A spatial three-freedom arm based boom assembly and intelligent aerial work platform

Abstract

The application provides an arm support assembly based on a spatial three-degree-of-freedom boom and an intelligent aerial work vehicle, and relates to the technical field of aerial work vehicles.The arm support assembly based on the spatial three-degree-of-freedom boom comprises a main arm support, a boom, a supporting hydraulic cylinder, a support, a swing driving mechanism and a working platform, etc.When the working platform is used to switch the working position in a wide range, the rotating table does not need to rotate, the boom and the working platform are swung up and down through the extension and retraction action of the supporting hydraulic cylinder, the boom and the working platform are swung left and right through the swing driving mechanism, the working platform is moved forward and backward through the extension and retraction of the boom, the degree of freedom and the working range of the working platform are increased, the multi-degree-of-freedom accurate adjustment of the working position switching of the working platform is realized, and the requirement of the aerial work vehicle on the working space is reduced; through the setting of an intelligent monitoring system, the intelligent and accurate control of the aerial work vehicle is realized, and the operation safety is improved.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of aerial work platforms, in particular to an arm assembly based on a spatial three-degree-of-freedom boom and an intelligent aerial work platform. BACKGROUND

[0002] An aerial work platform is a special vehicle for transporting workers and equipment to perform aerial work. The aerial work platform generally includes a chassis, a rotating table, an arm assembly, and a work platform. The rotating table is arranged on the chassis, the rear end of the arm assembly is connected to the rotating table, and the front end of the arm assembly is connected to the work platform. The rotating table rotates relative to the chassis, and the arm assembly extends and rises to move the work platform to a high-altitude work area.

[0003] Currently, the aerial work platforms of the arm assembly type mainly include telescopic arm type, folding arm type, and a combination of the two. When the work platform switches the work position, the three types of aerial work platforms can only rely on the rotation of the rotating table and the linkage of the main arm assembly to realize multi-degree-of-freedom adjustment. This requires a high work space for the aerial work platform, and even in a small space, the work position cannot be switched. SUMMARY

[0004] The present application aims to provide an arm assembly based on a spatial three-degree-of-freedom boom and an intelligent aerial work platform, which can realize multi-degree-of-freedom precise adjustment of the work platform work position wide range switching and reduce the requirement of the aerial work platform for the work space.

[0005] In order to achieve the above-mentioned purpose, the technical solution adopted by the present application is as follows:

[0006] An arm assembly based on a spatial three-degree-of-freedom boom, comprising:

[0007] a main arm assembly;

[0008] a boom, the rear end of the boom being connected to the front end of the main arm assembly, and the rear end of the boom being able to swing along up, down, left, and right relative to the front end of the main arm assembly;

[0009] a support hydraulic cylinder, which is telescopic to drive the rear end of the boom to swing along up and down relative to the front end of the main arm assembly;

[0010] wherein the rear end of the support hydraulic cylinder is connected to the front end of the main arm assembly, the rear end of the support hydraulic cylinder is able to swing along up, down, left, and right relative to the front end of the main arm assembly, the front end of the support hydraulic cylinder is hinged to the boom, and the front end of the support hydraulic cylinder is able to swing along up and down relative to the boom;

[0011] a support member, which is hinged to the front end of the main arm assembly and is able to swing along up and down relative to the front end of the main arm assembly;

[0012] Swing driving mechanism, respectively connected with the support and the boom, to drive the rear end of the boom to swing left and right relative to the front end of the main arm frame;

[0013] Work platform, arranged at the front end of the boom.

[0014] Preferably, the swing driving 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 boom lug seat, a first right boom lug seat, a left swing hydraulic cylinder and a right swing hydraulic cylinder;

[0015] The left and right sides of the support are respectively provided with the first left support seat and the first right support seat;

[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 left and right sides of the boom are respectively provided with the first left boom lug seat and the first right boom lug seat;

[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 boom lug 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 boom lug seat.

