Intelligent overhead working truck with multi-degree-of-freedom workbench and intelligent management and control system

Abstract

The invention discloses an intelligent overhead working truck with a multi-degree-of-freedom workbench and an intelligent management and control system, and belongs to the technical field of overhead working trucks. The intelligent overhead working truck is provided with a working table, and the working table comprises a bottom plate and a transmission assembly; a bidirectional motor and a first sliding assembly are arranged on the bottom plate, the first sliding assembly is connected with a bearing assembly, and the first sliding assembly is used for driving the bearing assembly to move leftwards and rightwards; the bearing assembly is connected with the second sliding assembly and used for driving the second sliding assembly to rotate. The second sliding assembly is connected with the lifting assembly, the lifting assembly is connected with the workbench box body, and the second sliding assembly is used for driving the lifting assembly and the workbench box body to move leftwards and rightwards; the other end of the transmission assembly is connected with the bearing assembly or the second sliding assembly. According to the working table, 360-degree rotation in the horizontal plane of the working table and short-distance movement in three space directions are achieved, the flexibility of the working table is improved, and a constructor can be helped to reach a designated position for operation.

Description

Technical Field

[0001] The present invention belongs to the technical field of aerial work vehicles, and specifically relates to an intelligent aerial work vehicle with a multi-degree-of-freedom workbench and an intelligent management and control system. Background Art

[0002] Aerial work vehicles are tools that use machinery to send people to high altitudes for construction work. With the acceleration of urbanization and the continuous advancement of infrastructure construction in recent years, the market demand for aerial work vehicles has continued to grow. This type of equipment is not only widely used in industries such as construction, electricity, and landscaping, but also shows great application potential in special fields such as petrochemicals, communications, and disaster relief.

[0003] The workbench is the main functional component of the aerial work vehicle. Improving the flexibility of the workbench can not only help construction workers reach the construction location accurately, but also greatly shorten working time and improve work efficiency. For example, the Chinese invention patent with application number CN201811395950.3 discloses an expandable aerial work vehicle work platform, which includes fence part A, fence part B and fence part C. Fence part A, fence part B, fence part C, left front fence and right front fence form a rectangular structure, and the rectangular structure is an open structure. The device allows construction workers to work more flexibly by increasing the geometric shape of the working platform.

[0004] In the prior art, the workbench mostly relies on the movement of the arm mechanism, which has low flexibility. In addition, since the workbench is far away from the ground or the operator in the cab, it is difficult to conduct accurate observation and verbal communication, resulting in great difficulty in operating the workbench, poor control accuracy, and easy collision, which can damage the work vehicle.

[0005] In addition, with the increasing requirements for the intelligence of aerial work vehicles, traditional aerial work vehicles can no longer meet the needs of social production. Existing aerial work vehicles lack intelligent detection and control, and are unable to conduct real-time monitoring of the mechanical data of key components during the vehicle construction process, as well as information such as vehicle damage and overload. Vehicle manufacturers also lack vehicle operation data and cannot grasp the vehicle operation status in a timely manner, and are unable to provide timely and effective guidance to vehicle users, affecting the design of the next generation of products.

[0006] Therefore, it is necessary to propose an intelligent aerial work vehicle with a multi-degree-of-freedom workbench and an intelligent management and control system to solve the above-mentioned technical problems existing in the prior art. Summary of the invention

[0007] The purpose of the present invention is to provide an intelligent aerial work vehicle with a multi-degree-of-freedom workbench and an intelligent management and control system to achieve multi-degree-of-freedom adjustment of the aerial work vehicle workbench, improve the control accuracy of the workbench, and at the same time perform intelligent detection and control of the aerial work vehicle.

[0008] To achieve the above object, the present invention provides the following technical solutions:

[0009] An intelligent aerial work vehicle with a multi-degree-of-freedom workbench, wherein the workbench is arranged on the intelligent aerial work vehicle, and the workbench comprises a bottom plate, a transmission assembly, a first sliding assembly and a second sliding assembly;

[0010] A bidirectional motor and a first sliding assembly are arranged on the bottom plate, the first sliding assembly is connected to the bearing assembly, and the first sliding assembly is used to drive the bearing assembly to move left and right;

[0011] The bearing assembly is connected to the second sliding assembly, and the bearing assembly is used to drive the second sliding assembly to rotate;

[0012] The second sliding assembly is connected to the lifting assembly, the lifting assembly is connected to the workbench box, and the second sliding assembly is used to drive the lifting assembly and the workbench box to move left and right;

[0013] One end of the transmission component is connected to the bidirectional motor, and the other end of the transmission component is selectively connected to the bearing component or the second sliding component.

