Boom assembly based on spatial three-degree-of-freedom fly boom and intelligent overhead working truck

Abstract

The invention provides a boom assembly based on a spatial three-degree-of-freedom fly boom and an intelligent overhead working truck, and relates to the technical field of overhead working trucks. The boom assembly based on the spatial three-degree-of-freedom fly boom comprises a main boom, the fly boom, a supporting hydraulic cylinder, a supporting piece, a swing driving mechanism, a working platform and the like. When the device is applied to the overhead working truck, when the working platform is subjected to wide-range switching of the working position, the rotary table does not need to rotate, the flying arm and the working platform are driven to swing up and down through the telescopic action of the supporting hydraulic cylinder, the flying arm and the working platform are driven to swing left and right through the swing driving mechanism, and the working platform is driven to move front and back through the telescopic action of the flying arm. The degree of freedom and the operation range of the working platform are increased, multi-degree-of-freedom accurate adjustment of wide-amplitude switching of the operation position of the working platform is achieved, and the requirement of the overhead working truck for the operation space is lowered; by arranging the intelligent monitoring system, intelligent and accurate control over operation of the overhead working truck is achieved, and operation safety is improved.

Description

Technical Field

[0001] The present invention relates to the technical field of aerial work vehicles, and in particular to a boom assembly based on a three-degree-of-freedom flying boom and an intelligent aerial work vehicle. Background Art

[0002] Aerial work vehicles are special vehicles used to transport workers and equipment for aerial work. Aerial work vehicles generally include a chassis, a turntable, a boom and a work platform. The turntable is set on the chassis, the rear end of the boom is connected to the turntable, and the front end of the boom is connected to the work platform. The turntable rotates relative to the chassis, and the boom is unfolded and raised to move the work platform to the high altitude waiting area.

[0003] At present, boom-type aerial work vehicles mainly include telescopic boom type, folding boom type and a combination of the two. These three types of aerial work vehicles can only rely on the rotation of the turntable and the linkage of the main boom to achieve multi-degree-of-freedom adjustment when the working platform switches the working position widely. This places high requirements on the working space of the aerial vehicle, and even the switching of the working position cannot be achieved in a small space. Summary of the invention

[0004] The purpose of the present invention is to provide a boom assembly and an intelligent aerial work vehicle based on a three-degree-of-freedom flying boom in space, which can realize multi-degree-of-freedom precise adjustment of a wide range of switching of the working position of the working platform and reduce the requirements of the aerial work vehicle for the working space.

[0005] In order to achieve the above object, the technical solutions adopted by the present invention are as follows:

[0006] A boom assembly based on a three-degree-of-freedom flying boom, comprising:

[0007] Main boom;

[0008] A flying boom, the rear end of which is connected to the front end of the main boom, and the rear end of the flying boom can swing up, down, left, and right relative to the front end of the main boom;

[0009] A supporting hydraulic cylinder is extended and retracted to drive the rear end of the flying boom to swing up and down relative to the front end of the main boom;

[0010] The rear end of the supporting hydraulic cylinder is connected to the front end of the main boom, and the rear end of the supporting hydraulic cylinder can swing up, down, left and right relative to the front end of the main boom. The front end of the supporting hydraulic cylinder is hinged to the flying boom, and the front end of the supporting hydraulic cylinder can swing up and down relative to the flying boom.

[0011] A support member is hinged to the front end of the main boom, and the support member can swing up and down relative to the front end of the main boom;

[0012] The swing driving mechanism is connected to the supporting member and the flying arm respectively to drive the rear end of the flying arm to swing leftward or rightward relative to the front end of the main boom;

[0013] The working platform is arranged at the front end of the flying arm.

[0014] Preferably, the swing drive mechanism includes a first left support seat, a first right support seat, a left hydraulic motor, a right hydraulic motor, a left swing seat, a right swing seat, a first left flying arm ear seat, a first right flying arm ear seat, a left swing hydraulic cylinder and a right swing hydraulic cylinder;

[0015] The first left supporting seat and the first right supporting seat are respectively arranged on the left and right sides of the supporting member;

[0016] The left hydraulic motor is arranged on the first left support seat, and the right hydraulic motor is arranged on the first right support seat;

[0017] The left swing seat is hinged to the first left support seat, and the output end of the left hydraulic motor is connected to the left swing seat; the right swing seat is hinged to the first right support seat, and the output end of the right hydraulic motor is connected to the right swing seat;

[0018] The first left flying arm ear seat and the first right flying arm ear seat are respectively arranged on the left and right sides of the flying arm;

[0019] One end of the left swing hydraulic cylinder is fixedly connected to the left swing seat, and the other end of the left swing hydraulic cylinder is hinged to the first left flying arm ear seat; one end of the right swing hydraulic cylinder is fixedly connected to the right swing seat, and the other end of the right swing hydraulic cylinder is hinged to the first right flying arm ear seat.

