Telescopic boom forklift

Abstract

This application relates to the field of high-altitude operations and discloses a telescopic boom forklift that can transport, adjust the posture, and position the angle steel during the erection of power tower legs. This is achieved through the telescopic and luffing mechanisms of the boom itself, the luffing adjustment of the angle steel installation attachments hinged to the boom head via the attachment luffing mechanism, and the multi-degree-of-freedom adjustment of the angle steel installation attachments themselves. Specifically, the angle steel is held by an angle steel clamping mechanism within the angle steel installation attachments. The high-altitude installation of the angle steel is primarily achieved by the boom telescopic device, the boom luffing device, and the attachment luffing mechanism. The first and second tilt adjustment mechanisms within the angle steel installation attachments jointly adjust the tilt angle of the angle steel relative to the ground. The azimuth adjustment mechanism and four linear adjustment mechanisms within the angle steel installation attachments allow for flexible position adjustment of the angle steel during transport, posture adjustment, and positioning installation. This effectively simplifies tower leg installation, saves manpower and required equipment, and improves installation efficiency and operational safety.

Description

Technical Field

[0001] This application belongs to the field of high-altitude operation technology, and specifically relates to a telescopic boom forklift. Background Technology

[0002] Currently, the legs of power transmission towers can be constructed using angle steel of different sizes according to the tower specifications, with a single angle steel weighing over 700 kg. During the preparation phase of leg installation, multiple people are needed to transport the bundled angle steel to the vicinity of the installation point. Holes are then drilled in the angle steel using drilling equipment, and a support pole is erected using a pre-dug pit. During installation, the hole at one end of the angle steel is connected to a crane on the erected support pole via a steel wire rope, while the hole at the other end is connected to a winch on the ground via a steel wire rope. Through the cooperation of the crane and the winch, the angle steel is installed in a tilted position relative to the ground. However, this installation method has drawbacks such as high labor intensity for workers, low installation efficiency, significant safety hazards, and the use of numerous tools, thus leaving considerable room for optimization and improvement. Summary of the Invention

[0003] The purpose of this application is to provide a telescopic boom forklift that integrates angle steel handling, posture adjustment and positioning installation functions to simplify the installation of power tower legs, save manpower and required equipment, and improve installation efficiency and operational safety.

[0004] To achieve the above objectives, this application provides a telescopic boom forklift truck, comprising:

[0005] A boom mechanism includes a boom, a boom extension device for driving the boom to extend and retract, and a boom luffing device for driving the boom to luff.

[0006] An angle steel mounting attachment, hinged to the head of the boom, includes an angle steel clamping mechanism, a linear adjustment system, a tilt adjustment system, and an orientation adjustment mechanism. The linear adjustment system includes a first linear adjustment mechanism, a second linear adjustment mechanism, a third linear adjustment mechanism, and a fourth linear adjustment mechanism for moving the angle steel clamping mechanism along a first linear direction, a second linear direction, a third linear direction, and a fourth linear direction, respectively. The tilt adjustment system includes a first tilt adjustment mechanism for driving the angle steel clamping mechanism to swing around a first axis and a second tilt adjustment mechanism for driving the angle steel clamping mechanism to rotate around a second axis. The orientation adjustment mechanism is used to drive the angle steel clamping mechanism to swing around a third axis.

[0007] An attachment luffing mechanism is used to drive the angle steel mounting attachment to luff around the head of the boom.

[0008] In some embodiments, the boom head, the attachment luffing mechanism, the first linear adjustment mechanism, the first tilt adjustment mechanism, the orientation adjustment mechanism, the second linear adjustment mechanism, the third linear adjustment mechanism, the fourth linear adjustment mechanism, the second tilt adjustment mechanism, and the angle steel clamping mechanism are connected in sequence;

[0009] Wherein, the second axis is parallel to the second linear direction, the second axis, the third linear direction and the fourth linear direction are perpendicular to each other, the third axis is parallel to the fourth linear direction, the first axis is a horizontal axis perpendicular to the first linear direction, and the hinge axis of the angle steel mounting attachment and the head of the boom is parallel to the first axis.

[0010] In some embodiments, the angle steel clamping mechanism includes a clamping engagement structure and a clamping drive cylinder for driving the clamping engagement structure to clamp the angle steel; the telescopic boom forklift also includes:

[0011] A clamping control oil circuit is connected to the clamping drive oil cylinder and is provided with a clamping valve group for switching control of the clamping drive oil cylinder;

[0012] A pressure detection device is used to detect the real-time oil pressure in the rodless chamber of the clamping drive cylinder;

[0013] The control system communicates with the pressure detection device and the clamping valve assembly, and is configured to control the clamping valve assembly to switch to supply oil to the rodless chamber when the real-time oil pressure is less than the preset minimum oil pressure.

[0014] In some embodiments, the control system is further configured to control the clamping valve assembly to switch to a position whereby the clamping control oil circuit stops supplying oil to the rodless chamber when the real-time oil pressure is not less than a preset maximum oil pressure.

[0015] In some embodiments, the orientation adjustment mechanism includes an orientation adjustment rotary motor connecting the first tilt adjustment mechanism and the second linear adjustment mechanism, wherein the rotation axis of the orientation adjustment rotary motor is the third axis; the telescopic boom forklift further includes:

[0016] The first rotation angle detection device is used to issue a stop rotation signal when it detects that the rotation angle of the orientation adjustment rotation motor has reached a threshold of a preset rotation angle range.

[0017] The control system communicates with the first slewing angle detection device and the azimuth adjustment slewing motor, and is configured to control the azimuth adjustment slewing motor to stop when the stop slewing signal is received.

[0018] In some embodiments, the second tilt adjustment mechanism includes a tilt adjustment rotary motor connecting the angle steel clamping mechanism and the fourth linear adjustment mechanism, wherein the rotation axis of the tilt adjustment rotary motor is the second axis; the telescopic boom forklift further includes:

[0019] The second rotation angle detection device is used to detect the rotation angle of the tilt angle adjusting rotary motor;

[0020] The control system communicates with the second slewing angle detection device and the tilt angle adjusting slewing motor, and is configured to control the start and stop of the tilt angle adjusting slewing motor.

[0021] In some embodiments, the first tilt adjustment mechanism includes a swing frame and a tilt adjustment cylinder, the swing frame being hinged to the first linear adjustment mechanism and connected to the orientation adjustment mechanism, and the tilt adjustment cylinder being used to drive the swing frame to swing around the first axis; the telescopic boom forklift further includes:

[0022] The swing control oil circuit is connected to the tilt adjustment cylinder and is equipped with a swing valve group for switching control of the tilt adjustment cylinder;

[0023] The control system communicates with the swing valve assembly and is configured to control the swing valve assembly to switch the hydraulic oil flow direction of the swing control oil circuit.

[0024] In some embodiments, the first linear adjustment mechanism includes a first fixed arm, a first telescopic arm, and a first linear adjustment cylinder. The first fixed arm is arranged along the first linear direction, the first telescopic arm is arranged along the first linear direction and connected to the first tilt adjustment mechanism, and the first linear adjustment cylinder is used to drive the first telescopic arm to extend or retract relative to the first fixed arm along the first linear direction. The telescopic forklift further includes:

[0025] A first linear regulating oil circuit is connected to the first linear regulating oil cylinder and is provided with a first linear regulating valve group for switching control of the first linear regulating oil cylinder;

[0026] The control system communicates with the first linear regulating valve group and is configured to control the first linear regulating valve group to switch the hydraulic oil flow direction of the first linear regulating oil circuit.

[0027] In some embodiments, the second linear adjustment mechanism includes a second fixed arm, a second telescopic arm, and a second linear adjustment cylinder. The second fixed arm is arranged along the second linear direction and connected to the orientation adjustment mechanism. The second telescopic arm is arranged along the second linear direction and connected to the third linear adjustment mechanism. The second linear adjustment cylinder is used to drive the second telescopic arm to extend and retract relative to the second fixed arm along the second linear direction. The telescopic forklift also includes:

[0028] The second linear regulating oil circuit is connected to the second linear regulating oil cylinder and is provided with a second linear regulating valve group for switching control of the second linear regulating oil cylinder;

[0029] The control system communicates with the second linear regulating valve group and is configured to control the second linear regulating valve group to switch the hydraulic oil flow direction of the second linear regulating oil circuit.

[0030] In some embodiments, the third linear adjustment mechanism includes a lateral support and a lateral drive cylinder. The lateral support is movably connected to the second linear adjustment mechanism and also connected to the fourth linear adjustment mechanism. The lateral drive cylinder is used to drive the lateral support to move laterally relative to the second linear adjustment mechanism along the third linear direction. The telescopic boom forklift also includes:

[0031] A lateral movement control oil circuit is connected to the lateral movement drive cylinder and is provided with a lateral movement valve group for switching control of the lateral movement drive cylinder;

[0032] The control system communicates with the lateral valve assembly and is configured to control the lateral valve assembly to switch the hydraulic oil flow direction of the lateral control oil circuit.

