be set to ±30° and the angle range of α2 can be set to ±45°. The first rotating mechanism 1 rotates at a large angle, which will cause a large swing at the end of the suction cup 81. Therefore, α1 is set to be small, and on the other hand, α2 is set to be large in order to make the rotation angle range of the suction cup 81 as large as possible without causing excessive swing, so that the operation range of the fine adjustment rotation angle of the suction cup 81 is as large as possible.

[0070] The above embodiment is to complete the overall posture adjustment of the arm assembly with the main frame assembly 8, the suction cup 81 and the target object. In order to further improve the operation range of the main frame assembly 8 and the suction cup 81, the arm assembly is further improved.

[0071] Please Figures 12 to 14As shown, the arm assembly further comprises a translation mechanism 5, the translation mechanism 5 comprising a translation structure and a translation frame 51, the translation structure being used for slidingly connecting the translation frame 51 along the X-axis direction. In this way, the suction cup 81 can realize rotation around the Z-axis at the first origin 11, rotation around the X-axis, movement along the Y-axis, rotation around the Z-axis at the second origin 42, and movement along the X-axis, further expanding the operation range of the suction cup 81, and facilitating fine adjustment of the main frame assembly 8 and the suction cup 81 in the X-axis direction at a position close to the target object, so that the target object can be smoothly installed at the target position.

[0072] Specifically, the translation mechanism 5 comprises a translation guide shaft 52 provided on the translation frame 51, the axis of the translation guide shaft 52 being parallel to the X-axis, and the second swing frame 41 being slidingly connected with the translation guide shaft 52; and a first driving member 53, one end of the first driving member 53 being hingedly connected with the second swing frame 41, and the elongated end of the first driving member 53 being hingedly connected with the translation frame 51. The translation guide shaft 52 is arranged on the translation frame 51, so that the translation guide shaft 52 plays a guiding role when the second swing frame 41 moves under the action of the first driving member 53. When the elongated end of the first driving member 53 is elongated, the second swing frame 41 moves along the axis direction of the translation guide shaft 52 (i.e. the X-axis direction). Since the translation mechanism 5 is located close to the suction cup 81, the pushing force and structural strength requirement of the first driving member 53 can be lowered, the overall weight of the suction cup adjusting device can be reduced, the rotating load of the first rotating mechanism 1 and the second rotating mechanism 4 at different position points of the Z-axis can be reduced, and on the other hand, the overall manufacturing cost of the suction cup adjusting device is also reduced.

[0073] Further, two translation guide shafts 52 are arranged in the direction of the Z-axis, and the two translation guide shafts 52 are all matched with the sleeves on the second swing frame 41, so that when the first driving member 53 is elongated, the translation frame 51 drives the main frame assembly 8 and the suction cup 81 to move along the X-axis as a whole.

[0074] Please as Figures 15 to 17 As shown, in the embodiments provided by the present application, the arm assembly further comprises a lifting mechanism 6 located between the translation frame 51 and the main frame assembly 8, the lifting mechanism 6 comprising a lifting frame 61 and a lifting structure, the lifting structure connecting the lifting frame 61 and the translation frame 51 and enabling the lifting frame 61 to move along the Z-axis direction. In this way, the suction cup 81 can realize rotation around the Z-axis at the first origin 11, rotation around the X-axis, movement along the Y-axis, rotation around the Z-axis at the second origin 42, movement along the X-axis, and upward and downward movement along the Z-axis direction, further improving the operation range of the suction cup 81.

