Flying boom device, aerial work equipment and control method of flying boom device

Abstract

The invention belongs to the technical field of high-altitude operation equipment, and particularly relates to a fly boom device, high-altitude operation equipment and a control method of the fly boom device. The connecting frame is hinged to the first end of the fly boom; the driving mechanism is in linear driving connection with the fly jib and used for driving the fly jib to swing relative to the connecting frame; the detection assembly is arranged on the side, away from the connecting frame, of the first end of the fly boom, the detection assembly comprises an upper detection piece and a lower detection piece, the upper detection piece and the lower detection piece are arranged in the circumferential direction in a spaced mode with the hinge point of the fly boom and the connecting frame as the center, and a detection area between the upper detection piece and the lower detection piece can be adjusted; and the sensing mechanism is mounted on the connecting frame, is in communication connection with the driving mechanism and is used for continuously sending a deceleration signal for controlling the driving mechanism to decelerate under the condition that the upper detection piece or the lower detection piece is sensed. By adopting the fly boom device, the impact during starting and stopping in the prior art can be effectively solved.

Description

Technical Field

[0001] The present application belongs to the technical field of aerial work equipment, and specifically relates to a flying arm device, aerial work equipment and a control method of the flying arm device. Background Art

[0002] The boom-type aerial work platform is divided into several major parts, including chassis, turntable, arm, work platform, etc. The arm is composed of No. 1 arm, No. 2 arm and flying arm. The flying arm is known for its flexibility and efficiency in the entire boom-type aerial work platform, which can effectively improve the operating efficiency.

[0003] During the up and down rotation and amplitude change of the fly boom, the amplitude change is mostly driven by the hydraulic cylinder on the fly boom. However, the hydraulic cylinder usually extends and retracts at a uniform speed, resulting in a large speed change when the fly boom is changed to the highest or lowest position, which is prone to large impact, resulting in poor operating comfort for operators on the working platform. In addition, sudden starting or stopping can easily cause accidents due to untimely reaction of the operator. Summary of the invention

[0004] The purpose of the present application is to provide a flying arm device, aerial work equipment and a control method for the flying arm device, so as to solve the technical problem in the prior art that the flying arm has a large impact when starting and stopping.

[0005] In order to achieve the above-mentioned purpose, the present application provides a flying arm device on one hand, which is applied to aerial work equipment, and the flying arm device includes:

[0006] Flying arm;

[0007] A coupling frame, hinged to the first end of the flying arm;

[0008] A driving mechanism connected to the flying arm linear drive and used to drive the flying arm to swing relative to the connecting frame;

[0009] A detection assembly is arranged on a side of the first end of the flying arm away from the connecting frame, and the detection assembly includes an upper detection member and a lower detection member, the upper detection member and the lower detection member are arranged circumferentially with the hinge point of the flying arm and the connecting frame as the center, wherein the detection area between the upper detection member and the lower detection member is adjustable;

[0010] The sensing mechanism is installed on the connecting frame. The sensing mechanism is connected to the driving mechanism for communication and is used to continuously send a deceleration signal for controlling the driving mechanism to decelerate when the upper detection member or the lower detection member is sensed.

[0011] In some embodiments, the upper detection member and the lower detection member are both plate-like structures, and the sides of the upper detection member and the lower detection member facing the hinge point of the connecting frame and the flying arm are both arc-shaped concave surfaces, and the upper detection member and the lower detection member are located on the same circumference.

[0012] In some embodiments, a mounting hole is provided at the first end of the flying arm, and waist-shaped through holes extending along the circumferential direction are provided on the upper detection member and the lower detection member. The detection assembly also includes: a locking assembly, which passes through the waist-shaped through hole and the mounting hole in sequence to lock the upper detection member, the lower detection member and the flying arm.

[0013] In some embodiments, the sensing mechanism includes: a support seat fixedly mounted on a connecting frame; a sensing component rotatably mounted on the support seat, the sensing end of the sensing component being disposed on a side of the first end of the flying arm away from the connecting frame, and the sensing component being used to send a deceleration signal when contacting an upper detection member or a lower detection member.

[0014] In some embodiments, the sensing component also includes: a swing rod, one end of which is rotatably connected to the support seat; and a rolling sensing element installed at the other end of the swing rod and rollingly engaged with the upper detection element or the lower detection element or separated from the upper detection element or the lower detection element.