[0020] Preferably, the swing drive mechanism is provided with a torque sensor, a displacement sensor and an angle sensor, the torque sensor is used to monitor the torque of the left swing hydraulic cylinder and / or the right swing hydraulic cylinder acting on the flying arm, the displacement sensor is used to monitor the telescopic displacement of the left swing hydraulic cylinder and / or the right swing hydraulic cylinder, and the angle sensor is used to monitor the swing angle of the left swing seat and / or the right swing seat.

[0021] Preferably, the swing drive mechanism comprises a second left support seat, a second right support seat, a left rear motor, a right rear motor, a second left flying arm ear seat, a second right flying arm ear seat, a left front motor, a right front motor and a traction rope;

[0022] The second left support seat and the second right support seat are respectively arranged on the left and right sides of the support member;

[0023] The left rear motor is arranged on the second left support seat, and the right rear motor is arranged on the second right support seat;

[0024] The second left flying arm ear seat and the second right flying arm ear seat are respectively arranged on the left and right sides of the flying arm;

[0025] The left front motor is arranged on the second left flying arm ear seat, and the right front motor is arranged on the second right flying arm ear seat;

[0026] The output ends of the left rear motor, the right rear motor, the left front motor and the right front motor are all connected to a rope winding drum;

[0027] A traction rope is connected between the rope winding drum on the left rear motor and the rope winding drum on the left front motor; and a traction rope is connected between the rope winding drum on the right rear motor and the rope winding drum on the right front motor.

[0028] Preferably, a traction rope clamping mechanism is provided on both the left and right sides of the flying arm, and the traction rope clamping mechanism is used to clamp the traction rope on the same side.

[0029] Preferably, the traction rope clamping mechanism is provided with a tension sensor for monitoring the tension of the traction rope on the same side.

[0030] Preferably, the traction rope clamping mechanism comprises a clamping support frame, a clamping fixed seat, a clamping hydraulic cylinder, a clamping movable seat, a clamping cylinder and a spring;

[0031] The clamping support frame is arranged on the flying arm, and the clamping fixing seat and the clamping hydraulic cylinder are arranged on the clamping support frame;

[0032] The telescopic end of the clamping hydraulic cylinder is provided with the clamping movable seat, and the clamping movable seat is arranged opposite to the clamping fixed seat;

[0033] The clamping cylinder is located between the clamping movable seat and the clamping fixed seat, the traction rope passes through the clamping cylinder, and a plurality of springs are connected between the clamping cylinder and the clamping fixed seat;

[0034] The movable pressing seat and / or the fixed pressing seat are provided with a pressing piece, and the pressing piece can pass through the pressing cylinder and abut against the traction rope.

[0035] Preferably, a torque sensor, a displacement sensor and an angle sensor are provided on the flying arm. The torque sensor is used to monitor the torque applied by the supporting hydraulic cylinder to the flying arm, the displacement sensor is used to monitor the telescopic displacement of the supporting hydraulic cylinder, and the angle sensor is used to monitor the upward and downward swinging angle of the rear end of the flying arm relative to the front end of the main boom.

[0036] Preferably, the flying boom comprises a first section flying boom, a second section flying boom and a flying boom telescopic driving mechanism;

[0037] The first section of the flying boom is slidably matched with the second section of the flying boom, the second section of the flying boom can be telescopic relative to the first section of the flying boom, and the flying boom telescopic driving mechanism drives the second section of the flying boom to telescopic relative to the first section of the flying boom.

[0038] The present invention also provides an intelligent aerial work vehicle, comprising a vehicle chassis and a turntable, and also comprising the above-mentioned boom assembly based on a three-degree-of-freedom flying boom in space, wherein the rear end of the main boom is connected to the turntable.

[0039] The beneficial technical effects of the present invention are:

[0040] The boom assembly based on the three-degree-of-freedom flying boom of the present invention is applied to aerial work vehicles. When the working platform switches the working position within a wide range, there is no need to rotate the turntable. The flying boom and the working platform are driven to swing up and down through the telescopic action of the supporting hydraulic cylinder, and the flying boom and the working platform are driven to swing left and right through the swing driving mechanism. The telescopic action of the flying boom itself drives the working platform to move forward and backward, thereby increasing the degree of freedom and the working range of the working platform, realizing multi-degree-of-freedom precise adjustment for the wide-range switching of the working position of the working platform, and reducing the requirements of the aerial work vehicle for the working space; by setting up an intelligent monitoring system, intelligent and precise control of the operation of the aerial work vehicle is realized, thereby improving the working safety. BRIEF DESCRIPTION OF THE DRAWINGS

[0041] Figure 1 It is a side view of the aerial work vehicle in Example 1 of the present invention;

[0042] Figure 2 It is a stereoscopic diagram of a boom assembly based on a three-degree-of-freedom flying boom in Example 1 of the present invention;

[0043] Figure 3 for Figure 2 A partial enlarged view of the middle A;

[0044] Figure 4 It is a partial cross-sectional view of the swing drive mechanism in Example 1 of the present invention;

[0045] Figure 5 This is a schematic diagram of the arrangement of some sensors in Example 1 of the present invention;