[0033] In some embodiments, the fourth linear adjustment mechanism includes a lifting bracket and a lifting drive cylinder. The lifting bracket is movably connected to the third linear adjustment mechanism and to the second tilt adjustment mechanism. The lifting drive cylinder is used to drive the lifting bracket to move up and down relative to the third linear adjustment mechanism along the fourth linear direction. The telescopic boom forklift also includes:

[0034] The lifting control oil circuit is connected to the lifting drive oil cylinder and is equipped with a lifting valve group for switching the control of the lifting drive oil cylinder;

[0035] The control system communicates with the lifting valve assembly and is configured to control the lifting valve assembly to switch the hydraulic oil flow direction of the lifting control oil circuit.

[0036] In some embodiments, the attachment luffing mechanism includes an attachment luffing drive cylinder connecting the angle steel mounting attachment and the head of the boom; the telescopic boom forklift also includes:

[0037] The attachment luffing control oil circuit is connected to the attachment luffing drive cylinder and is equipped with an attachment luffing valve group for switching control of the attachment luffing drive cylinder.

[0038] The control system communicates with the attachment luffing valve group and is configured to control the attachment luffing valve group to switch the hydraulic oil flow direction of the attachment luffing control oil circuit.

[0039] When erecting the legs of power transmission towers, the telescopic boom forklift of this application can achieve the handling, posture adjustment, and positioning installation of angle steel through the telescopic and luffing of its own boom, the luffing adjustment mechanism of the attachment for adjusting the luffing of the angle steel installation attachment hinged to the boom head, and the multi-degree-of-freedom adjustment of the angle steel installation attachment itself. Specifically, the angle steel is clamped by the angle steel clamping mechanism in the angle steel installation attachment, and the high-altitude installation of the angle steel is mainly achieved by the boom telescopic device, the boom luffing device, and the attachment luffing mechanism. The first and second tilt angle adjustment mechanisms in the angle steel installation attachment jointly adjust the tilt angle of the angle steel relative to the ground, and the orientation adjustment mechanism and four linear adjustment mechanisms in the angle steel installation attachment enable flexible adjustment of the position of the angle steel during handling, posture adjustment, and positioning installation. In this way, the tower leg installation can be effectively simplified, saving manpower and the required equipment, and improving installation efficiency and operational safety.

[0040] Other features and advantages of the embodiments of this application will be described in detail in the following detailed description section. Attached Figure Description

[0041] The accompanying drawings are provided to further illustrate the embodiments of this application and form part of the specification. They are used together with the following detailed description to explain the embodiments of this application, but do not constitute a limitation on the embodiments of this application. For those skilled in the art, other drawings can be obtained based on the structures shown in these drawings without any inventive effort. In the drawings:

[0042] Figure 1 This is a side view of an angle steel clamping mechanism according to a specific embodiment of this application;

[0043] Figure 2 for Figure 1 A top view of the angle steel clamping mechanism in the middle;

[0044] Figure 3 for Figure 1 Another top view of the angle steel clamping mechanism, compared to Figure 2 The accumulator is shown, but the pressure detection device and balancing valve assembly are omitted.

[0045] Figure 4 This is a hydraulic schematic diagram of an angle steel clamping control assembly according to a specific embodiment of this application;

[0046] Figure 5 This is a side view of an angle steel mounting attachment according to a specific embodiment of this application;

[0047] Figure 6 for Figure 5 Top view of the angle steel installation fixture;

[0048] Figure 7 This is a schematic diagram of a telescopic boom forklift truck according to a specific embodiment of this application;

[0049] Figure 8 for Figure 7 A schematic diagram of the control relationship of a telescopic boom forklift truck;

[0050] Figures 9 to 12 The following are schematic diagrams of four states in a specific embodiment of the angle steel installation process of this application.

[0051] Explanation of reference numerals in the attached figures

[0052] 10 Boom mechanism 20 Angle steel clamping mechanism

[0053] 30 First linear adjustment mechanism 40 Second linear adjustment mechanism

[0054] 50 Third linear adjustment mechanism 60 Fourth linear adjustment mechanism

[0055] 70 First tilt adjustment mechanism 80 Second tilt adjustment mechanism

[0056] 90 azimuth adjustment mechanism; 100 attachment amplitude change mechanism

[0057] 110 boom amplitude detection device; 120 pressure detection device

[0058] 130 First rotation angle detection device 140 Second rotation angle detection device

[0059] 150 Clamping valve assembly 160 First linear regulating valve assembly

[0060] 170 Second linear control valve group 180 Transverse valve group

[0061] 190 lift valve assembly, 200 swing valve assembly

[0062] 210 Amplitude Valve Assembly 220 Balance Valve Assembly

[0063] 230 accumulator, 240 angle steel

[0064] 250 boom luffing valve assembly; 260 boom telescopic valve assembly

[0065] 11 Boom 12 Boom telescopic device

[0066] 13 Boom luffing device 21 Base

[0067] 22 Clamping telescopic device 23 First link

[0068] 24 Second Linkage 25 First Clamping Plate

[0069] 26 Second clamping plate 27 First clamping seat

[0070] 28 Second clamping seat 31 First fixing arm

[0071] 32 First telescopic arm 33 First linear telescopic device

[0072] 34 External connecting frame 41 Second fixed arm

[0073] 42 Second telescopic arm 43 Second linear telescopic device

[0074] 51 Lateral sliding support 52 Lateral sliding telescopic device

[0075] 61 Lifting support frame 62 Lifting and telescopic device

[0076] 71 Swing frame 72 Tilting adjustment telescopic device

[0077] 81 Tilt-adjustable rotary motor; 91 Azimuth-adjustable rotary motor

[0078] 101 Amplitude Adjustment Device for Attachments; 131 Limit Switch

[0079] 141 Proximity switch; 151 Solenoid directional valve

[0080] 12a Boom telescopic drive cylinder; 13a Boom luffing drive cylinder

[0081] 22a Clamping drive cylinder; 33a First linear adjustment cylinder

[0082] 43a Second linear adjustment cylinder; 52a Lateral drive cylinder

[0083] 62a Lifting Drive Cylinder; 72a Tilt Adjustment Cylinder

[0084] 101a Attachment Luffing Drive Cylinder

[0085] AA' First linear direction BB' Second linear direction

[0086] CC' Third linear direction DD' Fourth linear direction

[0087] MM' First axis NN' Second axis

[0088] OO' Third axis Detailed Implementation

[0089] The specific embodiments of this application will be described in detail below with reference to the accompanying drawings. It should be understood that the specific embodiments described herein are for illustration and explanation only and are not intended to limit this application.

[0090] Currently, when large outdoor angle steel needs to be transported from the ground to a high place for installation, it is mostly done by binding and hoisting. However, binding and hoisting requires pre-drilling holes in the angle steel to thread ropes, and it relies on a lot of equipment, lacking operational flexibility.

[0091] In addition, there is the method of using clamps to hold angle steel. These clamps rely on gravity to hold the angle steel and can only hold it vertically. When the clamp is in the lateral or other inclined angle, its clamping force fails, which will cause the angle steel to fall, posing a significant safety hazard. For example, when installing the legs of power transmission towers, angle steel is required to build the legs. The angle steel needs to be installed at a certain angle relative to the ground. Therefore, if gravity clamps are used, the installation cannot be completed smoothly.

[0092] If clamps such as pins and bolts are used to lock angle steel, the locking parts may become unremovable once the angle steel is transported to a high place. Therefore, such clamps are not suitable for high-altitude installation of angle steel.

[0093] To solve the above problems, refer to Figures 1 to 4 The first exemplary embodiment of this application provides an angle steel clamping control assembly, which includes an angle steel clamping mechanism 20, a clamping control oil circuit, a pressure detection device 120, and a control system.

[0094] Specifically, the angle steel clamping mechanism 20 includes a clamping engagement structure and a clamping drive cylinder 22a. The clamping engagement structure is a movable structure, and the clamping drive cylinder 22a is used to drive the clamping engagement structure to clamp and release the angle steel 240.

[0095] The clamping control oil circuit is connected to the clamping drive cylinder 22a, and the clamping control oil circuit is equipped with an electromagnetic directional valve 151 for switching the control of the clamping drive cylinder 22a. For example, the electromagnetic directional valve 151 can be... Figure 4The three-position four-way solenoid directional valve shown has a first directional valve position, an intermediate valve position, and a second directional valve position. The clamping control oil circuit is provided with a rodless chamber connecting oil circuit connected to the rodless chamber of the clamping drive cylinder 22a and a rod chamber connecting oil circuit connected to the rod chamber of the clamping drive cylinder 22a. When the solenoid directional valve 151 switches to the first directional valve position, the rodless chamber connection oil circuit supplies oil to the rodless chamber, and the rod chamber returns oil through the rod chamber connection oil circuit, thereby driving the piston rod of the clamping drive cylinder 22a to extend and drive the clamping mating structure to clamp the angle steel 240; when the solenoid directional valve 151 switches to the second directional valve position, the rod chamber connection oil circuit supplies oil to the rod chamber, and the rodless chamber returns oil through the rodless chamber connection oil circuit, thereby driving the piston rod of the clamping drive cylinder 22a to retract and drive the clamping mating structure to release the angle steel 240; when the solenoid directional valve 151 is de-energized, the solenoid directional valve 151 switches to the intermediate valve position, at which time neither the rodless chamber connection oil circuit nor the rod chamber connection oil circuit supplies nor returns oil.