[0015] In some embodiments, the sensing component further includes: an elastic member, which is elastically installed between the swing arm and the support seat and is used to drive the swing arm to reset.

[0016] In some embodiments, the driving mechanism also includes: a driving cylinder, one end of which is hinged to the fly arm, and the other end of which is drivingly connected to the connecting frame; a metering pump, which is connected to the driving cylinder and is used to input hydraulic oil into the driving cylinder; a control valve group, which is arranged in the oil circuit between the metering pump and the driving cylinder, and the control valve group is communicatively connected to the sensing mechanism and is used to reduce the flow of hydraulic oil flowing into the driving cylinder when a deceleration signal is received.

[0017] In some embodiments, the driving mechanism also includes: a driving cylinder, one end of which is hinged to the fly arm, and the other end of which is drivingly connected to the connecting frame; a variable pump, which is connected to the driving cylinder, the variable pump is connected to the sensing mechanism and is used to reduce the flow of hydraulic oil flowing into the driving cylinder when a deceleration signal is received.

[0018] A second aspect of the present application provides an aerial work equipment, comprising the above-mentioned flying arm device.

[0019] A third aspect of the present application provides a control method for a flying arm device, which is used for the above-mentioned flying arm device, and the control method includes: starting the sensing mechanism to start detection; controlling the driving mechanism to drive the flying arm to start swinging; when a deceleration signal is received, controlling the driving mechanism to telescope at a preset speed; when no deceleration signal is received or the deceleration signal stops being received, controlling the driving mechanism to telescope at a rated speed, wherein the preset speed is lower than the rated speed.

[0020] In the above technical solution, the flying arm device includes a flying arm, a coupling frame, a driving mechanism, a detection component and a sensing mechanism, wherein the driving mechanism can linearly drive the flying arm to swing around the coupling frame, the detection component is arranged on the side of the first end of the flying arm away from the coupling frame, the detection component includes an upper detection member and a lower detection member, the upper detection member and the lower detection member are arranged circumferentially with the hinge point of the flying arm and the coupling frame as the center, and the detection areas of the upper detection member and the lower detection member can be adjusted, the sensing mechanism is installed on the coupling frame, and the sensing mechanism is communicatively connected with the driving mechanism, and when the sensing mechanism senses the upper detection member and the lower detection member, the sensing mechanism can continuously send a deceleration signal to control the driving mechanism to decelerate. The detection areas corresponding to the upper detection member and the lower detection member can correspond to the highest swing position and the lowest swing position of the flying arm, so that the flying arm device can move at a lower speed after starting and before stopping, and prevent sudden start and stop from causing poor operator experience.

[0021] Other features and advantages of the embodiments of the present application will be described in detail in the subsequent detailed description. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] The accompanying drawings are used to provide a further understanding of the embodiments of the present application and constitute a part of the specification. Together with the following specific embodiments, they are used to explain the embodiments of the present application, but do not constitute a limitation on the embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on the structures shown in these drawings without creative work. In the drawings:

[0023] Figure 1 It is a structural schematic diagram of a flying arm device provided according to an embodiment of the present application;

[0024] Figure 2 A partial enlarged schematic diagram of part A provided according to an embodiment of the present application;

[0025] Figure 3 It is a structural schematic diagram of an upper detection member provided according to an embodiment of the present application;

[0026] Figure 4 It is a schematic diagram of the structure of the detection component and the flying arm when they cooperate according to the embodiment of the present application.

[0027] Description of Reference Numerals

[0028] 10 Flying Jib

[0029] 20 Coupling frame

[0030] 30 Driving mechanism

[0031] 41 Upper test piece

[0032] 411 waist through hole

[0033] 42 Lower test piece

[0034] 43 Locking assembly

[0035] 50 Induction Mechanism

[0036] 51 Support seat

[0037] 521 Swing Rod

[0038] 522 Rolling induction parts

[0039] 60 Support

[0040] 70 Lower link

[0041] 200 Arm 1

[0042] 300 working platform DETAILED DESCRIPTION

[0043] The specific implementation of the present application is described in detail below in conjunction with the accompanying drawings. It should be understood that the specific implementation described here is only used to illustrate and explain the present application, and is not used to limit the present application.