[0020] Preferably, the swing driving 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 boom, the displacement sensor is used to monitor the extension and retraction 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 driving mechanism comprises a second left support seat, a second right support seat, a left rear motor, a right rear motor, a second left boom lug seat, a second right boom lug seat, a left front motor, a right front motor and a traction rope;

[0022] The left and right sides of the support are respectively provided with the second left support seat and the second right support seat;

[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 boom lug is arranged on the left side of the boom, and the second right boom lug is arranged on the right side of the boom.

[0025] The left front motor is arranged on the second left boom lug, and the right front motor is arranged on the second right boom lug.

[0026] The output ends of the left rear motor, the right rear motor, the left front motor and the right front motor are connected with winding drums.

[0027] The winding drum on the left rear motor is connected with the winding drum on the left front motor through a traction rope, and the winding drum on the right rear motor is connected with the winding drum on the right front motor through a traction rope.

[0028] Preferably, the left and right sides of the boom are provided with traction rope pressing mechanisms, which are used for pressing the traction ropes on the same side.

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

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

[0031] The pressing support frame is arranged on the boom, and the pressing fixed seat and the pressing hydraulic cylinder are arranged on the pressing support frame.

[0032] The pressing movable seat is arranged at the extension end of the pressing hydraulic cylinder, and the pressing movable seat is arranged opposite to the pressing fixed seat.

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

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

[0035] Preferably, the boom is provided with a torque sensor, a displacement sensor and an angle sensor, the torque sensor is used for monitoring the torque of the support hydraulic cylinder acting on the boom, the displacement sensor is used for monitoring the extension displacement of the support hydraulic cylinder, and the angle sensor is used for monitoring the swing angle of the rear end of the boom relative to the front end of the main arm frame along the up and down directions.

[0036] Preferably, the boom comprises a first section boom, a second section boom and a boom extension driving mechanism.

[0037] The first section of the fly jib and the second section of the fly jib are in sliding fit, the second section of the fly jib can be telescopic relative to the first section of the fly jib, and the fly jib telescopic driving mechanism drives the second section of the fly jib to be telescopic relative to the first section of the fly jib.

[0038] The application further provides a smart aerial work vehicle, comprising a vehicle chassis and a slewing table, and further comprising the arm assembly based on the spatial three-degree-of-freedom fly jib.

[0039] The application has the following beneficial technical effects:

[0040] The arm assembly based on the spatial three-degree-of-freedom fly jib is applied to the aerial work vehicle, when the working platform switches the working position in a wide range, the slewing table does not need to rotate, the fly jib and the working platform are swung up and down through the telescopic action of the supporting hydraulic cylinder, the fly jib and the working platform are swung left and right through the swing driving mechanism, the fly jib itself is telescopic to drive the working platform to move forward and backward, the degree of freedom and the working range of the working platform are increased, the multi-degree-of-freedom precise adjustment of the working platform when switching the working position in a wide range is realized, the requirement of the aerial work vehicle on the working space is reduced; the intelligent and precise control of the aerial work vehicle is realized through the intelligent monitoring system, and the operation safety is improved. BRIEF DESCRIPTION OF DRAWINGS

[0041] Figure 1 It is a side view of the aerial work vehicle in embodiment 1 of the application;

[0042] Figure 2 It is a perspective view of the arm assembly based on the spatial three-degree-of-freedom fly jib in embodiment 1 of the application;

[0043] Figure 3 It is a perspective view of the arm assembly based on the spatial three-degree-of-freedom fly jib in embodiment 1 of the application; Figure 2 It is an enlarged view of part A in the figure;

[0044] Figure 4 It is a partial sectional view of the swing driving mechanism in embodiment 1 of the application;

[0045] Figure 5 It is a schematic view of the arrangement of part of sensors in embodiment 1 of the application;

[0046] Figure 6 It is a schematic view of the arrangement of part of sensors in embodiment 1 of the application; Figure 5 It is an enlarged view of part B in the figure;

[0047] Figure 7 It is an enlarged view of part C in the figure; Figure 5 It is an enlarged view of part C in the figure;

[0048] Figure 8 It is a schematic view of the arrangement of part of sensors in embodiment 1 of the application;