[0046] Figure 6 for Figure 5 A partial enlarged view of point B in the middle;

[0047] Figure 7 for Figure 5 A partial enlarged view of point C in the middle;

[0048] Figure 8 It is a schematic diagram of the partial structure of the first connecting member in Example 1 of the present invention;

[0049] Fig. 9This is a schematic diagram of the structure of the mounting base in Embodiment 1 of the present invention;

[0050] Fig.10 This is a schematic diagram of the visual range of the entire vehicle in Example 1 of the present invention;

[0051] Fig.11 This is a schematic diagram of the visual range of the flying arm in Example 1 of the present invention;

[0052] Fig.12 The wireless control display in Embodiment 1 of the present invention;

[0053] Fig.13 It is a stereoscopic diagram of a boom assembly based on a three-degree-of-freedom flying boom in Example 2 of the present invention;

[0054] Fig.14 for Fig.13 A partial enlarged view of point D in the middle;

[0055] Fig.15 Schematic diagram of the structure of the traction rope clamping mechanism in Embodiment 2 of the present invention;

[0056] Fig.16 It is a partial cross-sectional view of the swing drive mechanism in Example 2 of the present invention. DETAILED DESCRIPTION

[0057] In order to make the purpose, technical scheme and beneficial effects of the present invention more clearly understood, the present invention is further described in detail below in combination with specific embodiments and with reference to the accompanying drawings. Certain embodiments of the present invention will be described more comprehensively with reference to the accompanying drawings, in which some but not all embodiments will be shown. In fact, the various embodiments of the present invention can be implemented in many different forms and should not be construed as being limited to the embodiments described herein; rather, these embodiments are provided so that the present invention meets applicable legal requirements.

[0058] In the description of the present invention, it should be noted that the terms "inside", "outside", "upper", "lower", "front", "back" and the like indicate directions or positional relationships based on directions or positional relationships shown in the drawings, and are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific direction, be constructed and operated in a specific direction, and therefore cannot be understood as limiting the present invention. In addition, the terms "first" and "second" are used for descriptive purposes only, and cannot be understood as indicating or implying relative importance.

[0059] Embodiment 1:

[0060] Please refer to Figures 1 to 12 As shown, in an embodiment of the present invention, a boom assembly and an intelligent aerial work vehicle based on a three-degree-of-freedom flying boom are provided.

[0061] A boom assembly based on a three-degree-of-freedom flying boom comprises a main boom 11, a flying boom 2, a supporting hydraulic cylinder 3, a supporting member 4, a swing driving mechanism and a working platform 5, etc.

[0062] The main boom 11 of the present embodiment is a telescopic boom, which is composed of a plurality of booms nested in sequence, and adjacent boom supports can be relatively telescopic.

[0063] The flying boom 2 includes a first section of the flying boom 21, a second section of the flying boom 22 and a flying boom telescopic driving mechanism. The first section of the flying boom 21 and the second section of the flying boom 22 are slidably matched, and the second section of the flying boom 22 can be telescopic relative to the first section of the flying boom 21. Among them, the first section of the flying boom 21 is a cylindrical structure, and the second section of the flying boom 22 is nested inside the first section of the flying boom 21. The flying boom telescopic driving mechanism is configured as a telescopic hydraulic cylinder, and the two ends are respectively connected to the first section of the flying boom 21 and the second section of the flying boom 22. The telescopic end of the telescopic hydraulic cylinder is telescopic relative to the cylinder end to drive the second section of the flying boom 22 to telescope relative to the first section of the flying boom 21. A working platform 5 is arranged at the front end of the second section of the flying boom 22, and the second section of the flying boom 22 is telescopic relative to the first section of the flying boom 21 to drive the working platform 5 to move forward and backward.

[0064] The rear end of the first flying boom 21 is connected to the front end of the main boom 11 via a first connecting piece, and the first flying boom 21 can swing up, down, left and right relative to the front end of the main boom 11.

[0065] The first connecting member includes a straight rod ball 23, a ball joint seat 24 and a first hinge shaft 25. The straight rod ball 23 is fixedly arranged at the rear end of the first section of the flying arm 21, and the straight rod ball 23 cooperates with the ball joint seat 24, and the straight rod ball 23 can swing up, down, left and right relative to the ball joint seat 24. The first hinge shaft 25 is fixedly arranged on the ball joint seat 24, and the first hinge shaft 25 is arranged in the horizontal direction. The first hinge shaft 25 is hinged to the front end of the main boom 11, and the first hinge shaft 25 can swing up and down relative to the front end of the main boom 11.

[0066] The supporting hydraulic cylinder 3 is extended and retracted to drive the rear end of the first section of the flying boom 21 to swing up and down relative to the front end of the main boom 11 .

[0067] The rear end of the supporting hydraulic cylinder 3 is connected to the front end of the main boom 11 via the second connecting member, and the rear end of the supporting hydraulic cylinder 3 can swing up, down, left, and right relative to the front end of the main boom 11. The front end of the supporting hydraulic cylinder 3 is hinged to the middle position of the first section of the flying boom 21, and the front end of the supporting hydraulic cylinder 3 can swing up and down relative to the first section of the flying boom 21.

