Large-amplitude hybrid arm overhead working truck and amplitude control method

Abstract

The invention discloses a large-amplitude hybrid arm overhead working truck and an amplitude control method. The overhead working truck comprises a chassis, an auxiliary frame, a built-in movable supporting leg, a rotary table, a first-stage telescopic arm, a second-stage telescopic arm, a crank arm, a platform, a first connecting rod mechanism and a second connecting rod mechanism. The built-in movable supporting leg is installed in the auxiliary frame box body through the internal oil cylinder and the telescopic system, the maximum span of the supporting leg is increased by increasing the length of the movable supporting leg, and therefore the maximum operation range of the whole vehicle is increased; the first-stage telescopic arm is of a five-section telescopic structure, adopts step-by-step telescopic, and is mounted on the rotary table through a pin shaft and a variable-amplitude oil cylinder, so that outward movement of the gravity center of the arm frame is reduced under the same amplitude, and the operation amplitude of the whole vehicle is improved; and meanwhile, the second-stage telescopic arm is installed on the first-stage telescopic arm through the first connecting rod mechanism, by adopting the method that the first-stage telescopic arm and the second-stage telescopic arm are used for controlling the amplitude separately, combined control over multiple amplitudes is conducted, and amplitude maximization is achieved on the premise that the stability of the whole vehicle is guaranteed.

Description

Technical Field

[0001] The invention relates to the technical field of aerial work equipment, and in particular to a large-amplitude hybrid arm aerial work vehicle and an amplitude control method. Background Art

[0002] As a special vehicle for manned aerial work, aerial work vehicles are increasingly replacing the previous extremely dangerous climbing operation mode. With the development of urban construction, aerial work vehicles are not only used in large-scale infrastructure such as docks, airports, water conservancy, power stations, and gardens, but are also widely used in the installation and management of urban facilities such as street lights, communications, transportation, advertising, and photography.

[0003] At present, vehicle-mounted aerial work vehicles are mainly divided into the following types according to the boom structure: straight-arm aerial work vehicles, folding-arm aerial work vehicles, and mixed-arm aerial work vehicles. Among them, mixed-arm aerial work vehicles have the greatest technical difficulty due to the complex boom structure and high control difficulty. However, due to partial amplitude operations, it is necessary to cross obstacles to carry out high-altitude work, so mixed-arm aerial work vehicles are needed.

[0004] Existing hybrid aerial work vehicles have the following structural forms: telescopic arm + curved arm, folding arm + curved arm, first-stage telescopic arm + second-stage telescopic arm + curved arm, among which the hybrid arm structure of first-stage telescopic arm + second-stage telescopic arm + curved arm is the most complex. Although high-altitude firefighting vehicles also have similar arm structures, fire trucks are mainly used for climbing and rescue, with relatively high height requirements and relatively small amplitude requirements. High-altitude hybrid arm aerial work vehicles are mainly used in large spans and large amplitudes. Due to the constraints of the length and width of the vehicle and the complexity of the boom mounted on the upper body, it is difficult to achieve an ideal operating amplitude. In addition, due to the complex working conditions of the multi-stage hybrid arm, the operating conditions are complex, and there are many types of amplitudes. In order to simplify the control, the smallest safety curve is often selected as the maximum amplitude. The first-stage arm is allowed to extend only when it reaches a certain angle, thereby sacrificing a large amount of available amplitude. Summary of the invention

[0005] The problem to be solved by the present invention is to provide a large-amplitude hybrid boom aerial work vehicle and an amplitude control method, so as to maximize the amplitude while ensuring the stability of the whole vehicle.

[0006] The present invention adopts the following technical scheme: a large-scale hybrid arm aerial work vehicle, including: a chassis, a subframe, built-in movable legs, a turntable, a first-level telescopic arm, a second-level telescopic arm, a curved arm, a first connecting rod mechanism, a second connecting rod mechanism, and a platform.

[0007] The sub-frame is mounted on the chassis, and the platform is connected to the crank arm via a second connecting rod mechanism.