[0049] Figure 9Structure diagram of the mounting seat in the embodiment 1 of the present application;

[0050] Figure 10 The schematic diagram of the visual range of the whole vehicle in the embodiment 1 of the present application;

[0051] Figure 11 The schematic diagram of the visual range of the fly arm in the embodiment 1 of the present application;

[0052] Figure 12 The wireless control display in the embodiment 1 of the present application;

[0053] Figure 13 The perspective view of the boom assembly based on the spatial three-degree-of-freedom fly arm in the embodiment 2 of the present application;

[0054] Figure 14 The structure diagram of the traction rope pressing mechanism in the embodiment 2 of the present application; Figure 13 The local enlarged view of the D in the embodiment 2 of the present application;

[0055] Figure 15 The structure diagram of the swing driving mechanism in the embodiment 2 of the present application;

[0056] Figure 16 The partial sectional view of the swing driving mechanism in the embodiment 2 of the present application. DETAILED DESCRIPTION

[0057] In order to make the objects, technical solutions and advantages of the present application clearer, the following will further describe the present application in combination with specific embodiments and with reference to the drawings. Some but not all of the embodiments of the present application will be shown in the drawings. In fact, various embodiments of the present application can be implemented in many different forms, and should not be interpreted as being limited to the embodiments described herein; on the contrary, these embodiments are provided to meet the applicable legal requirements.

[0058] In the description of the present application, it should be noted that the terms "inner", "outer", "upper", "lower", "front", "back" and the like indicate the orientation or positional relationship based on the orientation or positional relationship shown in the drawings, and are only for the convenience of describing the present application and simplifying the description, and do not indicate or imply that the devices or elements referred to must have a particular orientation, be constructed and operated in a particular orientation, and therefore cannot be understood as limiting the present application. In addition, the terms "first", "second" are only for the purpose of description, and cannot be understood as indicating or implying relative importance.

[0059] Embodiment 1:

[0060] Please refer to Figures 1 to 12 In the embodiments of the present application, a boom assembly based on a spatial three-degree-of-freedom fly arm and an intelligent aerial work vehicle are provided.

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

[0062] The main boom 11 of the embodiment is a telescopic boom, and the telescopic boom is arranged by nesting a plurality of boom supports in sequence.

[0063] The boom 2 comprises a first-section boom 21, a second-section boom 22 and a boom telescopic driving mechanism, the first-section boom 21 is in sliding fit with the second-section boom 22, and the second-section boom 22 can be telescoped relative to the first-section boom 21. The first-section boom 21 is in a cylindrical structure, and the second-section boom 22 is nested in the first-section boom 21. The boom telescopic driving mechanism is a telescopic hydraulic cylinder, and the two ends thereof are connected with the first-section boom 21 and the second-section boom 22 respectively. The telescopic end of the telescopic hydraulic cylinder is telescoped relative to the cylinder end to drive the second-section boom 22 to be telescoped relative to the first-section boom 21. The front end of the second-section boom 22 is provided with the working platform 5, and the second-section boom 22 is telescoped relative to the first-section boom 21 to drive the working platform 5 to move forward and backward.

[0064] The rear end of the first-section boom 21 is connected with the front end of the main boom 11 through a first connecting member, and the first-section boom 21 can swing along the up, down, left and right directions relative to the front end of the main boom 11.

[0065] The first connecting member comprises a straight rod ball 23, a ball hinge base 24 and a first hinge shaft 25. The rear end of the first-section boom 21 is fixedly provided with the straight rod ball 23, the straight rod ball 23 is matched with the ball hinge base 24, and the straight rod ball 23 can swing along the up, down, left and right directions relative to the ball hinge base 24. The first hinge shaft 25 is fixedly arranged on the ball hinge base 24 along the horizontal direction, the first hinge shaft 25 is hinged with the front end of the main boom 11, and the first hinge shaft 25 can swing along the up and down directions relative to the front end of the main boom 11.