[0096] In addition, the pressure detection device 120 is used to detect the real-time oil pressure in the rodless chamber of the clamping drive cylinder 22a. For example, the pressure detection device 120 can be a commercially available pressure sensor. The control system communicates with the pressure detection device 120 and the solenoid directional valve 151. When the clamping drive cylinder 22a drives the clamping mating structure to clamp the angle steel 240, the control system can control the solenoid directional valve 151 to switch to the first directional valve position when the real-time oil pressure in the rodless chamber is less than the preset minimum oil pressure, so that the clamping control oil circuit (e.g., the rodless chamber connecting oil circuit in the clamping control oil circuit) supplies oil to the rodless chamber. In this way, when clamping the angle steel 240, it can be ensured that the clamping drive cylinder 22a always provides sufficient driving force to maintain the clamping force of the clamping mating structure, so that the angle steel 240 can be stably clamped by the clamping mating structure no matter how the posture of the angle steel 240 changes at high altitude.

[0097] Since the clamping drive cylinder 22a can be remotely controlled via a hydraulic system containing a clamping control circuit, the clamping mechanism can also be controlled to release the angle steel 240 when it is at a height. Furthermore, the clamping mechanism can quickly and flexibly clamp angle steel 240 of different sizes. Therefore, the angle steel clamping control assembly of this exemplary embodiment can effectively meet the needs of high-altitude installation and efficient transportation of angle steel 240, while preventing the angle steel 240 from falling and ensuring safe operation.

[0098] Furthermore, the control system can also control the solenoid directional valve 151 to switch to the intermediate valve position when the real-time oil pressure in the rodless chamber is not less than the preset maximum oil pressure, so that the clamping control oil circuit stops supplying oil to the rodless chamber. By limiting the maximum oil pressure in the rodless chamber, the maximum extension range of the piston rod of the clamping drive cylinder 22a can be limited accordingly, thereby limiting the maximum clamping force of the clamping mating structure on the angle steel 240. While ensuring stable clamping of the angle steel 240, it avoids damaging the angle steel 240 by the clamping mating structure.

[0099] Alternatively, the control system can also control the solenoid directional valve 151 to switch to the intermediate valve position when the oil replenishment time is not less than the preset oil replenishment time, so that the clamping control oil circuit stops supplying oil to the rodless chamber. In other words, during the process of the clamping control oil circuit supplying oil to the rodless chamber, the oil pressure in the rodless chamber can be increased to a certain extent by timing, so that the clamping force of the clamping mating structure is large enough to ensure that the angle steel 240 can be stably clamped by the clamping mating structure when it undergoes any posture change.

[0100] The specific values ​​of the preset minimum oil pressure, preset maximum oil pressure, and preset oil replenishment time mentioned above can be adaptively adjusted by humans or with the help of computers according to the actual operation. Alternatively, multiple sets of values ​​can be stored in the control system in advance and then called up according to different operation conditions, so that the angle steel clamping control assembly of this exemplary embodiment has stronger versatility and flexibility.

[0101] To better stabilize the clamping force of the clamping structure, a balance valve assembly 220 and / or an accumulator 230 can be installed in the clamping control hydraulic circuit. (Refer to...) Figure 4 When the clamping control oil circuit is provided with the aforementioned rodless chamber connection oil circuit and rod chamber connection oil circuit, the balance valve group 220 is installed in the rodless chamber connection oil circuit and rod chamber connection oil circuit; the accumulator 230 is connected to the rodless chamber, and when the clamping control oil circuit supplies oil to the rodless chamber, it simultaneously replenishes the pressure to the accumulator 230.

[0102] The balancing valve assembly 220, the accumulator 230, and the pressure detection device 120 can all be housed within the angle steel clamping mechanism 20. For example, the balancing valve assembly 220 and the accumulator 230 are mounted on the peripheral wall of the rodless chamber, and the pressure detection device 120 is mounted on the balancing valve assembly 220. Thus, the angle steel clamping mechanism 20 has a compact structure and can be manufactured as a standalone product.

[0103] Refer to Figure 4The angle steel clamping control assembly can have multiple clamping drive cylinders 22a, clamping control oil circuits, and pressure detection devices 120. Multiple clamping drive cylinders 22a can synchronously drive the clamping structure to clamp and release the angle steel 240. Multiple pressure detection devices 120 and multiple clamping control oil circuits are each corresponding to a specific clamping drive cylinder 22a, ensuring that each clamping drive cylinder 22a can provide sufficient driving force to guarantee stable clamping of the angle steel 240 by the clamping structure. Furthermore, if some clamping drive cylinders 22a or their corresponding pressure detection devices 120 or clamping control oil circuits fail, the remaining compliant clamping drive cylinders 22a can still drive the clamping structure to maintain stable clamping of the angle steel 240, preventing it from falling and ensuring the safety of personnel working on the ground.

[0104] A second exemplary embodiment of this application also provides an angle steel clamping control method, which includes:

[0105] Step S1: During the process of clamping the angle steel 240 by driving the clamping and clamping structure through the clamping drive cylinder 22a, detect the real-time oil pressure in the rodless chamber of the clamping drive cylinder 22a;

[0106] Step S2: Determine whether the real-time oil pressure is less than the preset minimum oil pressure;

[0107] Step S3: When it is determined that the real-time oil pressure is less than the preset minimum oil pressure, oil is supplied to the rodless chamber.

[0108] Furthermore, the angle steel clamping control method also includes:

[0109] Step S4: During the process of supplying oil to the rodless chamber, determine whether the real-time oil pressure is not less than the preset maximum oil pressure;

[0110] Step S5: Stop supplying oil to the rodless chamber when it is determined that the real-time oil pressure is not less than the preset maximum oil pressure.

[0111] Alternatively, angle steel clamping control methods also include:

[0112] Step S4': During the process of supplying oil to the rodless cavity, determine whether the oil replenishment time is not less than the preset oil replenishment time;

[0113] Step S5': Stop supplying oil to the rodless cavity when it is determined that the oil replenishment time is not less than the preset oil replenishment time.

[0114] Similar to the angle steel clamping control assembly of the first exemplary embodiment, the same technical effects as the angle steel clamping control assembly can be obtained by adopting the angle steel clamping control method of this exemplary embodiment, which will not be described in detail here.

[0115] It should be noted that in the angle steel clamping control method of this exemplary embodiment, there are no restrictions on the means of detecting the real-time oil pressure in the rodless cavity, the means of supplying oil to the rodless cavity, or whether the oil pressure detection automatically triggers or stops the oil supply. For example, in addition to the pressure detection device 120, a non-device form of pressure detection system or assembly can also be used; in addition to supplying oil through a dedicated clamping control oil circuit, a branch oil circuit of other oil circuits in the hydraulic system can also be used for oil supply; in addition to automatically triggering or stopping the oil supply by means of the linkage of the pressure detection device 120, the solenoid directional valve 151, and the control system, a manual triggering method can also be used. For example, a display screen for displaying the real-time oil pressure value can be set up, and the oil supply can be manually controlled to trigger or stop the oil supply by observation and judgment.

[0116] A third exemplary embodiment of this application also provides an angle steel clamping mechanism 20, referring to... Figures 1 to 3 It includes a base 21, a clamping and mating structure, a linkage transmission mechanism, and a clamping telescopic device 22.

[0117] Specifically, the linkage transmission mechanism connects the base 21 and the clamping engagement structure, and the clamping telescopic device 22 connects the base 21 and the linkage transmission mechanism. By driving the linkage transmission mechanism through the clamping telescopic device 22, the linkage transmission mechanism can synchronously drive the clamping engagement structure to clamp and release the angle steel 240. When clamping the angle steel 240, the clamping telescopic device 22 can be controlled by electric or hydraulic means to provide a stable clamping force. Compared with existing clamps that utilize gravity clamping, the clamping of the angle steel 240 is not limited by the angle steel's posture, thus ensuring that the angle steel 240 can be stably clamped regardless of how its posture changes at high altitudes.

[0118] Furthermore, the clamping telescopic device 22 can be remotely controlled, so when the angle steel 240 is at a height, the clamping structure can be controlled to release the angle steel 240. The clamping structure can quickly and flexibly clamp angle steel 240 of different sizes. Therefore, the angle steel clamping mechanism 20 of this exemplary embodiment can effectively meet the needs of high-altitude installation and efficient transportation of angle steel 240, and can prevent the angle steel 240 from falling due to clamping failure, thus improving operational safety.

[0119] It should be noted that when the clamping telescopic device 22 is a clamping drive cylinder 22a, it is hydraulically controlled. In this case, the angle steel clamping mechanism 20 of this exemplary embodiment applies the technical solution in the first exemplary embodiment to better ensure that the clamping force on the angle steel 240 is large enough and improve stability.

[0120] Reference Figure 2 and Figure 3Multiple clamping telescopic devices 22 can be installed in the angle steel clamping mechanism 20. These multiple clamping telescopic devices 22 can operate independently, and each clamping telescopic device 22 is connected to the base 21 and the linkage transmission mechanism. With this configuration, multiple clamping telescopic devices 22 can synchronously drive the linkage transmission mechanism. When some clamping telescopic devices 22 fail, the remaining compliant devices can still operate normally, preventing the entire angle steel clamping mechanism 20 from failing. This provides a high fault tolerance rate and prevents the angle steel 240 from falling when it is at a height, ensuring the safety of ground workers.