[0014] An intelligent management and control system, which is arranged on the above-mentioned intelligent aerial work vehicle with a multi-degree-of-freedom workbench;

[0015] The intelligent control system includes several position sensors, several stress sensors, several angle sensors, several bending moment sensors and a control unit;

[0016] The position sensor includes a first position sensor for monitoring the lateral position change of the first slide member, a second position sensor for monitoring the position change of the second slide rail, a third position sensor for monitoring the height change of the workbench box, a fourth position sensor for monitoring the extension length of the cross leg folding arm, and a fifth position sensor for monitoring the extension height of the arm support mechanism;

[0017] The stress sensor includes a first stress sensor for monitoring the stress change of the boom mechanism, a second stress sensor for monitoring the stress change of the workbench, a third stress sensor for monitoring the stress change of the vertical leg, a fourth stress sensor for monitoring the magnitude of the reaction force of the horizontal leg folding arm supported by the vertical leg, and a fifth stress sensor for monitoring the stress change of the horizontal leg main arm;

[0018] The angle sensor includes a first angle sensor for monitoring the rotation angle of the bearing and a second angle sensor for monitoring the angle change of the boom mechanism;

[0019] The bending moment sensor is used to monitor the bending moment changes of the boom mechanism;

[0020] The control unit is connected to the position sensor, stress sensor, angle sensor, bending moment sensor and data output terminal by signals. The data output terminal displays the position and angle change data of the workbench, the stress and position change data of the support mechanism and the bending moment, position, stress and angle change data of the arm mechanism in real time.

[0021] The control unit signal connects the infrared sensor and the controller of the bidirectional motor. When the infrared sensor detects that the gears are not engaged, the control unit controls the bidirectional motor to rotate through the controller of the bidirectional motor until the gears are engaged.

[0022] Compared with the prior art, the present invention has the following beneficial effects:

[0023] 1. The present invention realizes 360-degree rotation in the horizontal plane and short-distance movement in three spatial directions through the multi-degree-of-freedom design of the workbench, which greatly improves the flexibility of the workbench, helps construction workers to reach the designated location more accurately, and adapts to various complex working environments. The motion control of the workbench is carried out through a wireless control handle, which increases the convenience of platform control and avoids the communication barrier with the ground or cab operators during operation.

[0024] 2. The present invention realizes real-time monitoring of mechanical data such as stiffness, strength and fatigue of key components, and can alarm and emergency stop the abnormal situation of the aerial work vehicle, which greatly improves the safety performance; through real-time detection of key components, it can remind vehicle operators to carry out maintenance in time to avoid the occurrence of dangerous events.

[0025] 3. For aerial work vehicles that have been in service, the present invention uploads the vehicle operation status data to the cloud database through the Internet for aggregation. The vehicle manufacturing company uses big data technology to analyze and process the vehicle operation data, determine the potential dangerous time and dangerous structure of the vehicle, and provide fault diagnosis, repair and maintenance reminder information to the vehicle user unit; in addition, based on the early operation data of the vehicle, the manufacturing company can upgrade and iterate subsequent products in a targeted manner, realize customized design of products, and improve product reliability, stability and service life. BRIEF DESCRIPTION OF THE DRAWINGS

[0026] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required to be used in the embodiments are briefly introduced below.