[0075] Specifically, the lifting structure comprises a lifting guide shaft 62 mounted on the translation frame 51, the lifting frame 61 is in sliding connection with the lifting guide shaft 62, and the axis of the lifting guide shaft 62 is parallel to the Z-axis; the lifting drive 63 is mounted on the lifting frame 61, and the telescopic end of the lifting drive 63 provides driving force for the movement of the lifting frame 61 along the axis of the lifting guide shaft 62. The lifting drive 63 can be selected as a lifting oil cylinder, a flange plate is arranged on the lifting oil cylinder, and the lifting oil cylinder is connected with the lifting frame 61 through bolts, the telescopic end of the lifting drive 63 is in hole shaft cooperation with the lifting frame 61, the lifting frame 61 is connected with the translation frame 51 through the lifting guide shaft 62, and the lifting guide shaft 62 ensures the connection strength and provides guidance for the lifting of the main frame assembly 8 and the suction disc 81. Preferably, the lifting guide shaft 62 is provided with two lifting guide shafts 62 arranged in the X-axis direction. The lifting oil cylinder can be provided as a bidirectional telescopic oil cylinder.

[0076] Please Figures 18 to 21 As shown in the embodiments provided by the application, the arm frame assembly further comprises a first rotating mechanism 7, the first rotating mechanism 7 comprises a rotating assembly, one end of the rotating assembly is connected with the lifting frame 61, the other end of the rotating assembly is connected with the main frame assembly 8, and the rotating assembly is used to drive the main frame assembly 8 to rotate around the Y-axis. Through the setting of the first rotating mechanism 7, the rotation of the main frame assembly 8 around the Y-axis can be realized.

[0077] Therefore, in the above embodiments, the mechanisms realize the large-range movement of the suction disc 81 and the target object on the main frame assembly 8, realize the grasping, conveying and installation of the target object, improve the work efficiency and safety in actual application. Further, the suction disc 81 can perform seven-axis movement and has six degrees of freedom. Taking the first origin 11 as the origin, a component Cartesian coordinate system is constructed, and the six degrees of freedom of the suction disc adjusting device are that the first rotating mechanism 1 rotates around the Z-axis, the lifting mechanism 6 moves along the Z-axis direction, the first rotating mechanism 7 rotates around the Y-axis, the telescopic mechanism 3 moves along the Y-axis, the amplitude mechanism 2 rotates around the X-axis, and the translation mechanism 5 moves along the X-axis. The seven-axis movement refers to the rotation around the Z-axis with the second origin 42 as the center in addition to the above six degrees of freedom. It should be understood that the application realizes the large-range movement adjustment of the suction disc 81 through the setting of the mechanisms, and the angle of rotation and the distance of movement are adjusted in length, quantity and connection relationship according to actual working conditions, and the adaptive improvements made for the application should be considered to fall within the protection scope of the application.

[0078] In order to make the technical mechanism of the application clearer, the mechanisms will be described in detail;

[0079] The rotating assembly on the first rotating mechanism 7 comprises a rotating driving part 71 for driving the main frame assembly 8 to rotate, a first connecting flange 72 for mounting the rotating driving part 71 on the lifting frame 61, and a second connecting flange 73 connected with the other end of the rotating driving part 71 and connected with the main frame assembly 8. The rotating driving part 71 comprises a rotating speed reducer and a rotating hydraulic motor mounted on the rotating speed reducer. The rotating speed reducer is driven by the rotating hydraulic motor, and after speed reduction, the second connecting flange 73 drives the main frame assembly 8 to rotate. Such a structure makes the rotation of the main frame assembly 8 more stable. The first connecting flange 72 is used to connect the rotating driving part 71 and the lifting frame 61.