[0008] The built-in movable outrigger is installed in the sub-frame box through an internal oil cylinder and a telescopic system, and the span of the aerial work vehicle outrigger is increased by telescoping; the turntable is installed on the sub-frame through a rotating device, the first-level telescopic arm is installed on the turntable through a pin shaft and a variable amplitude oil cylinder, the second-level telescopic arm is installed on the first-level telescopic arm through a first connecting rod mechanism, and the curved arm is connected to the first-level telescopic arm through a second connecting rod mechanism.

[0009] Furthermore, the secondary telescopic arm rotates 180° relative to the primary telescopic arm, the curved arm rotates from -110° to 90° relative to the secondary telescopic arm, and the platform rotates ±90° relative to the curved arm.

[0010] Preferably, the built-in movable outrigger is a two-stage structure, comprising: an outrigger box, a primary water outrigger, and a secondary horizontal leg; the primary water outrigger and the secondary horizontal leg are connected to the outrigger box through a telescopic cylinder and a wire rope telescopic system.

[0011] Preferably, the aerial work vehicle reaches the maximum width when the built-in movable legs are fully retracted, and reaches the maximum operating range when fully extended; in the retracted state, the secondary horizontal legs retract, the bosses on the secondary horizontal legs are embedded in the horizontal leg convex grooves on the primary horizontal legs, and the horizontal leg convex grooves are embedded in the convex grooves of the leg box; the vertical leg boxes on the secondary horizontal legs are simultaneously embedded in the recesses of the primary horizontal legs and the recesses of the leg box, so that the secondary horizontal legs are completely hidden in the primary horizontal legs, and the primary horizontal legs are completely hidden in the leg box.

[0012] Preferably, the first-stage telescopic arm is a five-section telescopic arm structure, which includes, in sequence: a first-stage one-section arm, a first-stage two-section arm, a first-stage three-section arm, a first-stage four-section arm, and a first-stage five-section arm.

[0013] The five-section telescopic boom is telescopic in steps, with the fourth and fifth sections being extended first, and then the second and third sections. The weight distribution of the five-section telescopic boom is: first-level five-section boom < first-level four-section boom < first-level three-section boom < first-level two-section boom < first-level one-section boom.

[0014] Preferably, the secondary telescopic arm is a three-section telescopic arm structure, which comprises in sequence: a secondary one-section arm, a secondary two-section arm, and a secondary three-section arm.

[0015] The technical solution of the present invention also provides a large-amplitude hybrid boom aerial work vehicle amplitude control method, which is applied to any of the above hybrid boom aerial work vehicles and comprises the following steps:

[0016] S1, the first telescopic arm and the second telescopic arm are controlled separately, and the operating range of the first telescopic arm is controlled by a linear function; the control curve of the linear function is expressed as follows:

[0017] y=-kθ 1 +b

[0018] Among them, θ 1 is the angle between the primary telescopic arm and the boom, k is a variable related to the outrigger span, and b is a variable related to the turntable direction;

[0019] S2, control the extension and retraction of the first-level telescopic arm. The length of the first-level telescopic arm increases with the increase of the operating range. First, extend the first-level four-section arm and the first-level five-section arm. After they are all extended, extend the first-level two-section arm and the first-level three-section arm.

[0020] S3, adjust the operating range of the secondary telescopic arm, control the length of the boom cylinder through a quadratic function, and control the telescopic cylinder stroke; the quadratic function, the control curve is expressed as follows:

[0021] L=β*θ 2 *sin(θ 2 )+t

[0022] Among them, θ 2 is the angle between the secondary telescopic arm and the ground, β and t are variables related to the platform load;

[0023] S4. Adjust the amplitude of the aerial work vehicle through the combination of the first-stage telescopic arm and the second-stage telescopic arm amplitude control to maximize the amplitude while ensuring the stability of the entire vehicle.

[0024] Compared with the prior art, the present invention adopts the above technical solution and has the following technical effects:

[0025] 1. The hybrid boom aerial work vehicle of the present invention adopts the design of built-in movable outriggers. Under the condition of effective width, the length of the movable outriggers is increased, the maximum span of the outriggers is increased, and thus the maximum operating range of the whole vehicle is increased.