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

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

[0068] The second connecting component includes a connecting seat 31, a hinge 32, a rotating shaft 33, and a second hinge shaft 34. The rear end of the supporting hydraulic cylinder 3 is hinged to the connecting seat 31 via the hinge 32, allowing the rear end of the supporting hydraulic cylinder 3 to swing up and down relative to the connecting seat 31. The rotating shaft 33 is arranged vertically, and its lower end is mounted to the connecting seat 31 via a bearing, allowing the connecting seat 31 to move around the axis of the rotating shaft 33. The upper end of the rotating shaft 33 is fixedly connected to the second hinge shaft 34, which is arranged horizontally and hinged to the front end of the main boom 11, allowing the second hinge shaft 34 to 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, which 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 movement between the main boom 11 and the rod, preventing the main boom 11 from slipping relative to the rod.

[0070] The swing drive mechanism is connected to the support 4 and the first section of the boom 21 respectively, so as to drive the rear end of the first section of the boom 21 to swing left and right 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] The support member 4 is provided with a first left support seat 611 and a first right support seat 612 on its left and right sides, respectively. 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 The diagram shows the assembly of the first left support 611, the left hydraulic motor 621, the left swing seat 631, etc. The assembly of the first right support 612, the right hydraulic motor 622, the right swing seat 632, etc. is the same as that of the first left support 611, the left hydraulic motor 621, the left swing seat 631, etc.

[0075] The left and right sides of the first section of the boom 21 are respectively provided with a first left boom lug seat 641 and a first right boom lug seat 642; one end of a left swing hydraulic cylinder 651 is fixedly connected to a left swing seat 631, and the other end of the left swing hydraulic cylinder 651 is hingedly connected to the first left boom lug seat 641; one end of a right swing hydraulic cylinder 652 is fixedly connected to a right swing seat 632, and the other end of the right swing hydraulic cylinder 652 is hingedly connected to the first right boom lug seat 642.

[0076] The left swing seat 631 is in a C shape, and the upper end and the lower end of the left swing seat 631 are both connected to the first left support seat 611 via bearings (cylindrical roller bearings 661 and axial thrust ball bearings 662); the right swing seat 632 is in a C shape, and the upper end and the lower end of the right swing seat 632 are both connected to the first right support seat 612 via bearings (cylindrical roller bearings 661 and axial thrust ball bearings 662). The bearings (cylindrical roller bearings 661 and axial thrust ball bearings 662) provided on the upper end and the lower end of the swing seat (the left swing seat 631 and the right swing seat 632) are used to balance the axial and radial forces generated during the swinging of the swing hydraulic cylinder (the left swing hydraulic cylinder 651 and the 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 is matched with 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 is matched with 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 is elongated, and the right swing hydraulic cylinder 652 is retracted, so as to drive the rear end of the first section of the boom 21 to swing right relative to the front end of the main arm frame 11; the left swing hydraulic cylinder 651 is retracted, and the right swing hydraulic cylinder 652 is elongated, so as to drive the rear end of the first section of the boom 21 to swing left relative to the front end of the main arm frame 11.

[0079] During the right swinging of the boom 2 (the first section of the boom 21), the output end of the left hydraulic motor 621 drives the left swing seat 631 to swing right, and the output end of the right hydraulic motor 622 drives the right swing seat 632 to swing right; during the left swinging of the boom 2 (the first section of the boom 21), the output end of the left hydraulic motor 621 drives the left swing seat 631 to swing left, and the output end of the right hydraulic motor 622 drives the right swing seat 632 to swing left. In this way, the hydraulic motor (the left hydraulic motor 621 and the right hydraulic motor 622) is superimposed by the swing hydraulic cylinder (the left swing hydraulic cylinder 651 and the right swing hydraulic cylinder 652), so as to increase the torque of the boom swinging left / right.