[0044] The following describes the flying arm device according to the present application with reference to the accompanying drawings. Figure 1 As shown, it is a structural schematic diagram of the flying arm device provided according to an embodiment of the present application; Figure 2 As shown, it is a partial enlarged schematic diagram of the A part provided according to the embodiment of the present application. Figure 3 , which is a schematic diagram of the structure of the upper detection member 41 provided according to an embodiment of the present application. The flying arm device is applied to aerial work equipment, and the flying arm device includes:

[0045] Flying arm 10;

[0046] A coupling frame 20 is hinged to a first end of the flying arm 10;

[0047] A driving mechanism 30 is connected to the flying arm 10 in a linear driving manner and is used to drive the flying arm 10 to swing relative to the connecting frame 20;

[0048] A detection assembly is provided on a side of the first end of the flying arm 10 away from the connecting frame 20, and the detection assembly includes an upper detection member 41 and a lower detection member 42, and the upper detection member 41 and the lower detection member 42 are arranged circumferentially with the hinge point of the flying arm 10 and the connecting frame 20 as the center, wherein the detection area between the upper detection member 41 and the lower detection member 42 is adjustable;

[0049] The sensing mechanism 50 is mounted on the coupling frame 20 . The sensing mechanism 50 is in communication connection with the driving mechanism 30 and is used to continuously send a deceleration signal for controlling the driving mechanism 30 to decelerate when the upper detection member 41 or the lower detection member 42 is sensed.

[0050] The flying arm device generally includes a flying arm 10, a driving mechanism 30 and a connecting frame 20. The connecting frame 20 is used to connect the No. 1 arm 200 of the aerial work equipment and the flying arm 10. The flying arm device generally also includes a lower connecting rod 70 and a support 60 connected to the working platform 300. Among them, the support 60, the lower connecting rod 70, the connecting frame 20 and the flying arm 10 form a parallelogram structure. One end of the driving mechanism 30 is connected to the flying arm 10, and the other end of the driving mechanism 30 is coaxially hinged with the pin between the lower connecting rod 70 and the connecting frame 20. The extension and retraction of the driving mechanism 30 can drive the flying arm 10 and the upper connecting rod to swing synchronously around the connecting frame 20.

[0051] The flying arm device of the embodiment of the present application is provided with a detection component and a sensing mechanism 50 on the basis of the prior art. The detection component is installed on the side of the first end of the flying arm 10 away from the connecting frame 20. The detection component includes an upper detection member 41 and a lower detection member 42. The upper detection member 41 and the lower detection member 42 are arranged circumferentially with the hinge point of the flying arm 10 and the connecting frame 20 as the center. When the flying arm 10 swings, the flying arm 10 drives the upper detection member 41 and the lower detection member 42 to rotate with the hinge point as the center. The sensing mechanism 50 is installed on the connecting frame 20. The sensing mechanism 50 is connected to the driving mechanism 30. When the sensing mechanism 50 senses the upper detection member 41 or the lower detection member 42, it can continuously send a deceleration signal to control the deceleration of the driving mechanism 30, so that the driving mechanism 30 drives the flying arm 10 to swing at a low speed. If the driving mechanism 30 is telescopically moving at a uniform speed, when the flying arm device drives the working platform 300 to be at the highest position or the lowest position, the driving mechanism 30 drives the flying arm 10 to swing at the fastest speed, which may easily lead to a poor experience for the operator when starting and stopping. Therefore, it is necessary to reduce the driving speed of the driving mechanism 30 at the highest position and the lowest position. The sensing mechanism 50 can sense the upper detection member 41 or the lower detection member 42 when the working platform 300 is at the highest position and the lowest position, so as to reduce the speed of the flying arm 10 at the lowest position and the highest position, thereby improving the user experience. Furthermore, the detection areas of the upper detection member 41 and the lower detection member 42 in the embodiment of the present application are adjustable, and the detection areas of the upper detection member 41 and the lower detection member 42 can be adjusted according to the needs of the user and the model of the aerial work platform, so as to increase the versatility of the components and meet the personalized needs of the operator.