[0080] In the embodiment provided by the application, the driving connection assembly has two functions, one is to mount the suction cup adjusting device as a whole on the aerial work vehicle, that is, to connect the arm frame assembly and the aerial work vehicle, and the other is to drive the arm frame assembly to rotate around the Z axis with the first origin 11 as the center. Specifically, the driving connection assembly comprises a connecting frame 12, a third connecting flange 13 arranged on the connecting frame 12, a second driving part 14 connected with the third connecting flange 13, a fourth connecting flange 15 connected with the other end of the second driving part 14, and a first swing frame 16 connected with the fourth connecting flange 15 and the luffing arm 21. The second driving part 14 drives the fourth connecting flange 15, the first swing frame 16, and the luffing arm 21 to rotate. The connecting frame 12 is used to provide a mounting position for the arm frame assembly, and the specific structure is not limited, and the structure rigidity of the connecting frame 12 is improved. The second driving part 14 comprises a rotating speed reducer and a hydraulic motor for driving the rotating speed reducer to work. The hydraulic motor is selected because the overall weight of the arm frame assembly is large, and rotation needs to bear a large load, and the hydraulic motor can provide a large driving force. The third connecting flange 13 is connected with the rotating speed reducer by bolts, and is also fixedly connected with the connecting frame 12, for example, connected by welding or the like. The connection structure needs to be firm here to avoid accidents during the rotation of the arm frame assembly and cause safety accidents. Therefore, the connection mode of the third connecting flange 13 and the connecting frame 12 is preferably fixed connection. The fourth connecting flange 15 is used to connect the second driving part 14 and the first swing frame 16. The fourth connecting flange 15 can be welded on the first swing frame 16 first, and then fastened and connected with the rotating speed reducer by bolts. The rotating speed reducer is inputted with power by the hydraulic motor, and through gear transmission and speed reduction inside the rotating speed reducer, the first swing frame 16 is finally rotated, and the rotation of the entire arm frame assembly is further driven. Therefore, the first rotating mechanism 1 can realize rotation around the Z axis with the first origin 11 as the center.

[0081] The amplitude changing mechanism 2 provided by the application is used for adjusting the pitch angle of the suction cup 81, and specifically comprises an amplitude changing pin shaft 22, an amplitude changing arm 21 being hinged to the first swing frame 16 through the amplitude changing pin shaft 22, a third driving member 23, a fixed end of the third driving member 23 being hinged to the first swing frame 16 through a first pin shaft 24, and a telescopic end of the third driving member 23 being hinged to the amplitude changing arm 21 through a second pin shaft 25. The third driving member 23 comprises an amplitude changing oil cylinder, wherein a cylinder barrel of the amplitude changing oil cylinder (i.e. the fixed end of the third driving member 23) is hinged to the first swing frame 16 through the first pin shaft 24, the hinge point is referred to as hinge point A, a piston rod of the amplitude changing oil cylinder (i.e. the telescopic end of the third driving member 23) is hinged to the amplitude changing arm 21 through the second pin shaft 25, the hinge point is referred to as hinge point B, and the amplitude changing arm 21 is hinged to the swing frame through the amplitude changing pin shaft 22, the hinge point is referred to as hinge point C. When the piston rod of the amplitude changing oil cylinder is extended, a pushing force is applied to the amplitude changing arm 21 through the hinge point B, and the direction is along the AB connecting line. Since the amplitude changing arm 21 is hinged to the first swing frame 16 through the hinge point C, the hinge point C is not collinear with AB, so that a torsional moment is formed on the hinge point C by the pushing force of the piston rod, the amplitude changing arm 21 is pushed to rotate around the hinge point (i.e. the X axis) of the first swing frame 16, and finally the main frame assembly 8 is driven to rotate around the X axis, so that the amplitude changing movement is realized. Considering the overall structural rigidity, the universality of adaptation, the manufacturing cost and the like, the angle range of the amplitude changing mechanism 2 rotating around the X axis can be set to 0°-80°.

[0082] In addition, the telescopic mechanism 3 comprises a fourth driving member 32, a fixed end of the fourth driving member 32 being connected to the amplitude changing arm 21, and a telescopic end of the fourth driving member 32 being hinged to the telescopic arm 31 through a third pin shaft 33. Since the telescopic mechanism 3 needs to push all the mechanisms before the amplitude changing arm 21 to move in the Y axis direction, a large pushing force needs to be applied, and therefore the fourth driving member 32 is selected to be a telescopic oil cylinder, the cylinder barrel of the telescopic oil cylinder being fixed on the amplitude changing arm 21 through bolts, and the piston rod of the telescopic oil cylinder being hinged to the telescopic arm 31 through a pin shaft. When the piston rod of the telescopic oil cylinder is extended, a pushing force is applied to the telescopic arm 31, the telescopic arm 31 is pushed to slide along the Y axis, and thus the main frame assembly 8 is driven to perform telescopic movement in the Y axis direction, so that the suction cup 81 and the target object on the suction cup 81 are transported to the installation position.