[0121] When the clamping telescopic device 22 is a clamping drive cylinder 22a, an accumulator 230 can also be provided in the angle steel clamping mechanism 20. The accumulator 230 can provide additional pressure to the clamping drive cylinder 22a to better stabilize the clamping force of the clamping structure. For example, in actual installation, the cylinder barrel of the clamping drive cylinder 22a is connected to the base 21, and the piston rod of the clamping drive cylinder 22a is connected to the connecting rod transmission mechanism. At this time, the accumulator 230 can be installed on the cylinder barrel (for example, on the peripheral wall of the rodless chamber of the clamping drive cylinder 22a) to achieve compact installation.

[0122] The linkage transmission mechanism may include a scissor-type linkage assembly for higher stability. The scissor-type linkage assembly used in this embodiment includes two first links 23 and two second links 24, and the clamping and engaging structure includes a first clamping plate 25 and a second clamping plate 26.

[0123] More specifically, both the first clamping plate 25 and the second clamping plate 26 can be made of polyurethane board, which has the advantages of high strength, strong wear resistance, and excellent vibration absorption performance. The outer ends of the first links 23 are hinged to the base 21, and the inner ends of the first links 23 are respectively hinged to the inner ends of the second links 24. The outer ends of the second links 24 are respectively connected to the first clamping plate 25 and the second clamping plate 26. The two second links 24 are cross-hinged. One end of the clamping telescopic device 22 is connected to the base 21 and the other end is connected to the hinge shaft at the cross-hinged joint of the two second links 24.

[0124] By setting the above structure, when the clamping telescopic device 22 extends or retracts, it can drive the hinge shaft at the cross hinge of the two second connecting rods 24 to move, thereby causing the scissor linkage assembly to unfold or fold as a whole. When the scissor linkage assembly unfolds as a whole, the distance between the first clamping plate 25 and the second clamping plate 26 decreases, at which time the first clamping plate 25 and the second clamping plate 26 can clamp the angle steel 240; when the scissor linkage assembly folds as a whole, the distance between the first clamping plate 25 and the second clamping plate 26 increases, at which time the first clamping plate 25 and the second clamping plate 26 can release the angle steel 240.

[0125] Furthermore, the linkage transmission mechanism may include at least two of the aforementioned scissor-type linkage groups arranged in parallel at intervals to greatly enhance the overall strength of the linkage transmission mechanism and significantly improve the stability of the angle steel clamping mechanism 20. Based on this, all clamping telescopic devices 22 can be arranged between two scissor-type linkage groups, making the angle steel clamping mechanism 20 more compact.

[0126] In addition, the clamping and mating structure may also include a first clamping seat 27 and a second clamping seat 28. The first clamping seat 27 fixes the first clamping plate 25, and the second clamping seat 28 fixes the second clamping plate 26. The first clamping seat 27 and the second clamping seat 28 are respectively hinged to the outer ends of the second connecting rods of the two second connecting rods 24.

[0127] During the process of the first clamping plate 25 and the second clamping plate 26 approaching each other to clamp the angle steel 240, when the first clamping plate 25 and the second clamping plate 26 contact the surface of the angle steel 240, the first clamping seat 27 and the second clamping seat 28 can respectively rotate adaptively relative to the outer ends of the two second connecting rods, which can automatically adjust to the optimal angle, reduce the pressing gap, and ensure that the first clamping plate 25 and the second clamping plate 26 firmly clamp the angle steel 240. Moreover, the entire clamping process is more flexible, which can reduce the risk of the first clamping plate 25 and the second clamping plate 26 scratching or damaging the angle steel 240.

[0128] In existing technologies, the legs of power transmission towers can be constructed using angle steel of different sizes, depending on the tower specifications, with a single angle steel weighing over 700 kg. During the preparation phase of leg installation, multiple workers are required to transport the bundled angle steel to the vicinity of the installation point. Holes are then drilled in the angle steel using drilling equipment, and a support pole is erected using a pre-dug pit. During leg installation, the hole at one end of the angle steel is connected to a crane on the erected support pole via a wire rope, while the hole at the other end is connected to a winch on the ground via a wire rope. Through the coordination of the crane and winch, the angle steel is installed in a tilted position relative to the ground. Because the installation process requires drilling equipment and multiple workers to operate the crane and winch separately, it involves numerous tools and offers limited flexibility, convenience, and controllability.

[0129] To solve the above problems, refer to Figure 5 and Figure 6 The fourth exemplary embodiment of this application also provides an angle steel installation attachment, which includes an angle steel clamping mechanism 20, a linear adjustment system, a tilt adjustment system, and an orientation adjustment mechanism 90.

[0130] Specifically, the angle steel clamping mechanism 20 is used to clamp the angle steel 240, and the angle steel clamping mechanism 20 provided in the aforementioned first or third exemplary embodiments can be used.

[0131] The linear adjustment system includes a first linear adjustment mechanism 30, a second linear adjustment mechanism 40, a third linear adjustment mechanism 50, and a fourth linear adjustment mechanism 60. The first linear adjustment mechanism 30 is used to move the angle steel clamping mechanism 20 along the first linear direction AA', the second linear adjustment mechanism 40 is used to move the angle steel clamping mechanism 20 along the second linear direction BB', the third linear adjustment mechanism 50 is used to move the angle steel clamping mechanism 20 along the third linear direction CC', and the fourth linear adjustment mechanism 60 is used to move the angle steel clamping mechanism 20 along the fourth linear direction DD'.

[0132] The tilt adjustment system includes a first tilt adjustment mechanism 70 and a second tilt adjustment mechanism 80. The first tilt adjustment mechanism 70 is used to drive the angle steel clamping mechanism 20 to swing around the first axis MM', and the second tilt adjustment mechanism 80 is used to drive the angle steel clamping mechanism 20 to rotate around the second axis NN'.

[0133] In addition, the orientation adjustment mechanism 90 is used to drive the angle steel clamping mechanism 20 to swing around the third axis OO'.

[0134] In this exemplary embodiment, the angle steel installation attachment, equipped with an angle steel clamping mechanism 20, four linear adjustment mechanisms, two tilt adjustment mechanisms, and an orientation adjustment mechanism 90, can adjust the posture of the angle steel 240 with eight degrees of freedom when erecting the legs of the power transmission tower. Specifically, the angle steel clamping mechanism 20 clamps the angle steel 240, the first tilt adjustment mechanism 70 and the second tilt adjustment mechanism 80 jointly adjust the tilt angle of the angle steel 240 relative to the ground, and the orientation adjustment mechanism 90 and the four linear adjustment mechanisms enable flexible adjustment of the position of the angle steel 240 during handling, posture adjustment, and positioning installation. This meets the requirements of installation flexibility and convenience, saves on the number of tools, reduces reliance on manual skills, improves controllability, and reduces installation costs.

[0135] The positional relationship of each mechanism in the angle steel installation fixture can be set as follows: the first linear adjustment mechanism 30, the first tilt adjustment mechanism 70, the orientation adjustment mechanism 90, the second linear adjustment mechanism 40, the third linear adjustment mechanism 50, the fourth linear adjustment mechanism 60, the second tilt adjustment mechanism 80, and the angle steel clamping mechanism 20 are connected in sequence; and the second axis NN' is parallel to the second linear direction BB', the second axis NN', the third linear direction CC', and the fourth linear direction DD' are perpendicular to each other, the third axis OO' is parallel to the fourth linear direction DD', and the first axis MM' is a horizontal axis perpendicular to the first linear direction AA'.

[0136] Thus, the first linear adjustment mechanism 30 can drive the first tilt adjustment mechanism 70, the orientation adjustment mechanism 90, the second linear adjustment mechanism 40, the third linear adjustment mechanism 50, the fourth linear adjustment mechanism 60, the second tilt adjustment mechanism 80, and the angle steel clamping mechanism 20 to move as a whole along the first linear direction AA'.

[0137] The first tilt adjustment mechanism 70 can drive the orientation adjustment mechanism 90, the second linear adjustment mechanism 40, the third linear adjustment mechanism 50, the fourth linear adjustment mechanism 60, the second tilt adjustment mechanism 80, and the angle steel clamping mechanism 20 to swing around the first axis MM' as a whole.

[0138] The orientation adjustment mechanism 90 can drive the second linear adjustment mechanism 40, the third linear adjustment mechanism 50, the fourth linear adjustment mechanism 60, the second tilt adjustment mechanism 80, and the angle steel clamping mechanism 20 to swing around the third axis OO' as a whole.

[0139] The second linear adjustment mechanism 40 can drive the third linear adjustment mechanism 50, the fourth linear adjustment mechanism 60, the second tilt adjustment mechanism 80, and the angle steel clamping mechanism 20 to move as a whole along the second linear direction BB'.

[0140] The third linear adjustment mechanism 50 can drive the fourth linear adjustment mechanism 60, the second tilt adjustment mechanism 80, and the angle steel clamping mechanism 20 to move as a whole along the third linear direction CC'.