[0080] At the same time of swinging left and right of the boom 2 (the first section boom 21), at least one of the left hydraulic motor 621 and the right hydraulic motor 622 swings reversely when the boom 2 (the first section boom 21) swings to approach the target position. Specifically, at least one of the left hydraulic motor 621 and the right hydraulic motor 622 swings to the left when the boom 2 (the first section boom 21) swings to the right to approach the target position; at least one of the left hydraulic motor 621 and the right hydraulic motor 622 swings to the right when the boom 2 (the first section boom 21) swings to the left to approach the target position. In this way, the inertial force of the boom and the working platform 5 is balanced, so that the swinging boom and the working platform 5 can stop smoothly, and the working platform 5 can reach the target position smoothly, avoiding shaking of the working platform 5 when approaching the target position due to the inertial force, and improving the safety of the working platform 5 operation.

[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 hooks to realize the hanging function of the aerial work platform. The hydraulic interface 512 is used to connect hydraulic tools such as hydraulic clamps through hydraulic pipelines to provide hydraulic power sources for the hydraulic tools. The electrical interface 513 is used to connect electric tools through cables to provide power sources for the electric tools.

[0082] The swing driving 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 boom 2 (the first section boom 21), the displacement sensor 72 is used to monitor the extension and retraction 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] The boom 2 (the first section boom 21) 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 support hydraulic cylinder 3 acting on the boom 2 (the first section boom 21), the displacement sensor 72 is used to monitor the extension and retraction displacement of the support hydraulic cylinder 3, and the angle sensor 73 is used to monitor the swing angle of the rear end of the boom 2 (the first section boom 21) relative to the front end of the main boom 11 along the up and down directions.

[0084] The above-mentioned sensors are signal 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 signal connected to the control ends of the hydraulic cylinders and the hydraulic motors, so as to intelligently and accurately control the actions of the hydraulic cylinders and the hydraulic motors according to the data monitored by the sensors, and improve the operation safety of the aerial work platform.

[0085] An intelligent aerial work platform vehicle includes a vehicle chassis 12, a slewing table 13 and a lifting hydraulic cylinder 14, and further includes the arm assembly based on the spatial three-degree-of-freedom boom of the embodiment, the rear end of the main arm support 11 is hinged to the support arm seat 15 on the slewing table 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 arm support 11. The slewing table 13 is rotated relative to the vehicle chassis 12 to drive the main arm support 11 and the boom 2 to swing left and right. The lifting hydraulic cylinder 14 is extended and retracted to drive the main arm support 11 to swing up and down relative to the support arm seat 15.

[0086] A camera 74 is arranged at the front and rear positions of the vehicle chassis 12, and a camera 74 is arranged on the boom 2 (the first section boom 21), and the camera 74 is signal connected to the vehicle-mounted controller and the wireless control display 75.

[0087] The cameras 74 at the front and rear positions of the vehicle chassis 12 are used to monitor the environment around the aerial work platform vehicle in real time, the rotation angle of the slewing table 13, and the lifting height and speed of the main arm support 11 driven by the lifting hydraulic cylinder 14. The camera 74 on the boom 2 is used to monitor the swing angle of the boom 2, the extension displacement of the boom 2, the lifting angle of the boom 2, and the obstacles around the working platform 5.

[0088] Three-dimensional position tracking positioning sensors are respectively arranged at the hinge between the main arm support 11 and the support arm seat 15, the hinge between the boom 2 and the main arm support 11, and the hinge between the working platform 5 and the boom 2. The three-dimensional position tracking positioning sensors can be used to locate the relative positions of the working parts in real time and provide dynamic three-dimensional coordinates. According to the visual images collected by the three three-dimensional position tracking positioning sensors and the three cameras 74, the vehicle-mounted controller processes the images to generate an integrated image of the entire vehicle, and the integrated image displays the data of each part of the vehicle and the working motion state in real time, thereby improving the risk prediction ability and the safety of aerial work. The display connected to the vehicle-mounted controller or the wireless control display 75 is used for display, so that the operator can accurately control the working state, thereby improving the safety of the work and the adaptability to the working environment.

[0089] Embodiment 2:

[0090] Please refer to Figures 13 to 15 The difference between the embodiment and the embodiment 1 is that the swing driving 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 boom ear seat 831, a second right boom ear seat 832, a left front motor 841, a right front motor 842, and a traction rope 85.