[0068] The second connecting member includes a connecting seat 31, a hinge 32, a rotating shaft 33 and a second articulated shaft 34. The rear end of the supporting hydraulic cylinder 3 is hinged to the connecting seat 31 via the hinge 32, and the rear end of the supporting hydraulic cylinder 3 can swing up and down relative to the connecting seat 31. The rotating shaft 33 is arranged vertically, and the lower end of the rotating shaft 33 is assembled to the connecting seat 31 via a bearing, and the connecting seat 31 can move around the axis of the rotating shaft 33 relative to the rotating shaft 33. The upper end of the rotating shaft 33 is fixedly connected to the second articulated shaft 34, and the second articulated shaft 34 is arranged horizontally. The second articulated shaft 34 is articulated to the front end of the main boom 11, and the second articulated shaft 34 can swing up and down relative to the front end of the main boom 11.

[0069] The support member 4 is hinged to the front end of the main boom 11, and the support member 4 can swing up and down relative to the front end of the main boom 11. The support member 4 is configured as a rod, and the rod is hinged to the front end of the main boom 11. Limiting rings 41 are provided on the rod and on both sides of the main boom 11 to limit the position between the main boom 11 and the rod, so as to prevent the main boom 11 from sliding relative to the rod.

[0070] The swing driving mechanism is respectively connected to the supporting member 4 and the first section of the flying boom 21 to drive the rear end of the first section of the flying boom 21 to swing leftward or rightward relative to the front end of the main boom 11 .

[0071] The swing drive mechanism includes a first left support seat 611, a first right support seat 612, a left hydraulic motor 621, a right hydraulic motor 622, a left swing seat 631, a right swing seat 632, a first left flying arm ear seat 641, a first right flying arm ear seat 642, a left swing hydraulic cylinder 651 and a right swing hydraulic cylinder 652.

[0072] A first left support seat 611 and a first right support seat 612 are respectively provided on the left and right sides of the support member 4 . A left hydraulic motor 621 is provided on the first left support seat 611 , and a right hydraulic motor 622 is provided on the first right support seat 612 .

[0073] The left swing seat 631 is hinged to the first left support seat 611 , and the output end of the left hydraulic motor 621 is connected to the left swing seat 631 ; the right swing seat 632 is hinged to the first right support seat 612 , and the output end of the right hydraulic motor 622 is connected to the right swing seat 632 .

[0074] like Figure 4 As shown, it is a schematic diagram of the assembly of the first left support seat 611, the left hydraulic motor 621, the left swing seat 631, etc. The assembly of the first right support seat 612, the right hydraulic motor 622, the right swing seat 632, etc. is the same as the assembly of the first left support seat 611, the left hydraulic motor 621, the left swing seat 631, etc.

[0075] A first left flying arm ear seat 641 and a first right flying arm ear seat 642 are respectively arranged on the left and right sides of the first section of the flying arm 21; one end of the left swing hydraulic cylinder 651 is fixedly connected to the left swing seat 631, and the other end of the left swing hydraulic cylinder 651 is hinged to the first left flying arm ear seat 641; one end of the right swing hydraulic cylinder 652 is fixedly connected to the right swing seat 632, and the other end of the right swing hydraulic cylinder 652 is hinged to the first right flying arm ear seat 642.

[0076] The left swing seat 631 is C-shaped, and the upper and lower ends of the left swing seat 631 are connected to the first left support seat 611 via bearings (cylindrical roller bearing 661 and axial thrust ball bearing 662); the right swing seat 632 is C-shaped, and the upper and lower ends of the right swing seat 632 are connected to the first right support seat 612 via bearings (cylindrical roller bearing 661 and axial thrust ball bearing 662). The bearings (cylindrical roller bearing 661 and axial thrust ball bearing 662) are arranged at the upper and lower ends of the swing seats (left swing seat 631, right swing seat 632) to balance the axial and radial forces generated during the swinging process of the swing hydraulic cylinders (left swing hydraulic cylinder 651, right swing hydraulic cylinder 652).

[0077] The left hydraulic motor 621 is located inside the first left support seat 611, the output shaft of the left hydraulic motor 621 matches the inner ring of the bearing, and the output shaft of the left hydraulic motor 621 is connected to the left swing seat 631. The right hydraulic motor 622 is located inside the first right support seat 612, the output shaft of the right hydraulic motor 622 matches the inner ring of the bearing, and the output shaft of the right hydraulic motor 622 is connected to the right swing seat 632.

[0078] The left swing hydraulic cylinder 651 extends and the right swing hydraulic cylinder 652 retracts to drive the rear end of the first flying boom 21 to swing to the right relative to the front end of the main boom 11; the left swing hydraulic cylinder 651 retracts and the right swing hydraulic cylinder 652 extends to drive the rear end of the first flying boom 21 to swing to the left relative to the front end of the main boom 11.