[0141] The fourth linear adjustment mechanism 60 can drive the second tilt adjustment mechanism 80 and the angle steel clamping mechanism 20 to move as a whole along the fourth linear direction DD'.

[0142] The second tilt adjustment mechanism 80 directly drives the angle steel clamping mechanism 20 to rotate around the second axis NN'.

[0143] The following examples illustrate the specific configuration of each mechanism in the angle steel installation attachment. However, those skilled in the art will understand that the specific configuration of each mechanism in the angle steel installation attachment is not limited to the embodiments provided below, and other structural forms that can achieve the same function should also fall within the protection scope of this exemplary embodiment.

[0144] One possible specific structure of the first tilt adjustment mechanism 70 is as follows:

[0145] The first tilt adjustment mechanism 70 includes a swing frame 71 and a tilt adjustment telescopic device 72. The swing frame 71 is hinged to the first linear adjustment mechanism 30 and connected to the orientation adjustment mechanism 90. One end of the tilt adjustment telescopic device 72 is hinged to the first linear adjustment mechanism 30, and the other end is hinged to the swing frame 71. Through the telescopic movement of the tilt adjustment telescopic device 72, the swing frame 71 can swing around the first axis MM', which is the hinge axis between the swing frame 71 and the first linear adjustment mechanism 30. Simultaneously with the swing frame 71 swinging, the orientation adjustment mechanism 90, the second linear adjustment mechanism 40, the third linear adjustment mechanism 50, the fourth linear adjustment mechanism 60, the second tilt adjustment mechanism 80, and the angle steel clamping mechanism 20 are also driven to swing around the first axis MM', thereby adjusting the tilt angle of the angle steel 240 clamped by the angle steel clamping mechanism 20 relative to the ground in a certain vertical plane.

[0146] One optional specific structure of the second tilt adjustment mechanism 80 is as follows:

[0147] The second tilt adjustment mechanism 80 includes a tilt adjustment rotary motor 81, which is connected to the angle steel clamping mechanism 20 (e.g., to the base 21 of the angle steel clamping mechanism 20) and the fourth linear adjustment mechanism 60. The rotation axis of the tilt adjustment rotary motor 81 is the second axis NN'. By rotating the tilt adjustment rotary motor 81, the angle steel clamping mechanism 20 can rotate around the second axis NN', thereby adjusting the tilt angle of the angle steel 240 clamped by the angle steel clamping mechanism 20 relative to the ground in another vertical plane.

[0148] As can be seen, by setting the first tilt angle adjustment mechanism 70 and the second tilt angle adjustment mechanism 80, the tilt angle of the angle steel 240 relative to the ground in two different vertical planes can be adjusted to meet the requirements for the construction of angle steel for the legs of power transmission towers.

[0149] One possible specific structure of the first linear adjustment mechanism 30 is as follows:

[0150] The first linear adjustment mechanism 30 includes a first fixed arm 31, a first telescopic arm 32, and a first linear telescopic device 33. The first fixed arm 31 is arranged along a first linear direction AA', the first telescopic arm 32 is arranged along the first linear direction AA' and connected to the first tilt adjustment mechanism 70 (e.g., hinged to the swing frame 71 of the first tilt adjustment mechanism 70), and one end of the first linear telescopic device 33 is hinged to the first fixed arm 31 and the other end is hinged to the first telescopic arm 32. Through the telescopic action of the first linear telescopic device 33, the first telescopic arm 32 can be driven to extend and retract relative to the first fixed arm 31 along the first linear direction AA', thereby causing the first tilt adjustment mechanism 70, the orientation adjustment mechanism 90, the second linear adjustment mechanism 40, the third linear adjustment mechanism 50, the fourth linear adjustment mechanism 60, the second tilt adjustment mechanism 80, and the angle steel clamping mechanism 20 to move as a whole along the first linear direction AA', which in turn causes the angle steel 240 clamped by the angle steel clamping mechanism 20 to move along the first linear direction AA'.

[0151] When constructing angle steel for the legs of power transmission towers, angle steel installation attachments are used in aerial work platforms. In order to install angle steel installation attachments in aerial work platforms, an outer connecting frame 34 can be fixedly installed on the first fixed arm 31. The outer connecting frame 34 is provided with an outer hinge part. By using the outer hinge part to hinge the outer connecting frame 34 to the aerial work platform, the angle steel installation attachment can be rotated as a whole in the aerial work platform, which is convenient for clamping and moving angle steel 240.

[0152] One possible specific structure of the second linear adjustment mechanism 40 is as follows:

[0153] The second linear adjustment mechanism 40 includes a second fixed arm 41, a second telescopic arm 42, and a second linear telescopic device 43. The second fixed arm 41 is arranged along the second linear direction BB' and connected to the orientation adjustment mechanism 90. The second telescopic arm 42 is arranged along the second linear direction BB' and connected to the third linear adjustment mechanism 50. One end of the second linear telescopic device 43 is hinged to the second fixed arm 41, and the other end is hinged to the second telescopic arm 42. Through the telescopic action of the second linear telescopic device 43, the second telescopic arm 42 can be driven to extend and retract relative to the second fixed arm 41 along the second linear direction BB', thereby causing the third linear adjustment mechanism 50, the fourth linear adjustment mechanism 60, the second tilt adjustment mechanism 80, and the angle steel clamping mechanism 20 to move as a whole along the second linear direction BB', which in turn causes the angle steel 240 clamped by the angle steel clamping mechanism 20 to move along the second linear direction BB'.

[0154] One optional specific structure of the third linear adjustment mechanism 50 is as follows:

[0155] The third linear adjustment mechanism 50 includes a transverse support 51 and a transverse telescopic device 52. The transverse support 51 is movably connected to the second linear adjustment mechanism 40 (e.g., the second telescopic arm 42 of the second linear adjustment mechanism 40) and to the fourth linear adjustment mechanism 60. The transverse telescopic device 52 is used to drive the transverse support 51 to move laterally relative to the second linear adjustment mechanism 40 along the third linear direction CC', thereby causing the fourth linear adjustment mechanism 60, the second tilt adjustment mechanism 80, and the angle steel clamping mechanism 20 to move as a whole along the third linear direction CC', which in turn causes the angle steel 240 clamped by the angle steel clamping mechanism 20 to move along the third linear direction CC'.

[0156] An optional specific structure of the fourth linear adjustment mechanism 60 is as follows:

[0157] The fourth linear adjustment mechanism 60 includes a lifting bracket 61 and a lifting telescopic device 62. The lifting bracket 61 is movably connected to the third linear adjustment mechanism 50 (e.g., the transverse support 51 of the third linear adjustment mechanism 50) and to the second tilt adjustment mechanism 80 (e.g., the tilt adjustment rotary motor 81). The lifting telescopic device 62 drives the lifting bracket 61 to move up and down relative to the third linear adjustment mechanism 50 along the fourth linear direction DD', thereby driving the second tilt adjustment mechanism 80 and the angle steel clamping mechanism 20 to move up and down as a whole along the fourth linear direction DD', and also driving the angle steel 240 clamped by the angle steel clamping mechanism 20 to move up and down along the fourth linear direction DD'.

[0158] One possible specific structure of the orientation adjustment mechanism 90 is as follows:

[0159] The orientation adjustment mechanism 90 includes an orientation adjustment rotary motor 91, which is connected to a first tilt adjustment mechanism 70 (e.g., a swing frame 71 connected to the first tilt adjustment mechanism 70) and a second linear adjustment mechanism 40 (e.g., a second fixed arm 41 connected to the second linear adjustment mechanism 40). The rotation axis of the orientation adjustment rotary motor 91 is the third axis OO'. By rotating the orientation adjustment rotary motor 91, the second linear adjustment mechanism 40, the third linear adjustment mechanism 50, the fourth linear adjustment mechanism 60, the second tilt adjustment mechanism 80, and the angle steel clamping mechanism 20 can swing around the third axis OO' as a whole, which can also drive the angle steel 240 clamped by the angle steel clamping mechanism 20 to swing around the third axis OO', so as to adjust its horizontal orientation when installing the angle steel 240.

[0160] The fifth exemplary embodiment of this application also provides an aerial work platform, in which the aforementioned angle steel clamping control assembly, angle steel clamping control method, angle steel clamping mechanism 20, and angle steel installation attachment can all be applied. For aerial work platforms equipped with a boom, the angle steel installation attachment can be connected to the boom, and the boom can drive the angle steel installation attachment to move as a whole to achieve aerial work with the angle steel installation attachment.

[0161] To better understand the application of angle steel installation attachments in aerial work machinery, the following will combine... Figures 7 to 12 The following explanation will be given using a telescopic boom forklift equipped with angle steel mounting attachments as an example.

[0162] Specifically, the telescopic boom forklift includes a boom mechanism 10, the aforementioned angle steel mounting attachment, and an attachment luffing mechanism 100. The boom mechanism 10 includes a boom 11, a boom extension device 12 for driving the boom 11 to extend and retract, and a boom luffing device 13 for driving the boom 11 to luff. The angle steel mounting attachment is hinged to the head of the boom 11 (e.g., hinged via an outer connecting frame 34 of the angle steel mounting attachment), and the attachment luffing mechanism 100 drives the angle steel mounting attachment to luff around the head of the boom 11.