[0091] The support member 4 is provided with a second left support seat 811 and a second right support seat 812 on its left and right sides, respectively. The second left support seat 811 is provided with a left rear motor 821, and the second right support seat 812 is provided with a right rear motor 822.

[0092] The left and right sides of the boom 2 (first boom 21) are respectively provided with a second left boom ear 831 and a second right boom ear 832. The left front motor 841 is provided on the second left boom ear 831 and the right front motor 842 is provided on the second right boom ear 832.

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

[0094] like Figure 16 The diagram shows the assembly of the left rear motor 821 with the second left support seat 811, etc. The assembly of the right rear motor 822 with the second right support seat 812, etc., the assembly of the left front motor 841 with the second left flying arm ear seat 831, etc., and the assembly of the right front motor 842 with the second right flying arm ear seat 832, etc. are the same as the assembly of the left rear motor 821 with the second left support seat 811, etc.

[0095] To drive the boom 2 (first boom 21) to swing to the right, the right rear motor 822 drives the winding reel 86 on it to wind the traction rope 85; depending on the tension of the right traction rope 85, the right front motor 842 drives the winding reel 86 on it to remain stationary or wind or release the traction rope 85, so that the tension of the right traction rope 85 is kept within a set range; at the same time, the left rear motor 821 drives the winding reel 86 on it to release the traction rope 85; depending on the tension of the left traction rope 85, the left front motor 841 drives the winding reel 86 on it to remain stationary or wind or release the traction rope 85, so that the tension of the left traction rope 85 is kept within a set range. Similarly, to drive the boom 2 (first boom 21) to swing to the left, the left rear motor 821 drives the winding reel 86 on it to wind the traction rope 85; depending on the tension of the left traction rope 85, the left front motor 841 drives the winding reel 86 on it to remain stationary or wind or unwind the traction rope 85, so that the tension of the left traction rope 85 is kept within a set range; at the same time, the right rear motor 822 drives the winding reel 86 on it to unwind the traction rope 85; depending on the tension of the right traction rope 85, the right front motor 842 drives the winding reel 86 on it to remain stationary or wind or unwind the traction rope 85, so that the tension of the right traction rope 85 is kept within a set range.

[0096] When the boom 2 (the first section boom 21) swings to the right and 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 inertial force of the boom and the working platform 5 is balanced, so that the swinging boom and the working platform 5 can stop smoothly, the working platform 5 can reach the target position smoothly, the working platform 5 can avoid shaking due to the inertial force when approaching the target position, and the safety of the working platform 5 operation is improved.

[0097] The left and right sides of the boom 2 (the first section boom 21) are provided with traction rope pressing mechanisms 9, which are used to press the traction rope 85 on the same side to avoid the traction rope 85 from falling off the winding reel 86 due to being too loose.

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

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

[0100] The action process of the traction rope pressing mechanism 9 is as follows: the extension end of the pressing hydraulic cylinder 93 extends relative to the fixed end, the pressing movable seat 94 drives the pressing member 97 thereon to press one side of the traction rope 85 in the pressing cylinder 95, at the same time, drives the pressing cylinder 95 to move towards the pressing fixed seat 92, the pressing member 97 on the pressing fixed seat 92 presses the other side of the traction rope 85 in the pressing cylinder 95, and the spring 96 buffers the force of the traction rope 85 acted by the pressing hydraulic cylinder 93. The above traction rope pressing mechanism 9 is imitated from the trapping structure of the pitcher plant, which reduces the impact damage to the traction rope 85 and increases the friction force of the traction rope 85.