[0026] 2. The first-stage arm of the hybrid boom aerial work vehicle of the present invention adopts the principle of graded telescopic extension, which reduces the outward shift of the center of gravity of the boom under the same range, thereby increasing the operating range of the entire vehicle.

[0027] 3. The hybrid boom aerial work vehicle of the present invention adopts a method of separately controlling the amplitude of the primary boom and the secondary boom, and performs a variety of amplitude combination controls to achieve amplitude maximization while ensuring the stability of the entire vehicle. BRIEF DESCRIPTION OF THE DRAWINGS

[0028] Figure 1 The overall structure of the hybrid boom aerial work vehicle of the present invention;

[0029] Figure 2 This is a structural diagram of the internally hidden movable outriggers of the hybrid boom aerial work vehicle of the present invention;

[0030] Figure 3 This is a structural diagram of the first-stage telescopic arm of the hybrid arm aerial work vehicle of the present invention;

[0031] Figure 4This is a structural diagram of the hybrid boom aerial work vehicle of the present invention in an unfolded working state;

[0032] Figure 5 This is a control curve diagram of the working range of the first-stage telescopic arm of the hybrid boom aerial work vehicle of the present invention;

[0033] Figure 6 This is a control curve diagram of the working range of the secondary telescopic arm of the hybrid arm aerial work vehicle of the present invention;

[0034] Figure 7 This is a structural diagram of the outriggers of a conventional large-height hybrid boom aerial work vehicle according to an embodiment of the present invention;

[0035] Explanation of symbols in the figure:

[0036] 1-chassis, 2-subframe, 3-built-in movable outrigger, 4-turntable, 5-first-level telescopic arm; 6-second-level telescopic arm, 7-curved arm, 8-platform, 9-first connecting rod mechanism, 10-second connecting rod mechanism, 21-outrigger box, 211-outrigger groove, 212-outrigger notch, 31-first-level horizontal leg, 311-horizontal leg convex groove, 312-horizontal leg notch, 32-second-level horizontal leg, 321-boss, 322-vertical outrigger box; 51-first-level arm one-section arm, 52-first-level arm two-section arm, 53-first-level arm three-section arm, 54-first-level arm four-section arm, 55-first-level arm five-section arm. DETAILED DESCRIPTION

[0037] In order to make the purpose, technical solution and advantages of the present invention clearer, the technical solution of the application is further elaborated in detail below in conjunction with the accompanying drawings. The described embodiments are only a part of the embodiments involved in the present invention. All non-innovative embodiments of other researchers in the field on this embodiment belong to the protection scope of the present invention. At the same time, for the step numbering in the embodiment of the present invention, it is only set for the convenience of explanation, and the order between the steps is not limited in any way. The execution order of each step in the embodiment can be adaptively adjusted according to the understanding of those skilled in the art.

[0038] In one embodiment of the present invention, a large-amplitude hybrid boom aerial work vehicle and amplitude control method, such as Figure 1 As shown, it includes: a chassis 1, a subframe 2, a built-in movable leg 3, a turntable 4, a primary telescopic arm 5, a secondary telescopic arm 6, a curved arm 7 and a platform 8.

[0039] Specifically, the sub-frame 2 is mounted on the chassis 1, the turntable 4 is mounted on the sub-frame 2 through a slewing device, and the built-in movable legs 3 are double-stage and are mounted in the box of the sub-frame 2 through an internal oil cylinder and a telescopic system.

[0040] The primary telescopic arm 5 is mounted on the turntable 4 through a pin and a variable amplitude oil cylinder, and the secondary telescopic arm 6 is mounted on the primary telescopic arm 5 through a first connecting rod mechanism 9, and the secondary telescopic arm 6 can rotate 180 degrees relative to the primary telescopic arm 5. In this embodiment, the first connecting rod mechanism 9 is a built-in connecting rod mechanism.

[0041] The crank arm 7 is connected to the primary telescopic arm 5 through a second link mechanism 10, and the crank arm 7 can rotate from -110° to 90° relative to the secondary telescopic arm 6. The platform 8 is connected to the crank arm 7 through a second link mechanism 10, and the platform 8 can rotate ±90° relative to the crank arm 7.