[0079] When the flying arm 2 (first section flying arm 21) swings to the right, the output end of the left hydraulic motor 621 drives the left swing seat 631 to swing to the right, and the output end of the right hydraulic motor 622 drives the right swing seat 632 to swing to the right; when the flying arm 2 (first section flying arm 21) swings to the left, the output end of the left hydraulic motor 621 drives the left swing seat 631 to swing to the left, and the output end of the right hydraulic motor 622 drives the right swing seat 632 to swing to the left. In this way, the hydraulic motors (left hydraulic motor 621, right hydraulic motor 622) are superimposed by the swing hydraulic cylinders (left swing hydraulic cylinder 651, right swing hydraulic cylinder 652), thereby increasing the torque of the flying arm swinging to the left / right.

[0080] When the flying boom 2 (first section of the flying boom 21) swings left and right, when the flying boom 2 (first section of the flying boom 21) swings close to the target position, at least one of the left hydraulic motor 621 and the right hydraulic motor 622 swings in the opposite direction. Specifically, when the flying boom 2 (first section of the flying boom 21) swings to the right and close to the target position, at least one of the left hydraulic motor 621 and the right hydraulic motor 622 swings to the left; when the flying boom 2 (first section of the flying boom 21) swings to the left and close to the target position, at least one of the left hydraulic motor 621 and the right hydraulic motor 622 swings to the right. In this way, the inertial force of the flying boom and the working platform 5 is balanced, so that the swinging flying boom and the working platform 5 can stop smoothly, so that the working platform 5 can reach the target position smoothly, and the working platform 5 is prevented from shaking due to the inertial force when approaching the target position, so as to improve the safety of the operation of the working platform 5.

[0081] The working platform 5 is provided with a mounting seat 51, and the mounting seat 51 is provided with a mechanical interface 511, a hydraulic interface 512 and an electrical interface 513. The mechanical interface 511 is used to connect mechanical components such as a hook to realize the hanging function of the aerial work vehicle. The hydraulic interface 512 is used to connect hydraulic tools such as hydraulic clamps through hydraulic pipelines to increase the hydraulic power source for the hydraulic tools. The electrical interface 513 is used to connect electric tools through cables to provide power to the electric tools.

[0082] The swing drive mechanism is provided with a torque sensor 71, a displacement sensor 72 and an angle sensor 73. The torque sensor 71 is used to monitor the torque of the left swing hydraulic cylinder 651 and / or the right swing hydraulic cylinder 652 acting on the fly arm 2 (first section fly arm 21), the displacement sensor 72 is used to monitor the telescopic displacement of the left swing hydraulic cylinder 651 and / or the right swing hydraulic cylinder 652, and the angle sensor 73 is used to monitor the swing angle of the left swing seat 631 and / or the right swing seat 632.

[0083] A torque sensor 71, a displacement sensor 72 and an angle sensor 73 are provided on the flying boom 2 (the first section of the flying boom 21). The torque sensor 71 is used to monitor the torque of the supporting hydraulic cylinder 3 acting on the flying boom 2 (the first section of the flying boom 21). The displacement sensor 72 is used to monitor the telescopic displacement of the supporting hydraulic cylinder 3. The angle sensor 73 is used to monitor the upward and downward swinging angle of the rear end of the flying boom 2 (the first section of the flying boom 21) relative to the front end of the main boom 11.

[0084] The above-mentioned sensor signals are connected to the vehicle-mounted controller and the wireless control display 75, and the vehicle-mounted controller and the wireless control display 75 are also connected to the control ends of the hydraulic cylinders and hydraulic motors, so as to intelligently and accurately control the actions of the hydraulic cylinders and hydraulic motors according to the data monitored by the sensors, thereby improving the operating safety of the aerial work vehicle.

[0085] An intelligent aerial work vehicle includes a vehicle chassis 12, a rotating platform 13 and a lifting hydraulic cylinder 14, and also includes the above-mentioned boom assembly based on the three-degree-of-freedom flying arm in space in this embodiment, the rear end of the main boom 11 is hinged to the support arm seat 15 on the rotating platform 12, one end of the lifting hydraulic cylinder 14 is hinged to the support arm seat 15, and the other end of the lifting hydraulic cylinder 14 is hinged to the main boom 11. The rotating platform 13 rotates relative to the vehicle chassis 12 to drive the main boom 11 and the working platform 5 of the flying arm 2 to swing left and right in a large range. The lifting hydraulic cylinder 14 is extended and retracted to drive the main boom 11 to swing up and down in a large range relative to the support arm seat 15.

[0086] Cameras 74 are arranged at the front and rear positions of the vehicle chassis 12 , and a camera 74 is arranged on the flying arm 2 (the first section of the flying arm 21 ). The signals of the camera 74 are connected to the vehicle controller and the wireless control display 75 .