[0027] Figure 1 It is an assembly diagram of the aerial work vehicle in Example 1;

[0028] Figure 2 It is a schematic diagram of the structure of the workbench;

[0029] Figure 3 It is a partial explosion of the workbench Figure 1 ;

[0030] Figure 4 is a schematic structural diagram of a first sliding member;

[0031] Figure 5 is a cross-sectional view of the connection between the second sliding member and the second slide rail;

[0032] Figure 6 It is a partial cross-sectional view of the gear transmission of the workbench;

[0033] Figure 7 It is a partial cross-sectional view of the worm gear transmission of the workbench;

[0034] Figure 8 It is the sensor layout diagram of the workbench;

[0035] Fig. 9 yes Figure 8 A partial enlarged view of the middle A;

[0036] Fig.10 yes Figure 8 A partial enlarged view of point B in the middle;

[0037] Fig.11 yes Figure 8 A partial enlarged view of point C in the middle;

[0038] Fig.12 yes Figure 8 A partial enlarged view of point D in the middle;

[0039] Fig.13 It is a partial explosion of the workbench Figure 2 ;

[0040] Fig.14 is a structural schematic diagram of the support mechanism II;

[0041] Fig.15 is a cross-sectional view of support mechanism II;

[0042] Fig.16 It is a schematic diagram of the structure of the carrying mechanism;

[0043] Fig.17 It is an exploded diagram of the slewing mechanism;

[0044] Fig.18 It is a structural diagram of the arm mechanism;

[0045] Fig.19 It is the overall working range diagram of the aerial work vehicle;

[0046] Fig. 20 It is the sensor arrangement diagram of support mechanism II;

[0047] Fig.21 yes Fig. 20A partial enlarged view of the middle A;

[0048] Fig. 22 yes Fig. 20 A partial enlarged view of point B in the middle;

[0049] Fig.23 yes Fig. 20 A partial enlarged view of point C in the middle;

[0050] Fig.24 It is the arrangement diagram of the sensors of the boom mechanism;

[0051] Fig.25 yes Fig.24 A partial enlarged view of the middle A;

[0052] Fig.26 yes Fig.24 A partial enlarged view of point B in the middle;

[0053] Fig. 27 yes Fig.24 A partial enlarged view of point C in the middle;

[0054] Fig.28 It is the layout diagram of the angle sensor of the boom mechanism;

[0055] Fig.29 yes Fig.28 A partial enlarged view of the middle A;

[0056] Fig.30 yes Fig.28 A partial enlarged view of point B in the middle;

[0057] Fig.31 It is a real-time monitoring diagram of the working status of the aerial work vehicle;

[0058] Fig.32 It is a flow chart of the intelligent management and control system;

[0059] Fig.33 It is a flow chart of information collection, transmission and processing of aerial work vehicles;

[0060] Fig.34 It is an assembly diagram of the aerial work vehicle in Example 2;

[0061] Fig.35 is a schematic diagram of the structure of the support mechanism VI;

[0062] Fig.36 It is the arrangement diagram of the sensors of the support mechanism VI;

[0063] Fig.37 yes Fig.36 A partial enlarged view of the middle A;

[0064] Fig.38 yes Fig.36A partial enlarged view of point B in the middle;

[0065] Fig.39 yes Fig.36 A partial enlarged view of point C in the middle. DETAILED DESCRIPTION

[0066] The technical solutions in the embodiments of the present invention will be described clearly and completely below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, rather than all the embodiments.

[0067] Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in the field without making any creative work shall fall within the scope of protection of the present invention.

[0068] In addition, the technical solutions between the various embodiments of the present invention can be combined with each other, but it must be based on the fact that ordinary technicians in the field can implement it. When the combination of technical solutions is contradictory or cannot be implemented, it should be deemed that such combination of technical solutions does not exist and is not within the scope of protection required by the present invention.

[0069] Example 1

[0070] This embodiment describes an intelligent aerial work vehicle with a multi-degree-of-freedom workbench. Figure 1 As shown, the aerial work vehicle includes a carrying mechanism I, a supporting mechanism II, a rotating mechanism III, a boom mechanism IV and a work platform V.

[0071] The workbench V includes a bottom plate V-26, a transmission assembly, a first sliding assembly and a second sliding assembly;

[0072] A bidirectional motor V-24 and a first sliding assembly are arranged on the bottom plate V-26. The first sliding assembly is connected to the bearing assembly. The first sliding assembly is used to drive the bearing assembly to move left and right.

[0073] The bearing assembly is connected to the second sliding assembly, and the bearing assembly is used to drive the second sliding assembly to rotate;

[0074] The second sliding assembly is connected to the lifting assembly, and the lifting assembly is connected to the workbench box body V-1. The second sliding assembly is used to drive the lifting assembly and the workbench box body V-1 to move left and right;

[0075] One end of the transmission component is connected to the bidirectional motor V-24, and the other end of the transmission component is connected to either the bearing component or the second sliding component.