[0052] In one embodiment, Figure 4As shown, it is a schematic diagram of the structure when the detection component provided according to the embodiment of the present application cooperates with the flying arm 10. The upper detection member 41 and the lower detection member 42 are both plate-like structures, and the sides of the upper detection member 41 and the lower detection member 42 facing the hinge point of the coupling frame 20 and the flying arm 10 are both arc-shaped concave surfaces, and the upper detection member 41 and the lower detection member 42 are located on the same circumference. The upper detection member 41 and the lower detection member 42 are both plate-like structures and the sides facing the hinge point are arc-shaped concave surfaces. The upper detection member 41 and the lower detection member 42 can adjust the detection area by rotating in the circumferential direction around the hinge point, thereby adjusting the motion range of the flying arm 10 for low-speed swinging. By adopting the above-mentioned detection component, the detection area can be adjusted more conveniently, and there is no need for repeated debugging and verification, and the range of low-speed motion can be adjusted according to the operating habits of the operator.

[0053] In one embodiment, Figure 4 As shown, a mounting hole (not shown in the figure) is provided at the first end of the flying arm 10, and waist-shaped through holes 411 extending along the circumferential direction of the upper detection member 41 and the lower detection member 42 are provided. The detection assembly also includes: a locking assembly 43, which passes through the waist-shaped through hole 411 and the mounting hole in sequence to lock the upper detection member 41, the lower detection member 42 and the flying arm 10. When it is necessary to adjust the detection area of ​​the upper detection member 41, the locking assembly 43 can be adjusted to loosen the upper detection member 41 and the flying arm 10, and the upper detection member 41 rotates along the circumferential direction of the hinge point to adjust the position of the upper detection member 41, and then the locking assembly 43 passes through the mounting hole and the waist-shaped through hole 411 to lock the flying arm 10 and the upper detection member 41. The detection area adjustment of the lower detection member 42 is similar to that of the upper detection member 41, which will not be repeated here. The above-mentioned detection component can meet the operator's personalized needs for starting, stopping and speed reduction, and is easy to adjust. The position of the upper detection component 41 and the lower detection component 42 can be adjusted with the help of simple disassembly tools to adjust the deceleration area of ​​the swing of the flying arm 10.

[0054] In one embodiment, the locking assembly 43 includes multiple bolts, and the number of mounting holes is multiple and all are bolt holes. When the upper detection member 41 is locked with the flying arm 10, the multiple bolts pass through the waist-shaped through hole 411 and the bolt holes one by one to lock the upper detection member 41 with the flying arm 10.

[0055] In one embodiment, when the aerial work equipment moves goods, there is no need to reduce the swing speed of the flying arm 10 when starting and stopping. Therefore, the upper detection member 41 and the lower detection member 42 can be removed. When the flying arm 10 swings up and down, the sensing mechanism 50 cannot sense the upper detection member 41 and the lower detection member 42, and the driving speed of the driving mechanism 30 is increased, which drives the swing speed of the flying arm 10 to increase.

[0056] In one embodiment, Figure 2As shown, the sensing mechanism 50 includes: a support seat 51, which is fixedly mounted on the coupling frame 20; a sensing component, which is rotatably mounted on the support seat 51, and a sensing end of the sensing component is arranged on the side of the first end of the flying arm 10 away from the coupling frame 20, and the sensing component is used to send a deceleration signal when it contacts the upper detection member 41 or the lower detection member 42. The support seat 51 is fixed on the coupling frame 20, and the sensing component is rotatably mounted on the support seat 51. The sensing end of the sensing component and the upper detection member 41 and the lower detection member 42 are all arranged on the same side of the flying arm 10. When the flying arm 10 swings, the sensing end can contact the upper detection member 41 or the lower detection member 42, or be separated from the upper detection member 41 and the lower detection member 42. When the sensing end contacts the upper detection member 41 or the lower detection member 42, the sensing component can send a deceleration signal to the driving mechanism 30, so that the driving mechanism 30 drives the flying arm 10 to swing at a low speed. By adopting the above-mentioned sensing mechanism 50, the sensing component can accurately determine whether the position of the flying arm 10 needs to be decelerated and swung, and sense at the sensing end that the upper detection component 41 and the lower detection component 42 can continuously send a deceleration signal. The sensing position is accurate, and the flying arm 10 can be accurately controlled to reduce the swing speed, thereby improving the operating experience of the operator.