[0087] The front and rear cameras 74 are used to monitor the surrounding environment of the aerial work vehicle, the rotation angle of the slewing platform 13, and the lifting height and lifting speed of the main boom 11 driven by the lifting hydraulic cylinder 14 in real time. The camera 74 on the flying arm 2 is used to monitor the swing angle of the flying arm 2, the displacement of the flying arm 2, the lifting angle of the flying arm 2, and the obstacles around the working platform 5 in real time.

[0088] Three-dimensional position tracking and positioning sensors are installed at the hinges of the main boom 11 and the support arm seat 15, the hinges of the flying boom 2 and the main boom 11, and the hinges of the working platform 5 and the flying boom 2. The three-dimensional position tracking and positioning sensors can locate the relative position of each working part in real time and provide dynamic three-dimensional coordinates. According to the visual images collected by the three three-dimensional position tracking and positioning sensors and the three cameras 74, the integrated image of the whole vehicle is generated after processing by the on-board controller. The integrated image displays the data of each part of the whole vehicle and the working movement status in real time, improving the risk prediction ability and the safety of high-altitude operations. Through the display connected to the on-board controller signal or through the wireless control display 75, the operator can accurately control the working status, which improves the working safety and adaptability to the working environment.

[0089] Embodiment 2:

[0090] Please refer to Figures 13 to 15 As shown, the difference between this embodiment and embodiment 1 is that the swing drive mechanism includes a second left support seat 811, a second right support seat 812, a left rear motor 821, a right rear motor 822, a second left flying arm ear seat 831, a second right flying arm ear seat 832, a left front motor 841, a right front motor 842 and a traction rope 85.

[0091] A second left support seat 811 and a second right support seat 812 are respectively arranged on the left and right sides of the support member 4 . A left rear motor 821 is arranged on the second left support seat 811 , and a right rear motor 822 is arranged on the second right support seat 812 .

[0092] The second left flying arm ear seat 831 and the second right flying arm ear seat 832 are respectively arranged on the left and right sides of the flying arm 2 (the first section flying arm 21), the left front motor 841 is arranged on the second left flying arm ear seat 931, and the right front motor 842 is arranged on the second right flying arm ear seat 832.

[0093] The output ends of the left rear motor 821, the right rear motor 822, the left front motor 841 and the right front motor 842 are all connected to a rope winding drum 86. A traction rope 85 is connected between the rope winding drum 86 on the left rear motor 821 and the rope winding drum 86 on the left front motor 841, and a traction rope 85 is connected between the rope winding drum 86 on the right rear motor 822 and the rope winding drum 86 on the right front motor 842.

[0094] like Fig.16 As shown, it is a schematic diagram of the assembly of the left rear motor 821 and the second left support seat 811, etc., the assembly of the right rear motor 822 and the second right support seat 812, etc., the assembly of the left front motor 841 and the second left flying arm ear seat 831, etc., and the assembly of the right front motor 842 and the second right flying arm ear seat 832 is the same as the assembly of the left rear motor 821 and the second left support seat 811, etc.

[0095] In order to drive the flying boom 2 (the first section of the flying boom 21) to swing to the right, the right rear motor 822 drives the rope winding drum 86 thereon to reel in the traction rope 85; according to the tension of the right traction rope 85, the right front motor 842 drives the rope winding drum 86 thereon to remain stationary or reel in or release the traction rope 85, so that the tension of the right traction rope 85 is maintained within a set range; at the same time, the left rear motor 821 drives the rope winding drum 86 thereon to release the traction rope 85; according to the tension of the left traction rope 85, the left front motor 841 drives the rope winding drum 86 thereon to remain stationary or reel in or release the traction rope 85, so that the tension of the left traction rope 85 is maintained within a set range. Similarly, in order to drive the flying arm 2 (the first section of the flying arm 21) to swing to the left, the left rear motor 821 drives the rope winding drum 86 thereon to reel in the traction rope 85; according to the tension of the left traction rope 85, the left front motor 841 drives the rope winding drum 86 thereon to remain stationary or reel in or release the traction rope 85, so that the tension of the left traction rope 85 is maintained within a set range; at the same time, the right rear motor 822 drives the rope winding drum 86 thereon to release the traction rope 85; according to the tension of the right traction rope 85, the right front motor 842 drives the rope winding drum 86 thereon to remain stationary or reel in or release the traction rope 85, so that the tension of the right traction rope 85 is maintained within a set range.

[0096] When the boom 2 (first section of the boom 21) swings to the right, when the boom 2 (first section of the boom 21) swings close to the target position, the tension of the right traction rope 85 is reduced and the tension of the left traction rope 85 is increased; when the boom 2 (first section of the boom 21) swings to the right, when the boom 2 (first section of the boom 21) swings close to the target position, the tension of the right traction rope 85 is reduced and the tension of the left traction rope 85 is increased. In this way, the inertia of the boom and the working platform 5 is balanced, so that the swinging boom and the working platform 5 can stop smoothly, so that the working platform 5 can reach the target position smoothly, and the working platform 5 is prevented from shaking due to the inertia when it is close to the target position, so as to improve the safety of the operation of the working platform 5.