[0042] Preferably, this embodiment adopts a built-in movable leg 3, such as Figure 2 As shown, it includes: a leg box 21, a primary horizontal leg 31, and a secondary horizontal leg 32; the primary horizontal leg 31 and the secondary horizontal leg 32 are connected in the leg box 21 through a telescopic cylinder and a wire rope system.

[0043] In order to effectively increase the operating range and optimize the range control, this embodiment adopts the following measures:

[0044] Depend on Figure 2 It can be seen that when the outriggers are fully retracted, the maximum width of the aerial work vehicle is reached. When the outriggers are fully extended, the larger the outrigger span, the larger the operating range of the aerial work vehicle. Therefore, in a limited space and width, the longer the outriggers, the more conducive it is to increasing the operating range of the vehicle.

[0045] In the contracted state, when the secondary horizontal leg 32 retracts, the boss 321 on the secondary horizontal leg 32 is just embedded in the horizontal leg convex groove 311 of the primary horizontal leg 31, and the horizontal leg convex groove 311 on the primary horizontal leg 31 is just embedded in the leg convex groove 211 of the leg box 21; the vertical leg box 322 on the secondary horizontal leg 32 is simultaneously embedded in the horizontal leg recess 312 of the primary horizontal leg 31 and the leg recess 212 of the leg box 21; by hiding all the secondary horizontal legs 32 in the primary horizontal legs 31, and all the primary horizontal legs 31 in the leg box 21, it is possible to hide all the movable legs in the leg box.

[0046] In the working state, the built-in movable legs 3 are controlled to extend to corresponding positions according to the needs of getting on the vehicle.

[0047] Therefore, this embodiment uses a built-in outrigger design to maximize the outrigger span of the aerial work vehicle under the condition of effective width.

[0048] Preferably, the first-level telescopic arm 5 of this embodiment is as follows Figure 3 As shown, it comprises: a first-stage one-section boom 51, a first-stage two-section boom 52, a first-stage three-section boom 53, a first-stage four-section boom 54, and a first-stage five-section boom 55.

[0049] The weight distribution of the first-stage telescopic boom 5 is as follows: first-stage five-section boom 55 < first-stage four-section boom 54 < first-stage three-section boom 53 < first-stage two-section boom 52 < first-stage one-section boom 51 .

[0050] Preferably, the secondary boom comprises a secondary one-section boom, a secondary two-section boom, and a secondary three-section boom.

[0051] It should be noted that, under the condition of the same extension length, the center of gravity of the five-section synchronous extension is greatly moved outward, which is not conducive to the operation stability of the whole vehicle. Therefore, this embodiment adopts the principle of step-by-step extension, that is, the first-stage arm first extends the fourth and fifth sections of the arm, and after the fourth and fifth sections of the arm are fully extended, the second and third sections of the arm are extended, and the aerial work vehicle is in working state. Figure 4 shown.

[0052] Furthermore, for the amplitude control of getting on the vehicle, this embodiment adopts a solution in which the primary arm and the secondary arm are controlled separately and then combined to achieve simplification and diversification of the amplitude control.

[0053] In order to simplify the amplitude control scheme of the mixing arm and realize multiple amplitudes, the specific control method of this embodiment is as follows:

[0054] First, for the primary arm, Figure 5 As shown, in order to maximize the operating range, the operating range uses a linear function to control the range of the primary arm, and the control curve is as follows:

[0055] y=-kθ 1 +b

[0056] Among them, θ 1 is the angle between the primary arm and the boom, k and b are variables, which are related to the outrigger span and the direction of the turntable.

[0057] Then, as the angle of the primary arm increases, the length of the primary arm will gradually increase, e.g. Figure 6 As shown, the first-stage boom, the 4th-stage boom and the 5th-stage boom are extended first, and then the 2nd-stage boom and the 3rd-stage boom are extended, so as to ensure the stability of the whole vehicle and maximize the amplitude.