[0057] In one embodiment, Figure 2 As shown, the sensing component also includes: a swing rod 521, one end of which is rotatably connected to the support seat 51; and a rolling sensing member 522, which is installed at the other end of the swing rod 521 and rolls with the upper detection member 41 or the lower detection member 42 or is separated from the upper detection member 41 or the lower detection member 42. One end of the swing rod 521 is rotatably connected to the support seat 51, and the other end of the swing rod 521 is installed with a rolling sensing member 522. When the rolling sensing member 522 contacts the upper detection member 41 or the lower detection member 42, it can continuously send a deceleration signal to the driving mechanism 30, so that the driving mechanism 30 reduces the swing speed of the flying arm 10. In addition, the rolling sensing member 522 can roll on the upper detection member 41 or the lower detection member 42 to prevent the sensing component from getting stuck with the upper sensing member or the lower sensing member during the swinging process of the flying arm 10, thereby affecting the normal swinging of the flying arm 10. When the rolling sensing member 522 is separated from both the upper detection member 41 and the lower detection member 42, the sensing component stops sending the deceleration signal to the driving mechanism 30, so that the driving mechanism 30 drives the flying arm 10 to swing at the rated speed. With the above-mentioned sensing component, the upper detection member 41 and the lower detection member 42 can be smoothly sensed during the swinging process of the flying arm 10.

[0058] In one embodiment, the sensing component further includes: an elastic member (not shown in the figure), such as a tension spring, which is elastically installed between the swing rod 521 and the support seat 51 and is used to drive the swing rod 521 to reset. When the rolling sensing member 522 rolls on the upper detection member 41 or the lower detection member 42, the swing rod 521 swings together with the rolling sensing member 522, and the elastic member is stretched during the swinging process. When the rolling sensing member 522 is separated from both the upper detection member 41 and the lower detection member 42, the swing rod 521 will be reset by the tensile force of the elastic member. By adopting the above-mentioned sensing component, the sensing component can always return to its original position after multiple detections, and each time it swings to a fixed position, it starts to slow down or speed up, thereby improving the consistency of each movement of the flying arm 10 and facilitating the precise control of the movement of the flying arm 10.

[0059] In one embodiment, the driving mechanism 30 further includes: a driving cylinder, one end of which is hinged to the flying arm 10, and the other end of which is drivingly connected to the connecting frame 20; a metering pump (not shown in the figure), which is connected to the driving cylinder and used to input hydraulic oil to the driving cylinder; a control valve group (not shown in the figure), which is arranged on the oil path between the metering pump and the driving cylinder, and the control valve group is connected to the sensing mechanism 50 for communication and used to reduce the flow of hydraulic oil flowing into the driving cylinder when receiving a deceleration signal. The driving mechanism 30 includes a driving cylinder, a metering pump and a control valve group, and the metering pump can deliver hydraulic oil to the driving cylinder to provide hydraulic energy to the driving cylinder, thereby enabling the driving cylinder to drive the flying arm 10 to swing. When the sensing mechanism 50 senses the upper detection member 41 or the lower detection member 42, it can continuously send a deceleration signal to the control valve group of the driving mechanism 30, and the control valve group can reduce the flow of hydraulic oil input to the driving cylinder to reduce the telescopic speed of the driving cylinder. When the sensing mechanism 50 is separated from both the upper detection member 41 and the lower detection member 42, the sensing mechanism 50 stops sending the deceleration signal, and the control valve group delivers hydraulic oil to the driving cylinder at the rated speed. In a specific embodiment, the control valve group is a flow regulating valve, which can throttle the hydraulic oil after receiving the deceleration signal. By adding a control valve group to control the swing speed of the flying arm 10, the speed control response is faster and the swing speed adjustment of the flying arm 10 is more accurate.

[0060] In one embodiment, the driving mechanism 30 further includes: a driving cylinder, one end of which is hinged to the flying arm 10, and the other end of which is drivingly connected to the connecting frame 20; a variable pump, which is connected to the driving cylinder, and the variable pump is connected to the sensing mechanism 50 and is used to reduce the flow of hydraulic oil flowing into the driving cylinder when a deceleration signal is received. The driving mechanism 30 includes a driving cylinder and a variable pump, and the variable pump can deliver hydraulic oil to the driving cylinder to provide hydraulic energy to the driving cylinder, so that the driving cylinder can drive the flying arm 10 to swing. The flow rate of the hydraulic oil delivered by the variable pump is adjustable. When the sensing mechanism 50 senses the upper detection member 41 or the lower detection member 42, it can continuously send a deceleration signal to the variable pump of the driving mechanism 30, so that the variable pump reduces the flow of hydraulic oil input to the driving cylinder to reduce the telescopic speed of the driving cylinder. When the sensing mechanism 50 is separated from both the upper detection member 41 and the lower detection member 42, the sensing mechanism 50 stops sending the deceleration signal, and the variable pump can output hydraulic oil to the driving cylinder according to the rated output flow. By adjusting the output flow of the variable pump to control the swing speed of the flying arm 10, energy loss and fuel consumption can be reduced.