[0083] The second rotating mechanism 4 realizes fine adjustment of the suction cup 81, specifically by setting a second origin 42, which is away from the first origin 11 and closer to the suction cup 81, so as to realize fine adjustment of the suction cup 81 while reducing the shaking of the suction cup 81 and the target object. Specifically, the second rotating mechanism 4 comprises a swing driving member 43, which is at least partially located on the side of the telescopic arm 31, the fixed end of the swing driving member 43 is hinged to the side of the telescopic arm 31 through a fourth pin shaft 44, and the telescopic end of the swing driving member 43 is hinged to the second swing frame 41 through a fifth pin shaft 45; a swing pin shaft 46, through which the second swing frame 41 is hinged to the telescopic arm 31. Preferably, the swing driving member 43 can be a swing oil cylinder, and two swing oil cylinders are arranged on the side of the telescopic arm 31, wherein the cylinder barrel of the swing oil cylinder is hinged to the telescopic arm 31 through the fourth pin shaft 44, which is the hinge point D, the piston rod of the swing oil cylinder is hinged to the second swing frame 41 through the fifth pin shaft 45, which is the hinge point E, and the second swing frame 41 is hinged to the swing frame through the fifth pin shaft 45, which is the hinge point F; when the piston rod of the swing oil cylinder is extended, a pushing force is applied to the second swing frame 41 through the hinge point E, and the direction is along the DE line, since the swing frame is hinged to the telescopic arm 31 through the hinge point F, the hinge point F is not collinear with DE, so that the piston rod pushing force forms a torsional moment on the hinge point F, which pushes the swing frame to rotate around the hinge point F (i.e. Z axis), and finally drives the main frame assembly 8 to realize swing around the Z axis.

[0084] The present application provides a suction cup tool comprising the suction cup adjusting device.

[0085] The present application provides a high-altitude operation vehicle comprising the suction cup adjusting device or the suction cup tool.

[0086] Since the suction cup tool and the high-altitude operation vehicle both directly or indirectly cover the suction cup adjusting device, the technical effects of the suction cup tool and the high-altitude operation vehicle can be seen from the suction cup adjusting device, which will not be repeated here.

[0087] The embodiments in the specification are described in a progressive manner, and each embodiment focuses on the difference from other embodiments. The same or similar parts between the embodiments can be referred to each other.

[0088] The above description of the disclosed embodiments enables a person skilled in the art to implement or use the present application. Various modifications to these embodiments will be apparent to those skilled in the art, and the general principles defined herein can be implemented in other embodiments without departing from the spirit or scope of the present application. Therefore, the present application will not be limited to the embodiments shown herein, but will conform to the widest scope consistent with the principles and novel features disclosed herein.

Claims

1. A chuck adjusting device, characterized by, The utility model relates to an aerial work platform, comprising: a first rotating mechanism (1) comprising a driving connection assembly for mounting on an aerial work platform; an arm assembly connected to the driving connection assembly to rotate around a first origin (11) as a center of a Z-axis, the arm assembly comprising: an luffing mechanism (2) comprising a luffing arm (21) rotating around an X-axis, the luffing arm (21) being hingedly connected to the driving connection assembly; a telescopic mechanism (3) comprising a telescopic arm (31) reciprocating along a Y-axis, the telescopic arm (31) being connected to the luffing arm (21); a second rotating mechanism (4) comprising a second swing frame (41), the second swing frame (41) having a main frame assembly (8) with a suction cup (81) at an end thereof, the second swing frame (41) being hingedly connected to the telescopic arm (31), the second swing frame (41) rotating around a second origin (42) as a center of a Z-axis, the second origin (42) being spaced apart from the first origin (11) by a preset distance; the first rotating mechanism (1) having a smaller rotating angle range than the second rotating mechanism (4); the driving connection assembly comprising a connecting frame (12); a third connecting flange (13) provided on the connecting frame (12); a second driving member (14) connected to the third connecting flange (13); a fourth connecting flange (15) connected to the other end of the second driving member (14); a first swing frame (16) connected to the fourth connecting flange (15) and the luffing arm (21); the second driving member (14) driving the fourth connecting flange (15), the first swing frame (16), and the luffing arm (21) to rotate; the luffing mechanism (2) comprising a luffing pin shaft (22), the luffing arm (21) being hingedly connected to the first swing frame (16) through the luffing pin shaft (22); a third driving member (23) having a fixed end hingedly connected to the first swing frame (16) through a first pin shaft (24), and a telescopic end hingedly connected to the luffing arm (21) through a second pin shaft (25).