[0097] The left and right sides of the flying boom 2 (the first section of the flying boom 21) are both provided with traction rope clamping mechanisms 9, which are used to clamp the traction rope 85 on the same side to prevent the traction rope 85 from being too loose and falling off the rope winding drum 86.

[0098] The traction rope clamping mechanism 9 on each side is provided with a tension sensor 98 for monitoring the tension of the traction rope 85 on the same side.

[0099] The traction rope clamping mechanism 9 includes a clamping support frame 91, a clamping fixed seat 92, a clamping hydraulic cylinder 93, a clamping movable seat 94, a clamping cylinder 95 and a spring 96. The clamping support frame 91 is arranged on the flying arm 2 (the first section flying arm 21), and the clamping fixed seat 92 and the clamping hydraulic cylinder 93 are arranged on the clamping support frame 91. The telescopic end of the clamping hydraulic cylinder 93 is provided with a clamping movable seat 94, and the clamping movable seat 94 is arranged opposite to the clamping fixed seat 92. The clamping cylinder 95 is located between the clamping movable seat 94 and the clamping fixed seat 92, and the traction rope 85 passes through the clamping cylinder 95. A plurality of springs 96 are connected between the clamping cylinder 95 and the clamping fixed seat 92. A clamping member 97 is arranged on the clamping movable seat 94 and the clamping fixed seat 92, and a tension sensor 98 is arranged in the clamping cylinder 95. The pressing member 97 is configured as a columnar structure, and the pressing member 97 can pass through the through hole on the pressing cylinder 95 to abut against the traction rope 85 .

[0100] The action process of the traction rope clamping mechanism 9 is as follows: the telescopic end of the clamping hydraulic cylinder 93 extends relative to the fixed end, and the clamping movable seat 94 drives the clamping member 97 thereon to clamp one side of the traction rope 85 in the clamping cylinder 95, and at the same time, drives the clamping cylinder 95 to move toward the clamping fixed seat 92, and the clamping member 97 on the clamping fixed seat 92 clamps the other side of the traction rope 85 in the clamping cylinder 95, and the spring 96 buffers the force of the clamping hydraulic cylinder 93 on the traction rope 85. The above-mentioned traction rope clamping mechanism 9 is bionic to the Nepenthes clamping structure, reduces the impact damage to the traction rope 85, and increases the friction force on the traction rope 85.

[0101] So far, the present embodiment has been described in detail in conjunction with the accompanying drawings. Based on the above description, those skilled in the art should have a clear understanding of the boom assembly based on the three-degree-of-freedom flying boom and the intelligent aerial work vehicle of the present invention. The boom assembly based on the three-degree-of-freedom flying boom of the present invention is applied to the aerial work vehicle. When the working platform 5 switches the working position in a wide range, the turntable 13 does not need to rotate. The flying boom 2 and the working platform 5 are driven to swing up and down by supporting the telescopic action of the hydraulic cylinder 3. The flying boom 2 and the working platform 5 are driven to swing left and right by the swing drive mechanism. The flying boom 2 itself telescopes and drives the working platform 5 to move forward and backward, which increases the degree of freedom and working range of the working platform 5, realizes the multi-degree-of-freedom precise adjustment of the wide-range switching of the working position of the working platform 5, and reduces the requirements of the aerial work vehicle for the working space; by setting an intelligent monitoring system, the operation of the aerial work vehicle can be intelligently and accurately controlled, and the working safety is improved.

[0102] The specific embodiments described above further illustrate the objectives, technical solutions and beneficial effects of the present invention in detail. It should be understood that the above description is only a specific embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the present invention should be included in the protection scope of the present invention.

Claims

1. A boom assembly based on a three-degree-of-freedom flying boom, characterized in that: include: Main boom; A flying boom, the rear end of which is connected to the front end of the main boom, and the rear end of the flying boom can swing up, down, left, and right relative to the front end of the main boom; A supporting hydraulic cylinder is extended and retracted to drive the rear end of the flying boom to swing up and down relative to the front end of the main boom; The rear end of the supporting hydraulic cylinder is connected to the front end of the main boom, and the rear end of the supporting hydraulic cylinder can swing up, down, left and right relative to the front end of the main boom. The front end of the supporting hydraulic cylinder is hinged to the flying boom, and the front end of the supporting hydraulic cylinder can swing up and down relative to the flying boom. A support member is hinged to the front end of the main boom, and the support member can swing up and down relative to the front end of the main boom; The swing driving mechanism is connected to the supporting member and the flying arm respectively to drive the rear end of the flying arm to swing leftward or rightward relative to the front end of the main boom; The working platform is arranged at the front end of the flying arm.