[0058] Next, for the secondary arm, in order to maximize the operating range, the operating range uses a quadratic function control curve to control the length of the arm cylinder, and the telescopic cylinder stroke control is as follows:

[0059] L=β*θ 2 *sin(θ2)+t

[0060] Among them, θ 2 is the angle between the secondary arm and the ground, β and t are variables related to the platform load.

[0061] Specifically, the rated load of this vehicle platform adopts a hierarchical load, which is set to three levels, k1, k2, k3, and k1 < k2 < k3. According to the strength calculation of the secondary boom, different values of t and β are set, assumed to be t1, t2, t3, β1, β2, β3.

[0062] When the platform load G satisfies 0 ≤ G ≤ k1, t = t1 and β = β1; when the platform load G satisfies k1 < G ≤ k2, t = t2 and β = β2; when the platform load G satisfies k2 < G ≤ k3, t = t3 and β = β3.

[0063] Finally, through the combination of the amplitude control of the first and second booms, various combinations can be achieved, thus realizing various amplitudes, and maximizing the amplitude on the premise of ensuring the stability of the whole vehicle.

[0064] Furthermore, the aerial work vehicle of this embodiment is compared and verified with the existing large-height hybrid boom aerial work vehicle.

[0065] For the existing large-height hybrid boom aerial work vehicle, in order to simplify the control, when the first boom reaches a certain angle, the first boom is allowed to extend.

[0066] As Figure 7 shown, taking the first-stage non-hidden telescopic outrigger as an example, the maximum overall width dimension of the whole vehicle is L33, the length of the fixed outrigger box is L11, and the width of the vertical outrigger box of the movable outrigger is L22, and L33 ≥ L11 + L22.

[0067] For the existing large-height hybrid boom aerial work vehicle, when the first boom reaches a certain angle, the first boom is allowed to extend, which will waste the horizontal working amplitude.

[0068] At the same time, restricted by the maximum overall width L33 of the whole vehicle, the overlap amount of the outriggers is L11 - L11'.

[0069] Compared with the existing large-height hybrid boom aerial work vehicle, the hidden outrigger structure of this embodiment has at least an increase of L22 in the overlap amount of the outriggers under the same outrigger span.

[0070] In this embodiment, by further using multi-stage outriggers, the effective overlap amount will be more, greatly reducing the bearing capacity of the overlapping part and the stability of the whole vehicle.

[0071] At the same time, the first boom of the aerial work vehicle of this embodiment adopts the principle of hierarchical telescoping, and under the same amplitude, further reduces the outward shift of the boom center of gravity and improves the working amplitude of the whole vehicle.

[0072] The aerial work vehicle of this embodiment also adopts the method of separately controlling the amplitudes of the first boom and the second boom to perform various amplitude combination controls, and maximizes the amplitude on the premise of ensuring the stability of the whole vehicle.

[0073] The above is only a preferred embodiment of the present invention. It should be pointed out that for ordinary technicians in this technical field, several improvements and modifications can be made without departing from the principle of the present invention. These improvements and modifications should also be regarded as the scope of protection of the present invention.

Claims

1. A large-scale hybrid boom aerial work vehicle, characterized in that: include: Chassis (1), subframe (2), built-in movable legs (3), turntable (4), primary telescopic arm (5), secondary telescopic arm (6), curved arm (7), platform (8), first connecting rod mechanism (9), and second connecting rod mechanism (10); The sub-frame (2) is mounted on the chassis (1); the built-in movable outrigger (3) is mounted in the sub-frame (2) box through an internal oil cylinder and a telescopic system, and the outrigger span of the aerial work vehicle is increased by telescoping; the turntable (4) is mounted on the sub-frame (2) through a slewing device; the first-stage telescopic arm (5) is mounted on the turntable (4) through a pin shaft and a variable amplitude oil cylinder; the second-stage telescopic arm (6) is mounted on the first-stage telescopic arm (5) through a first connecting rod mechanism (9); and the crank arm (7) is connected to the second-stage telescopic arm (6) through a second connecting rod mechanism (10).

2. The large-amplitude hybrid boom aerial work vehicle according to claim 1, characterized in that: The secondary telescopic arm (6) rotates 180° relative to the primary telescopic arm (5), the curved arm (7) rotates from -110° to 90° relative to the secondary telescopic arm (6), and the platform (8) rotates ±90° relative to the curved arm (7).