[0163] When erecting the legs of a power transmission tower, a telescopic boom forklift can transport, adjust the posture of, and position the angle steel 240 through the telescopic and luffing of its boom 11, the luffing adjustment mechanism 100 for the angle steel installation attachments hinged to the boom head, and the multi-degree-of-freedom adjustment of the angle steel installation attachments themselves. Specifically, the angle steel 240 is clamped by the angle steel clamping mechanism 20 in the angle steel installation attachments. The high-altitude installation of the angle steel 240 is mainly achieved by the boom telescopic device 12, the boom luffing device 13, and the attachment luffing mechanism 100. The first tilt angle adjustment mechanism 70 and the second tilt angle adjustment mechanism 80 in the angle steel installation attachments jointly adjust the tilt angle of the angle steel 240 relative to the ground. The orientation adjustment mechanism 90 and four linear adjustment mechanisms in the angle steel installation attachments enable flexible adjustment of the position of the angle steel 240 during transport, posture adjustment, and positioning installation. In this way, the tower leg installation can be effectively simplified, saving manpower and the required equipment, and improving installation efficiency and operational safety.

[0164] Reference Figure 7The boom 11 head, attachment luffing mechanism 100, first linear adjustment mechanism 30, first tilt adjustment mechanism 70, azimuth adjustment mechanism 90, second linear adjustment mechanism 40, third linear adjustment mechanism 50, fourth linear adjustment mechanism 60, second tilt adjustment mechanism 80, and angle steel clamping mechanism 20 can be arranged to be connected in sequence; and the second axis NN' is parallel to the second linear direction BB', the second axis NN', the third linear direction CC', and the fourth linear direction DD' are perpendicular to each other, the third axis OO' is parallel to the fourth linear direction DD', the first axis MM' is a horizontal axis perpendicular to the first linear direction AA', and the hinge axis of the angle steel mounting attachment and the boom 11 head is parallel to the first axis MM'.

[0165] With this configuration, driven by the attachment luffing mechanism 100, the first linear adjustment mechanism 30, the first tilt adjustment mechanism 70, the azimuth adjustment mechanism 90, the second linear adjustment mechanism 40, the third linear adjustment mechanism 50, the fourth linear adjustment mechanism 60, the second tilt adjustment mechanism 80, and the angle steel clamping mechanism 20 can rotate as a whole around the hinge axis of the angle steel mounting attachment and the head of the boom 11, facilitating the angle steel clamping mechanism 20 to face the ground to clamp the angle steel 240 (see reference). Figure 10 ), or facing forward (see reference) Figure 11 and Figure 12 ) To install angle steel 240.

[0166] Reference Figure 8 The telescopic boom forklift mainly uses a hydraulically controlled boom 11, an attachment luffing mechanism 100, and angle steel-mounted attachments for operation, as detailed below:

[0167] In one embodiment, reference is made to... Figure 4 and Figure 8 The angle steel clamping mechanism 20 includes a clamping engagement structure and a clamping drive cylinder 22a for driving the clamping engagement structure to clamp the angle steel 240. The telescopic boom forklift includes a clamping control oil circuit, a pressure detection device 120, and a control system. The clamping control oil circuit is connected to the clamping drive cylinder 22a and is equipped with a clamping valve assembly 150 for switching the control of the clamping drive cylinder 22a. The clamping valve assembly 150 may contain... Figure 4 The electromagnetic reversing valve 151 shown; the pressure detection device 120 is used to detect the real-time oil pressure in the rodless chamber of the clamping drive cylinder 22a; the control system communicates with the pressure detection device 120 and the clamping valve group 150, and is set to control the clamping valve group 150 to switch to supply oil to the rodless chamber when the real-time oil pressure is less than the preset minimum oil pressure.

[0168] With the above settings, the same technical effect as the angle steel clamping control assembly in the first exemplary embodiment can be achieved, and will not be repeated here. Moreover, all embodiments in the first exemplary embodiment are applicable to the telescopic boom forklift of this exemplary embodiment. For example, the control system can also be set to control the clamping valve group 150 (which may be provided with the aforementioned solenoid directional valve 151) to switch to a scheme that stops the clamping control oil circuit from supplying oil to the rodless chamber when the real-time oil pressure is not less than the preset maximum oil pressure.

[0169] In one embodiment, the orientation adjustment mechanism 90 includes an orientation adjustment rotary motor 91 with a rotation axis of the third axis OO'. Since hydraulic control is used, the orientation adjustment rotary motor 91 is a hydraulic motor. The telescopic boom forklift includes a first rotation angle detection device 130 and a control system.

[0170] The first rotation angle detection device 130 is used to issue a stop rotation signal when it detects that the rotation angle of the azimuth adjustment rotation motor 91 has reached a threshold (i.e., upper or lower limit) of a preset rotation angle range, for example, referring to... Figure 5 The first slewing angle detection device 130 can be a limit switch 131, which can be fixed on the swing frame 71. The control system communicates with the first slewing angle detection device 130 and the orientation adjustment slewing motor 91. The control system is set to stop the orientation adjustment slewing motor 91 when it receives a stop slewing signal. This limits the maximum slewing amplitude of the orientation adjustment slewing motor 91 during the orientation adjustment of the angle steel 240, and avoids the angle steel 240 from applying an off-center load to the telescopic boom forklift due to excessive slewing amplitude, thereby improving the overall operation safety of the vehicle.

[0171] In one embodiment, the second tilt angle adjustment mechanism 80 includes a tilt angle adjustment rotary motor 81 with the rotation axis being the second axis NN'. Since hydraulic control is used, the tilt angle adjustment rotary motor 81 is a hydraulic motor. The telescopic boom forklift includes a second rotation angle detection device 140 and a control system.

[0172] The second rotation angle detection device 140 is used to detect the rotation angle of the tilt angle adjusting rotary motor 81, for example, by referring to... Figure 5 The second rotation angle detection device 140 can be a proximity switch 141, which can be fixed to the lifting bracket 61. The control system communicates with the second rotation angle detection device 140 and the tilt angle adjusting rotary motor 81, and the control system is configured to control the start and stop of the tilt angle adjusting rotary motor 81. By providing real-time feedback of the rotation angle of the tilt angle adjusting rotary motor 81 through the second rotation angle detection device 140, the start and stop timing of the tilt angle adjusting rotary motor 81 can be precisely controlled by the control system, thereby accurately controlling the rotation angle of the tilt angle adjusting rotary motor 81 and ensuring efficient and precise operation.

[0173] In one embodiment, the tilt adjustment telescopic device 72 of the first tilt adjustment mechanism 70 adopts a tilt adjustment cylinder 72a, and the telescopic boom forklift includes a swing control oil circuit and a control system. The swing control oil circuit is connected to the tilt adjustment cylinder 72a and is equipped with a swing valve assembly 200. The control system communicates with the swing valve assembly 200 and is configured to control the swing valve assembly 200 to switch the hydraulic oil flow direction of the swing control oil circuit, thereby causing the tilt adjustment cylinder 72a to switch between extension and retraction, and thus driving the swing frame 71 to swing.

[0174] In one embodiment, the first linear telescopic device 33 of the first linear adjustment mechanism 30 adopts a first linear adjustment cylinder 33a, and the telescopic boom forklift includes a first linear adjustment oil circuit and a control system. The first linear adjustment oil circuit is connected to the first linear adjustment cylinder 33a and is equipped with a first linear adjustment valve group 160. The control system communicates with the first linear adjustment valve group 160 and is configured to control the first linear adjustment valve group 160 to switch the hydraulic oil flow direction of the first linear adjustment oil circuit, thereby causing the first linear adjustment cylinder 33a to switch between extension and retraction, and thus driving the first telescopic boom 32 to extend and retract.

[0175] In one embodiment, the second linear telescopic device 43 of the second linear adjustment mechanism 40 adopts a second linear adjustment cylinder 43a, and the telescopic boom forklift includes a second linear adjustment oil circuit and a control system. The second linear adjustment oil circuit is connected to the second linear adjustment cylinder 43a and is equipped with a second linear adjustment valve group 170. The control system communicates with the second linear adjustment valve group 170 and is configured to control the second linear adjustment valve group 170 to switch the hydraulic oil flow direction of the second linear adjustment oil circuit, thereby causing the second linear adjustment cylinder 43a to switch between extension and retraction, and thus driving the second telescopic boom 42 to extend and retract.

[0176] In one embodiment, the lateral telescopic device 52 of the third linear adjustment mechanism 50 adopts a lateral drive cylinder 52a, and the telescopic boom forklift includes a lateral control oil circuit and a control system. The lateral control oil circuit is connected to the lateral drive cylinder 52a and is equipped with a lateral valve assembly 180. The control system communicates with the lateral valve assembly 180 and is configured to control the lateral valve assembly 180 to switch the hydraulic oil flow direction of the lateral control oil circuit, thereby causing the lateral drive cylinder 52a to switch between extension and retraction, and thus driving the lateral support 51 to lateralize.