2. The chuck adjustment device of claim 1, wherein The arm assembly further comprises a translation mechanism (5) comprising a translation structure and a translation frame (51), the translation structure being configured to allow the translation frame (51) to slide along an X-axis.

3. The chuck adjustment device of claim 2, wherein The translation structure comprises a translation guide shaft (52) provided on the translation frame (51), the axis of the translation guide shaft (52) being parallel to the X-axis, the second swing frame (41) being slidably connected to the translation guide shaft (52); a first driving member (53) having one end hingedly connected to the second swing frame (41), and an elongated end hingedly connected to the translation frame (51).

4. The chuck adjustment device of claim 2, wherein The arm support assembly further comprises a lifting mechanism (6) located between the translation frame (51) and the main frame assembly (8), The lifting mechanism (6) comprises a lifting frame (61); A lifting structure is connected between the lifting frame (61) and the translation frame (51) and moves the lifting frame (61) along the Z-axis direction.

5. The chuck adjustment device of claim 4, wherein, The lifting structure comprises a lifting guide shaft (62) mounted on the translation frame (51), the lifting frame (61) is in sliding connection with the lifting guide shaft (62), and the axis of the lifting guide shaft (62) is parallel to the Z-axis; A lifting driving member (63) is mounted on the lifting frame (61), and the telescopic end of the lifting driving member (63) provides driving force for moving the lifting frame (61) along the axis of the lifting guide shaft (62).

6. The chuck adjustment device of claim 4, wherein, The arm support assembly further comprises a first rotating mechanism (7), the first rotating mechanism (7) comprises a rotating assembly, one end of the rotating assembly is connected with the lifting frame (61), the other end of the rotating assembly is connected with the main frame assembly (8), and the rotating assembly is used to drive the main frame assembly (8) to rotate around the Y-axis.

7. The chuck adjustment device of claim 6, wherein, The rotating assembly comprises a rotating driving member (71) used to drive the main frame assembly (8) to rotate; A first connecting flange (72) is used to mount the rotating driving member (71) on the lifting frame (61); A second connecting flange (73) is connected with the other end of the rotating driving member (71) and is connected with the main frame assembly (8).

8. The suction cup adjustment device of claim 1, wherein, The telescopic mechanism (3) comprises a fourth driving member (32), the fixed end of the fourth driving member (32) is connected with the luffing arm (21), and the telescopic end of the fourth driving member (32) is hinged with the telescopic arm (31) through a third pin shaft (33).

9. The suction cup adjustment device of claim 1, wherein, The second rotating mechanism (4) comprises a swing driving member (43), the swing driving member (43) is at least partially located on the side of the telescopic arm (31), the fixed end of the swing driving member (43) is hinged with the side of the telescopic arm (31) through a fourth pin shaft (44), and the telescopic end of the swing driving member (43) is hinged with the second swing frame (41) through a fifth pin shaft (45); A swing pin shaft (46) is used to hinge the second swing frame (41) with the telescopic arm (31).

10. A suction cup tool, characterized in that The chuck adjusting device of any one of claims 1 to 9.

11. An aerial work platform, characterized in that The chuck adjusting device of any one of claims 1 to 9, or, The chuck accessory of claim 10.

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