2. The boom assembly based on a three-degree-of-freedom flying boom according to claim 1, characterized in that: The swing drive mechanism comprises a first left support seat, a first right support seat, a left hydraulic motor, a right hydraulic motor, a left swing seat, a right swing seat, a first left flying arm ear seat, a first right flying arm ear seat, a left swing hydraulic cylinder and a right swing hydraulic cylinder; The first left supporting seat and the first right supporting seat are respectively arranged on the left and right sides of the supporting member; The left hydraulic motor is arranged on the first left support seat, and the right hydraulic motor is arranged on the first right support seat; The left swing seat is hinged to the first left support seat, and the output end of the left hydraulic motor is connected to the left swing seat; the right swing seat is hinged to the first right support seat, and the output end of the right hydraulic motor is connected to the right swing seat; The first left flying arm ear seat and the first right flying arm ear seat are respectively arranged on the left and right sides of the flying arm; One end of the left swing hydraulic cylinder is fixedly connected to the left swing seat, and the other end of the left swing hydraulic cylinder is hinged to the first left flying arm ear seat; One end of the right swing hydraulic cylinder is fixedly connected to the right swing seat, and the other end of the right swing hydraulic cylinder is hinged to the first right flying arm ear seat.

3. The boom assembly based on a three-degree-of-freedom flying boom according to claim 2, characterized in that: The swing drive mechanism is provided with a torque sensor, a displacement sensor and an angle sensor. The torque sensor is used to monitor the torque of the left swing hydraulic cylinder and / or the right swing hydraulic cylinder acting on the flying arm, the displacement sensor is used to monitor the telescopic displacement of the left swing hydraulic cylinder and / or the right swing hydraulic cylinder, and the angle sensor is used to monitor the swing angle of the left swing seat and / or the right swing seat.

4. The boom assembly based on a three-degree-of-freedom flying boom according to claim 1, characterized in that: The swing drive mechanism comprises a second left support seat, a second right support seat, a left rear motor, a right rear motor, a second left flying arm ear seat, a second right flying arm ear seat, a left front motor, a right front motor and a traction rope; The second left support seat and the second right support seat are respectively arranged on the left and right sides of the support member; The left rear motor is arranged on the second left support seat, and the right rear motor is arranged on the second right support seat; The second left flying arm ear seat and the second right flying arm ear seat are respectively arranged on the left and right sides of the flying arm; The left front motor is arranged on the second left flying arm ear seat, and the right front motor is arranged on the second right flying arm ear seat; The output ends of the left rear motor, the right rear motor, the left front motor and the right front motor are all connected to a rope winding drum; A traction rope is connected between the rope winding drum on the left rear motor and the rope winding drum on the left front motor; and a traction rope is connected between the rope winding drum on the right rear motor and the rope winding drum on the right front motor.

5. The boom assembly based on a three-degree-of-freedom flying boom according to claim 4, characterized in that: The left and right sides of the flying arm are both provided with traction rope clamping mechanisms, and the traction rope clamping mechanisms are used to clamp the traction rope on the same side.

6. The boom assembly based on a three-degree-of-freedom flying boom according to claim 5, characterized in that: The traction rope clamping mechanism is provided with a tension sensor for monitoring the tension of the traction rope on the same side.

7. The boom assembly based on a three-degree-of-freedom flying boom according to claim 5, characterized in that: The traction rope clamping mechanism comprises a clamping support frame, a clamping fixed seat, a clamping hydraulic cylinder, a clamping movable seat, a clamping cylinder and a spring; The clamping support frame is arranged on the flying arm, and the clamping fixing seat and the clamping hydraulic cylinder are arranged on the clamping support frame; The telescopic end of the clamping hydraulic cylinder is provided with the clamping movable seat, and the clamping movable seat is arranged opposite to the clamping fixed seat; The clamping cylinder is located between the clamping movable seat and the clamping fixed seat, the traction rope passes through the clamping cylinder, and a plurality of springs are connected between the clamping cylinder and the clamping fixed seat; The movable pressing seat and / or the fixed pressing seat are provided with a pressing piece, and the pressing piece can pass through the pressing cylinder and abut against the traction rope.

8. The boom assembly based on a three-degree-of-freedom flying boom according to claim 1, characterized in that: The flying arm is provided with a torque sensor, a displacement sensor and an angle sensor. The torque sensor is used to monitor the torque of the supporting hydraulic cylinder acting on the flying arm, the displacement sensor is used to monitor the telescopic displacement of the supporting hydraulic cylinder, and the angle sensor is used to monitor the upward and downward swinging angle of the rear end of the flying arm relative to the front end of the main boom.

9. The boom assembly based on a three-degree-of-freedom flying boom according to claim 1, characterized in that: The flying boom comprises a first section flying boom, a second section flying boom and a flying boom telescopic driving mechanism; The first section of the flying boom is slidably matched with the second section of the flying boom, the second section of the flying boom can be telescopic relative to the first section of the flying boom, and the flying boom telescopic driving mechanism drives the second section of the flying boom to telescopic relative to the first section of the flying boom.

10. An intelligent aerial work vehicle, comprising a vehicle chassis and a turntable, characterized in that: It also includes the boom assembly based on the three-degree-of-freedom flying boom in space as described in any one of claims 1 to 9, and the rear end of the main boom is connected to the turntable.

Images