[0061] In one embodiment, the driving mechanism 30 further includes a reversing valve installed in the hydraulic oil circuit between the variable pump / metering pump and the driving cylinder to change the inflow direction of the hydraulic oil so that the hydraulic cylinder performs an extension movement or a contraction movement.

[0062] In one embodiment, an aerial work equipment is provided, comprising the above-mentioned flying arm device.

[0063] In one embodiment, a control method for a flying arm device is provided, which is used for the above-mentioned flying arm device, and the control method includes:

[0064] S101, start the sensing mechanism 50 to start detection;

[0065] S102, controlling the driving mechanism 30 to drive the flying arm 10 to start swinging;

[0066] S103, when receiving a deceleration signal, controlling the driving mechanism 30 to telescope at a preset speed;

[0067] S104, when no deceleration signal is received or the deceleration signal stops being received, controlling the driving mechanism 30 to telescope at a rated speed, wherein the preset speed is lower than the rated speed.

[0068] The aerial work equipment includes a control module, which can be connected to the sensing mechanism 50 and the driving mechanism 30 for communication. After the aerial work equipment is started, the control module starts the sensing mechanism 50 to start detection, and controls the driving mechanism 30 to drive the flying arm 10 to swing. When the sensing mechanism 50 senses the upper detection member 41 or the lower detection member 42, it can continuously send a deceleration signal to the control module. When the control module receives the deceleration signal, it transmits the deceleration signal to the driving mechanism 30 to control the driving mechanism 30 to drive the flying arm 10 to move at a preset speed. When the control module does not receive the deceleration signal or the deceleration signal stops receiving, it means that the flying arm 10 moves in a gentle movement area between the highest point and the lowest point. The control module controls the driving mechanism 30 to drive the flying arm 10 at a rated speed so that the flying arm 10 swings normally, wherein the rated speed is greater than the preset speed. Because in the process of driving the flying arm 10 to move by the driving cylinder, the speed of the flying arm 10 in the process of swinging at the highest point and the lowest point is significantly higher than the swinging speed when it is in the middle position. The highest position and the lowest position are usually also used as the start and stop positions of the flying arm 10. The start and stop speed is too fast to affect the user experience of the operator. By adopting the above-mentioned control method, the extension and retraction speed of the driving cylinder can be reduced when the working platform 300 is at the highest or lowest point, and the extension and retraction speed of the driving cylinder can be increased when the flying arm 10 is in the middle position, so that the speed of the flying arm 10 tends to be smooth during the overall swinging process, thereby improving the operator's user experience.

[0069] In one embodiment, the control module includes: a main control unit, a communication unit communicatively connected to the main control module and the sensing module, and a speed control unit communicatively connected to the main control module and used to control the driving speed of the driving mechanism.

[0070] In the description of the present application, it should be understood that the terms "first" and "second" are used for descriptive purposes only and should not be understood as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one of the features. In the description of the present application, "plurality" means at least two, such as two, three, etc., unless otherwise clearly and specifically defined.

[0071] In this application, unless otherwise clearly specified and limited, the terms "installed", "connected", "connected", "fixed" and the like should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection, an electrical connection, or communication with each other; it can be a direct connection, or an indirect connection through an intermediate medium, it can be the internal connection of two elements or the interaction relationship between two elements, unless otherwise clearly defined. For ordinary technicians in this field, the specific meanings of the above terms in this application can be understood according to specific circumstances.

[0072] In the description of this specification, the description with reference to the terms "one embodiment", "some embodiments", "example", "specific example", or "some examples" etc. means that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the present application. In this specification, the schematic representations of the above terms do not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described may be combined in any one or more embodiments or examples in a suitable manner. In addition, those skilled in the art may combine and combine the different embodiments or examples described in this specification and the features of the different embodiments or examples, without contradiction.

[0073] Although the embodiments of the present application have been shown and described above, it can be understood that the above embodiments are exemplary and cannot be understood as limitations on the present application. Ordinary technicians in this field can change, modify, replace and modify the above embodiments within the scope of the present application.