[0177] In one embodiment, the lifting and telescopic device 62 of the fourth linear adjustment mechanism 60 adopts a lifting drive cylinder 62a, and the telescopic forklift includes a lifting control oil circuit and a control system. The lifting control oil circuit is connected to the lifting drive cylinder 62a and is equipped with a lifting valve assembly 190. The control system communicates with the lifting valve assembly 190 and is configured to control the lifting valve assembly 190 to switch the hydraulic oil flow direction of the lifting control oil circuit, thereby allowing the lifting and telescopic device 62 to switch between extension and retraction, and thus driving the lifting support 61 to rise and fall.

[0178] In one embodiment, the attachment luffing mechanism 100 includes an attachment luffing drive cylinder 101a connecting the angle steel mounting attachment and the head of the boom 11. The telescopic boom forklift includes an attachment luffing control hydraulic circuit and a control system. The attachment luffing control hydraulic circuit is connected to the attachment luffing drive cylinder 101a and is equipped with an attachment luffing valve assembly 210. The control system communicates with the attachment luffing valve assembly 210 and is configured to control the attachment luffing control valve assembly 210 to switch the hydraulic oil flow direction in the attachment luffing control hydraulic circuit, thereby causing the attachment luffing drive cylinder 101a to switch between extension and retraction, thus driving the angle steel mounting attachment to swing around the head of the boom 11.

[0179] In one embodiment, the boom extension device 12 employs a boom extension drive cylinder 12a, and the telescopic forklift includes a boom extension control hydraulic circuit and a control system. The boom extension control hydraulic circuit is connected to the boom extension drive cylinder 12a and is equipped with a boom extension valve assembly 260. The control system communicates with the boom extension valve assembly 260 and is configured to control the boom extension valve assembly 260 to switch the hydraulic oil flow direction in the boom extension control hydraulic circuit, thereby switching the boom extension drive cylinder 12a between extension and retraction, and thus driving the boom 11 to extend and retract.

[0180] In one embodiment, the boom luffing device 13 employs a boom luffing drive cylinder 13a, and the telescopic boom forklift includes a boom luffing control hydraulic circuit and a control system. The boom luffing control hydraulic circuit is connected to the boom luffing drive cylinder 13a and is equipped with a boom luffing valve assembly 250. The control system communicates with the boom luffing valve assembly 250 and is configured to control the boom luffing valve assembly 250 to switch the hydraulic oil flow direction in the boom luffing control hydraulic circuit, thereby switching the boom luffing drive cylinder 13a between extension and retraction, and thus driving the boom 11 to luff.

[0181] Furthermore, the telescopic boom forklift may also include a boom luffing angle detection device 110 (e.g., an angle sensor), which is used to detect the luffing angle of the boom 11. The boom luffing angle detection device 110 communicates with the control system, so that the boom luffing angle detection device 110 can provide real-time feedback on the luffing angle of the boom 11. The start and stop timing of the boom luffing drive cylinder 13a can be precisely controlled by the control system, thereby precisely controlling the luffing of the boom 11.

[0182] Through the various embodiments related to hydraulic control listed above, remote control of the boom 11, the attachment luffing mechanism 100, and the angle steel mounting attachment can be achieved, giving the telescopic boom forklift the advantages of high load capacity and high stability during angle steel installation. Of course, this exemplary embodiment is not limited to the hydraulic control method described above. For example, the various telescopic devices and the slewing motor can all be electric, which helps save energy and reduce costs. In other words, these embodiments using different power sources should also fall within the protection scope of this exemplary embodiment.

[0183] For reference, another optional operating procedure for telescopic boom forklifts is described below:

[0184] Step S1: Preparation status (refer to...) Figure 9 )

[0185] Adjust the luffing extension device 101 of the attachment to make the angle steel installation attachment as a whole horizontal;

[0186] Step S2: Clamping the angle steel (refer to...) Figure 10 )

[0187] S21: Adjust the boom telescopic device 12 and the boom luffing device 13 so that the entire angle steel mounting attachment is sufficient to be off the ground when switching to the vertical position;

[0188] S22: Adjust the variable amplitude telescopic device 101 of the attachment to switch the angle steel installation attachment from a horizontal state to a vertical state;

[0189] S23: The telescopic boom forklift travels until the angle steel clamping mechanism 20 is near the angle steel 240, at which point one right-angled side of the angle steel 240 is vertically upward.

[0190] S24: Adjust the horizontal telescopic device 52 and the lifting telescopic device 62 to move the angle steel clamping mechanism 20 above the angle steel 240;

[0191] S25: Adjust the first linear telescopic device 33 or the second linear telescopic device 43 so that the right angle side of the angle steel 240 extends between the first clamping plate 25 and the second clamping plate 26 of the angle steel clamping mechanism 20.

[0192] S26: Adjust the clamping telescopic device 22, the first clamping plate 25 and the second clamping plate 26 clamp the angle steel 240, and during the clamping process, the pressure detection device 120 ensures that the clamping force is sufficient;

[0193] S27: The lateral telescopic device 52 and the lifting telescopic device 62 are reset to reduce the off-center load in subsequent operation processes and improve safety;

[0194] Step S3: Transfer the angle steel (refer to...) Figure 11 )

[0195] S31: Adjust the variable amplitude telescopic device 101 of the attachment to switch the angle steel installation attachment from a vertical state to a horizontal state;

[0196] S32: The telescopic boom forklift moves until the angle steel 240 held by the angle steel installation attachment is near the installation position;

[0197] Step S4: Adjust the tilt angle and install the angle steel (refer to...) Figure 12 )

[0198] S41: Adjust the boom telescopic device 12 and the boom luffing device 13 so that the angle steel 240 can rotate 360° at the ground height.

[0199] S42: Adjust the tilt angle adjustment rotary motor 81 according to the required installation orientation of the angle steel 240 to determine the tilt angle of the angle steel 240 relative to the ground in a vertical plane. During the process, the rotation angle of the tilt angle adjustment rotary motor 81 is detected in real time by the second rotation angle detection device 140.

[0200] S43: Adjust the tilt angle adjustment telescopic device 72 according to the required installation orientation of the angle steel 240 to determine the tilt angle of the angle steel 240 relative to the ground in another vertical plane;

[0201] S44: Adjust the orientation adjustment rotary motor 91 to rotate the angle steel 240 from the front position to the oblique front installation position. During the process, the first rotation angle detection device 130 can limit the maximum rotation amplitude of the orientation adjustment rotary motor 91.

[0202] S45: Fine-tune the first linear telescopic device 33 or the second linear telescopic device 43 to complete the positioning and installation at an angle of 240°.

[0203] Step S5: Loosen the angle iron and return to the ready state.

[0204] This completes the entire angle steel installation process.

[0205] In the description of this application, it should be understood that the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Therefore, a feature defined as "first" or "second" may explicitly or implicitly include at least one of that feature. In the description of this application, "multiple" means at least two, such as two, three, etc., unless otherwise explicitly specified.

[0206] In this application, unless otherwise expressly specified and limited, the terms "installation," "connection," "linking," and "fixing," etc., should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral part; they can refer to a mechanical connection, an electrical connection, or a connection that allows communication between components; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication of two components or the interaction between two components, unless otherwise expressly limited. Those skilled in the art can understand the specific meaning of the above terms in this application based on the specific circumstances.

[0207] In the description of this specification, the references to terms such as "one embodiment," "some embodiments," "example," "specific example," or "some examples," etc., refer to specific features, structures, materials, or characteristics described in connection with that embodiment or example, which are included in at least one embodiment or example of this application. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples. Moreover, without contradiction, those skilled in the art can combine and integrate the different embodiments or examples described in this specification, as well as the features of different embodiments or examples.

[0208] Although embodiments of this application have been shown and described above, it is understood that the above embodiments are exemplary and should not be construed as limiting this application. Those skilled in the art can make changes, modifications, substitutions and variations to the above embodiments within the scope of this application.

Claims

1. A telescopic boom forklift, comprising: The boom mechanism (10) includes a boom (11), a boom extension device (12) for driving the boom (11) to extend and retract, and a boom luffing device (13) for driving the boom (11) to luff. An angle steel mounting fixture, hinged to the head of the boom (11), includes an angle steel clamping mechanism (20), a linear adjustment system, a tilt adjustment system, and an orientation adjustment mechanism (90). The linear adjustment system includes a first linear adjustment mechanism (30), a second linear adjustment mechanism (40), a third linear adjustment mechanism (50), and a fourth linear adjustment mechanism (60) for moving the angle steel clamping mechanism (20) along a first linear direction (AA'), a second linear direction (BB'), a third linear direction (CC'), and a fourth linear direction (DD'), respectively. The tilt adjustment system includes a first tilt adjustment mechanism (70) for driving the angle steel clamping mechanism (20) to swing around a first axis (MM') and a second tilt adjustment mechanism (80) for driving the angle steel clamping mechanism (20) to rotate around a second axis (NN'). The orientation adjustment mechanism (90) is used to drive the angle steel clamping mechanism (20) to swing around a third axis (OO'). An attachment luffing mechanism (100) is used to drive the angle steel mounting attachment to luff around the head of the boom (11); The first tilt adjustment mechanism (70) is hinged to the first linear adjustment mechanism (30), and the first linear adjustment mechanism (30) is used to drive the first tilt adjustment mechanism (70) to move along the first linear direction (AA'); The orientation adjustment mechanism (90) is connected to the first tilt adjustment mechanism (70), and the first tilt adjustment mechanism (70) is used to drive the orientation adjustment mechanism (90) to swing around the first axis (MM'); The second linear adjustment mechanism (40) is connected to the orientation adjustment mechanism (90), and the orientation adjustment mechanism (90) is used to drive the second linear adjustment mechanism (40) to rotate around the third axis (OO'); The third linear adjustment mechanism (50) is connected to the second linear adjustment mechanism (40), and the second linear adjustment mechanism (40) is used to drive the third linear adjustment mechanism (50) to move along the second linear direction (BB'); The fourth linear adjustment mechanism (60) is connected to the third linear adjustment mechanism (50), and the third linear adjustment mechanism (50) is used to drive the fourth linear adjustment mechanism (60) to move along the third linear direction (CC'); The second tilt adjustment mechanism (80) is connected to the fourth linear adjustment mechanism (60), which is used to drive the second tilt adjustment mechanism (80) to move along the fourth linear direction (DD'); The angle steel clamping mechanism (20) is connected to the second tilt adjustment mechanism (80), which is used to drive the angle steel clamping mechanism (20) to rotate around the second axis (NN').