[0101] So far, the embodiment has been described in detail in combination with the drawings. According to the above description, those skilled in the art should have a clear understanding of the arm assembly based on the spatial three-degree-of-freedom boom and the intelligent aerial work vehicle. The arm assembly based on the spatial three-degree-of-freedom boom is applied to the aerial work vehicle. When the working platform 5 switches the working position with a wide range, the rotating table 13 does not need to rotate. The boom 2 and the working platform 5 are swung up and down through the extension and retraction action of the supporting hydraulic cylinder 3. The boom 2 and the working platform 5 are swung left and right through the swing driving mechanism. The boom 2 itself extends and retracts to drive the working platform 5 to move forward and backward. The degree of freedom and the working range of the working platform 5 are increased. The multi-degree-of-freedom precise adjustment of the working platform 5 to switch the working position with a wide range is realized. The requirement of the aerial work vehicle for the working space is reduced. The intelligent monitoring system is set. The intelligent and precise control of the aerial work vehicle is realized. The operation safety is improved.

[0102] The above-described specific embodiments further illustrate the purpose, technical solutions and beneficial effects of the present application. It should be understood that the above-described embodiments are only specific embodiments of the present application and are not used to limit the present application. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present application should be included in the protection scope of the present application.

Claims

1. A boom assembly based on a spatial three-degree-of-freedom fly jib, characterized in that, Comprise: The main arm frame; The fly arm, the rear end of the fly arm is connected to the front end of the main arm frame, and the rear end of the fly arm can swing along up, down, left and right relative to the front end of the main arm frame; Support hydraulic cylinder, support hydraulic cylinder telescopic to drive the rear end of the fly arm to swing along up, down relative to the front end of the main arm frame; Wherein, the rear end of the support hydraulic cylinder is connected to the front end of the main arm frame, and the support hydraulic cylinder can swing along up, down, left and right relative to the front end of the main arm frame, and the front end of the support hydraulic cylinder is hinged to the fly arm, and the support hydraulic cylinder can swing along up, down relative to the fly arm; Support, hinge the front end of the main arm frame, and the support can swing along up, down relative to the front end of the main arm frame; Swing drive mechanism, respectively connected to the support and the fly arm, to drive the rear end of the fly arm to swing along left, right relative to the front end of the main arm frame; 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 fly arm ear seat, a first right fly arm ear seat, a left swing hydraulic cylinder and a right swing hydraulic cylinder; The left and right sides of the support are respectively provided with the first left support seat and the first right support seat; 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 left and right sides of the fly arm are respectively provided with the first left fly arm ear seat and the first right fly arm ear seat; 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 fly 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 fly arm ear seat; Work platform, arranged in the front end of the fly arm.

2. The arm frame assembly based on the space three-degree-of-freedom fly arm according to claim 1, wherein the swing drive mechanism is provided with a torque sensor, a displacement sensor and an angle sensor, the torque sensor is used for monitoring the torque of the left swing hydraulic cylinder and / or the right swing hydraulic cylinder acting on the fly arm, the displacement sensor is used for monitoring the telescopic displacement of the left swing hydraulic cylinder and / or the right swing hydraulic cylinder, and the angle sensor is used for monitoring the swing angle of the left swing seat and / or the right swing seat.

3. The arm frame assembly based on the space three-degree-of-freedom fly arm according to claim 1, wherein the fly arm is provided with a torque sensor, a displacement sensor and an angle sensor, the torque sensor is used for monitoring the torque of the support hydraulic cylinder acting on the fly arm, the displacement sensor is used for monitoring the telescopic displacement of the support hydraulic cylinder, and the angle sensor is used for monitoring the swing angle of the rear end of the fly arm along up, down relative to the front end of the main arm frame.

4. The arm frame assembly based on the space three-degree-of-freedom fly arm according to claim 1, wherein the fly arm comprises a first section fly arm, a second section fly arm and a fly arm telescopic drive mechanism. ​ ​ ​ The first section of the fly jib and the second section of the fly jib are in sliding fit, the second section of the fly jib can be retracted and extended relative to the first section of the fly jib, and the fly jib retracting and extending drive mechanism drives the second section of the fly jib to retract and extend relative to the first section of the fly jib.

5. An intelligent aerial work platform vehicle comprising a vehicle chassis and a slewing platform, characterized in that: The space three-freedom fly jib based boom assembly of any one of claims 1 to 4 is also included, and the rear end of the main boom is connected to the slewing table.

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