Claims

1. A flying arm device, characterized in that: The flying arm device is applied to aerial work equipment, and the flying arm device comprises: Flying arm (10); A connecting frame (20) is hingedly connected to the first end of the flying arm (10); A driving mechanism (30) is linearly connected to the flying arm (10) and is used to drive the flying arm (10) to swing relative to the connecting frame (20); A detection assembly is arranged on a side of the first end of the flying arm (10) away from the connecting frame (20), the detection assembly comprises an upper detection member (41) and a lower detection member (42), the upper detection member (41) and the lower detection member (42) are arranged circumferentially with a hinge point between the flying arm (10) and the connecting frame (20) as the center, wherein a detection area between the upper detection member (41) and the lower detection member (42) is adjustable; A sensing mechanism (50) is mounted on the coupling frame (20); the sensing mechanism (50) is in communication connection with the driving mechanism (30) and is used to continuously send a deceleration signal for controlling the driving mechanism (30) to decelerate when the upper detection member (41) or the lower detection member (42) is sensed.

2. The flying arm device according to claim 1, characterized in that: The upper detection member (41) and the lower detection member (42) are both plate-shaped structures, and the sides of the upper detection member (41) and the lower detection member (42) facing the hinge point of the connecting frame (20) and the flying arm (10) are both arc-shaped concave surfaces, and the upper detection member (41) and the lower detection member (42) are located on the same circumference.

3. The flying arm device according to claim 1, characterized in that: A mounting hole is provided at the first end of the flying arm, and waist-shaped through holes (411) extending along the circumferential direction are provided on both the upper detection member (41) and the lower detection member (42), and the detection assembly further comprises: A locking assembly (43) passes through the waist-shaped through hole (411) and the mounting hole in sequence to lock the upper detection member (41), the lower detection member (42) and the flying arm (10).

4. The flying arm device according to claim 1, characterized in that: The sensing mechanism (50) comprises: A support seat (51) is fixedly mounted on the connecting frame (20); A sensing component is rotatably mounted on the support seat (51), wherein a sensing end of the sensing component is arranged on a side of the first end of the flying arm (10) away from the connecting frame (20), and the sensing component is used to send the deceleration signal when contacting the upper detection member (41) or the lower detection member (42).

5. The flying arm device according to claim 4, characterized in that: The sensing component also includes: A swing rod (521), one end of which is rotatably connected to the support seat (51); A rolling sensing member (522) is mounted on the other end of the swing rod (521) and is in rolling cooperation with the upper detection member (41) or the lower detection member (42) or is separated from the upper detection member (41) or the lower detection member (42).

6. The flying arm device according to claim 5, characterized in that: The sensing component also includes: An elastic member, wherein the elastic member is elastically installed between the swing rod (521) and the support seat (51) and is used to drive the swing rod (521) to reset.

7. The flying arm device according to any one of claims 1 to 6, characterized in that: The driving mechanism (30) further comprises: A driving cylinder, one end of which is hinged to the flying arm (10), and the other end of which is drivingly connected to the connecting frame (20); A metering pump, connected to the driving cylinder and used to input hydraulic oil into the driving cylinder; A control valve group is arranged on the oil circuit between the metering pump and the driving cylinder, the control valve group is communicatively connected with the sensing mechanism (50) and is used to reduce the flow of hydraulic oil flowing into the driving cylinder when receiving the deceleration signal.

8. The flying arm device according to any one of claims 1 to 6, characterized in that: The driving mechanism (30) further comprises: A driving cylinder, one end of which is hinged to the flying arm (10), and the other end of which is drivingly connected to the connecting frame (20); A variable pump is communicated with the driving cylinder. The variable pump is connected to the sensing mechanism (50) and is used to reduce the flow of hydraulic oil flowing into the driving cylinder when receiving the deceleration signal.

9. A high-altitude working equipment, characterized in that: It comprises a flying arm device according to any one of claims 1 to 8.

10. A method for controlling a flying arm device, characterized in that: For the flying arm device according to any one of claims 1 to 8, the control method comprises: Activating the sensing mechanism (50) to start detection; Controlling the driving mechanism (30) to drive the flying arm (10) to start swinging; When receiving the deceleration signal, controlling the driving mechanism (30) to move telescopically at a preset speed; When the deceleration signal is not received or the deceleration signal stops being received, the driving mechanism (30) is controlled to telescopically move at a rated speed, wherein the preset speed is lower than the rated speed.

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