3. The large-amplitude hybrid boom aerial work vehicle according to claim 1, characterized in that: The built-in movable outrigger (3) is a two-stage structure, comprising: an outrigger box (21), a first-level water outrigger (31), and a second-level horizontal leg (32); the first-level water outrigger (31) and the second-level horizontal leg (32) are connected in the outrigger box (21) via a telescopic oil cylinder and a steel wire rope telescopic system.

4. The large-amplitude hybrid boom aerial work vehicle according to claim 3, characterized in that: The aerial work vehicle reaches a maximum width when the built-in movable outriggers (3) are fully retracted, and reaches a maximum operating range when the built-in movable outriggers (3) are fully extended; In the contracted state, the secondary horizontal leg (32) retracts, the boss (321) on the secondary horizontal leg (32) is embedded in the horizontal leg convex groove (311) on the primary horizontal leg (31), and the horizontal leg convex groove (311) is embedded in the leg convex groove (211) of the leg box (21); the vertical leg box (322) on the secondary horizontal leg (32) is simultaneously embedded in the horizontal leg recess (312) of the primary horizontal leg (31) and the leg recess (212) of the leg box (21), so that the secondary horizontal leg (32) is completely hidden in the primary horizontal leg (31), and the primary horizontal leg (31) is completely hidden in the leg box (21).

5. The large-amplitude hybrid boom aerial work vehicle according to claim 1, characterized in that: The first-stage telescopic arm (5) is a five-section telescopic arm structure, which comprises in sequence: a first-stage one-section arm (51), a first-stage two-section arm (52), a first-stage three-section arm (53), a first-stage four-section arm (54), and a first-stage five-section arm (55).

6. The large-amplitude hybrid boom aerial work vehicle according to claim 5, characterized in that: The five-section telescopic boom is telescopic in steps, with the fourth and fifth sections being extended first, and then the second and third sections. The weight distribution of the five-section telescopic boom is: first-level five-section boom (55) < first-level four-section boom (54) < first-level three-section boom (53) < first-level two-section boom (52) < first-level one-section boom (51).

7. The large-amplitude hybrid boom aerial work vehicle according to claim 1, characterized in that: The secondary telescopic arm (6) is a three-section telescopic arm structure, which comprises in sequence: a secondary one-section arm, a secondary two-section arm, and a secondary three-section arm.

8. The large-amplitude hybrid boom aerial work vehicle according to claim 1, characterized in that: It also comprises a platform (8), wherein the platform (8) is connected to the crank arm (7) via a second link mechanism (10).

9. A large-amplitude hybrid boom aerial work vehicle amplitude control method, applied to any hybrid boom aerial work vehicle of claims 1 to 8, characterized in that: The steps include: S1, the first telescopic arm and the second telescopic arm are controlled separately, and the operating range of the first telescopic arm is controlled by a linear function; S2, control the extension and retraction of the first-level telescopic arm. The length of the first-level telescopic arm increases with the increase of the operating range. First, extend the first-level four-section arm and the first-level five-section arm. After they are all extended, extend the first-level two-section arm and the first-level three-section arm. S3, adjusting the operating range of the secondary telescopic arm, controlling the length of the boom cylinder through a quadratic function, and controlling the travel of the telescopic cylinder; S4. Adjust the amplitude of the aerial work vehicle through the combination of the first-stage telescopic arm and the second-stage telescopic arm amplitude control to maximize the amplitude while ensuring the stability of the entire vehicle.

10. The large-amplitude hybrid boom aerial work vehicle amplitude control method according to claim 9, characterized in that: The linear function and control curve are expressed as follows: y=-kθ1+b Among them, θ1 is the angle between the first-stage telescopic arm and the boom, k is a variable related to the outrigger span, and b is a variable related to the turntable direction; The quadratic function, the control curve is expressed as follows: L=β*θ2*sin(θ2)+t Among them, θ2 is the angle between the secondary telescopic arm and the ground, and β and t are variables related to the platform load.

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