2. The telescopic boom forklift according to claim 1, characterized in that, The head of the boom (11), the attachment luffing mechanism (100), the first linear adjustment mechanism (30), the first tilt adjustment mechanism (70), the orientation adjustment mechanism (90), the second linear adjustment mechanism (40), the third linear adjustment mechanism (50), the fourth linear adjustment mechanism (60), the second tilt adjustment mechanism (80), and the angle steel clamping mechanism (20) are connected in sequence; Wherein, the second axis (NN') is parallel to the second linear direction (BB'), the second axis (NN'), the third linear direction (CC') and the fourth linear direction (DD') are perpendicular to each other, the third axis (OO') is parallel to the fourth linear direction (DD'), the first axis (MM') is a horizontal axis perpendicular to the first linear direction (AA'), and the hinge axis of the angle steel mounting attachment and the head of the boom (11) is parallel to the first axis (MM').

3. The telescopic boom forklift according to claim 2, characterized in that, The angle steel clamping mechanism (20) includes a clamping engagement structure and a clamping drive cylinder (22a) for driving the clamping engagement structure to clamp the angle steel (240); the telescopic boom forklift also includes: A clamping control oil circuit is connected to the clamping drive cylinder (22a) and is provided with a clamping valve group (150) for switching control of the clamping drive cylinder (22a). A pressure detection device (120) is used to detect the real-time oil pressure in the rodless chamber of the clamping drive cylinder (22a); The control system communicates with the pressure detection device (120) and the clamping valve assembly (150), and is configured to control the clamping valve assembly (150) to switch to supply oil to the rodless chamber when the real-time oil pressure is less than the preset minimum oil pressure.

4. The telescopic boom forklift according to claim 3, characterized in that, The control system is further configured to control the clamping valve group (150) to switch to such that the clamping control oil circuit stops supplying oil to the rodless chamber when the real-time oil pressure is not less than the preset maximum oil pressure.

5. The telescopic boom forklift according to claim 2, characterized in that, The orientation adjustment mechanism (90) includes an orientation adjustment rotary motor (91) connecting the first tilt adjustment mechanism (70) and the second linear adjustment mechanism (40), the rotation axis of the orientation adjustment rotary motor (91) being the third axis (OO'); the telescopic boom forklift also includes: The first rotation angle detection device (130) is used to issue a stop rotation signal when it detects that the rotation angle of the azimuth adjustment rotation motor (91) has reached a threshold of a preset rotation angle range; The control system communicates with the first slewing angle detection device (130) and the azimuth adjustment slewing motor (91), and is configured to control the azimuth adjustment slewing motor (91) to stop when the stop slewing signal is received.

6. The telescopic boom forklift according to claim 2, characterized in that, The second tilt adjustment mechanism (80) includes a tilt adjustment rotary motor (81) connecting the angle steel clamping mechanism (20) and the fourth linear adjustment mechanism (60), wherein the rotation axis of the tilt adjustment rotary motor (81) is the second axis (NN'); the telescopic boom forklift also includes: The second rotation angle detection device (140) is used to detect the rotation angle of the tilt angle adjusting rotary motor (81); The control system communicates with the second slewing angle detection device (140) and the tilt angle adjusting slewing motor (81), and is configured to control the start and stop of the tilt angle adjusting slewing motor (81).

7. The telescopic boom forklift according to claim 2, characterized in that, The first tilt adjustment mechanism (70) includes a swing frame (71) and a tilt adjustment cylinder (72a). The swing frame (71) is hinged to the first linear adjustment mechanism (30) and connected to the orientation adjustment mechanism (90). The tilt adjustment cylinder (72a) is used to drive the swing frame (71) to swing around the first axis (MM'). The telescopic boom forklift also includes: The swing control oil circuit is connected to the tilt adjustment cylinder (72a) and is provided with a swing valve group (200) for switching control of the tilt adjustment cylinder (72a). The control system communicates with the swing valve assembly (200) and is configured to control the swing valve assembly (200) to switch the hydraulic oil flow direction of the swing control oil circuit.

8. The telescopic boom forklift according to claim 2, characterized in that, The first linear adjustment mechanism (30) includes a first fixed arm (31), a first telescopic arm (32) and a first linear adjustment cylinder (33a). The first fixed arm (31) is arranged along the first linear direction (AA'), and the first telescopic arm (32) is arranged along the first linear direction (AA') and connected to the first tilt adjustment mechanism (70). The first linear adjustment cylinder (33a) is used to drive the first telescopic arm (32) to extend and retract relative to the first fixed arm (31) along the first linear direction (AA'). The telescopic boom forklift also includes: The first linear regulating oil circuit is connected to the first linear regulating oil cylinder (33a) and is provided with a first linear regulating valve group (160) for switching control of the first linear regulating oil cylinder (33a). The control system communicates with the first linear regulating valve group (160) and is configured to control the first linear regulating valve group (160) to switch the hydraulic oil flow direction of the first linear regulating oil circuit.

9. The telescopic boom forklift according to claim 2, characterized in that, The second linear adjustment mechanism (40) includes a second fixed arm (41), a second telescopic arm (42), and a second linear adjustment cylinder (43a). The second fixed arm (41) is arranged along the second linear direction (BB') and connected to the orientation adjustment mechanism (90). The second telescopic arm (42) is arranged along the second linear direction (BB') and connected to the third linear adjustment mechanism (50). The second linear adjustment cylinder (43a) is used to drive the second telescopic arm (42) to extend and retract relative to the second fixed arm (41) along the second linear direction (BB'). The telescopic arm forklift also includes: The second linear regulating oil circuit is connected to the second linear regulating oil cylinder (43a) and is provided with a second linear regulating valve group (170) for switching control of the second linear regulating oil cylinder (43a). The control system communicates with the second linear regulating valve group (170) and is configured to control the second linear regulating valve group (170) to switch the hydraulic oil flow direction of the second linear regulating oil circuit.

10. The telescopic boom forklift according to claim 2, characterized in that, The third linear adjustment mechanism (50) includes a transverse support (51) and a transverse drive cylinder (52a). The transverse support (51) is movably connected to the second linear adjustment mechanism (40) and connected to the fourth linear adjustment mechanism (60). The transverse drive cylinder (52a) is used to drive the transverse support (51) to move laterally relative to the second linear adjustment mechanism (40) along the third linear direction (CC'). The telescopic boom forklift also includes: A lateral movement control oil circuit is connected to the lateral movement drive cylinder (52a) and is provided with a lateral movement valve group (180) for switching control of the lateral movement drive cylinder (52a). The control system communicates with the transverse valve assembly (180) and is configured to control the transverse valve assembly (180) to switch the hydraulic oil flow direction of the transverse control oil circuit.

11. The telescopic boom forklift according to claim 2, characterized in that, The fourth linear adjustment mechanism (60) includes a lifting bracket (61) and a lifting drive cylinder (62a). The lifting bracket (61) is movably connected to the third linear adjustment mechanism (50) and connected to the second tilt adjustment mechanism (80). The lifting drive cylinder (62a) is used to drive the lifting bracket (61) to move up and down relative to the third linear adjustment mechanism (50) along the fourth linear direction (DD'). The telescopic boom forklift also includes: The lifting control oil circuit is connected to the lifting drive cylinder (62a) and is provided with a lifting valve group (190) for switching control of the lifting drive cylinder (62a). The control system communicates with the lifting valve assembly (190) and is configured to control the lifting valve assembly (190) to switch the hydraulic oil flow direction of the lifting control oil circuit.

12. The telescopic boom forklift according to claim 2, characterized in that, The attachment luffing mechanism (100) includes an attachment luffing drive cylinder (101a) connecting the angle steel mounting attachment and the head of the boom (11); the telescopic boom forklift also includes: The attachment luffing control oil circuit is connected to the attachment luffing drive cylinder (101a) and is provided with an attachment luffing valve group (210) for switching control of the attachment luffing drive cylinder (101a). The control system communicates with the attachment luffing valve group (210) and is configured to control the attachment luffing valve group (210) to switch the hydraulic oil flow direction of the attachment luffing control oil circuit.

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