[0076] The transmission assembly includes a worm V-23, a worm wheel V-12, a telescopic shaft V-11, a telescopic shaft cylinder V-10 and a gear V-9;

[0077] A telescopic shaft cylinder V-10 is sleeved on the telescopic shaft V-11, and a hydraulic cylinder for driving the telescopic shaft V-11 and the telescopic shaft cylinder V-10 to extend and retract is arranged inside the telescopic shaft V-11 and the telescopic shaft cylinder V-10;

[0078] A worm gear V-12 is arranged on the telescopic shaft V-11, and a gear V-9 is arranged on the telescopic shaft cylinder V-10;

[0079] The worm V-23 is connected to the output end of the bidirectional motor V-24, and the worm V-23 is meshed with the worm wheel V-12;

[0080] Gear V-9 is connected to either the bearing assembly or the second sliding assembly.

[0081] The first sliding assembly includes a first sliding rail V-19 and a first sliding member V-17. The first sliding rail V-19 is arranged on the bottom plate V-26, and the first sliding rail V-19 has first grooves on both inner sides; first wheels are arranged on both outer sides of the first sliding member V-17, and the first wheels can move left and right along the first grooves; the first sliding member V-17 is connected to the bearing assembly.

[0082] The bearing assembly includes a bearing V-16 and a bearing connector V-13. The outer ring of the bearing V-16 is connected to the first sliding member V-17, and the inner ring of the bearing V-16 is provided with a gear ring matched with the gear V-9; one end of the bearing connector V-13 is connected to the inner ring of the bearing, and the other end of the bearing connector V-13 is connected to the second sliding assembly.

[0083] The second sliding assembly includes a second slide rail V-8 and a second slide member V-7. The second slide rail V-8 is connected to the bearing connector V-13, and the second slide rail V-8 has a second groove on both inner sides; the second wheels are arranged on the two outer sides of the second slide member V-7, and the second wheels can move left and right along the second groove; the second slide member V-7 has a rack matched with the gear V-9 on both inner sides; the second slide member V-7 is connected to the workbench box V-1.

[0084] In this embodiment, the lifting assembly is a diamond-shaped lifting assembly V-5, the upper end of the diamond-shaped lifting assembly V-5 is provided with a lifting box V-4 connected to the workbench box V-1, and the lower end of the diamond-shaped lifting assembly V-5 is provided with a lifting box V-4 connected to the second sliding member V-7;

[0085] The workbench also includes an infrared sensor V-27 arranged on the base V-26, and the infrared sensor V-27 is connected to the controller of the bidirectional motor and the bidirectional motor V-24 in sequence.

[0086] In this example, black stickers are provided on gear V-9, the gear ring of the inner ring of the bearing, the lower surface of the second sliding member V-7 and the rack. The black stickers cooperate with the infrared sensor V-27 to detect whether gear V-9 is engaged with the gear ring or the rack.

[0087] like Figure 7 As shown, the bidirectional motor V-24 is fixedly connected to the base plate V-26 by the motor clip V-20 through the motor clip bolt V-21, the output end of the bidirectional motor V-24 is connected to the worm V-23 through the coupling V-22, the other end of the worm V-23 is connected to the bearing seat V-25, the end of the worm V-23 is connected to the shaft end baffle, and the two worms V-23 are arranged in reverse symmetry along the axis of the base plate V-26.

[0088] The two worms V-23 engage with the worm wheel V-12 at the same time, and the worm wheel V-12 and the gear V-9 are key-connected through the telescopic shaft tube V-10 and the telescopic shaft V-11.

[0089] like Figure 6 As shown, the telescopic shaft V-11 and the telescopic shaft tube V-10 are telescoped and extended by a hydraulic cylinder. When the telescopic shaft V-11 is not extended, the gear V-9 is meshed with the circular gear ring welded on the innermost side of the bearing V-16. When the telescopic shaft V-11 is extended, the gear V-9 is meshed with the rack on the inner side of the second sliding member V-7.

[0090] When the telescopic shaft V-11 of gear V-9 is extended or shortened, the infrared sensor V-27 can be used to detect whether it affects the meshing of gear V-9. The infrared sensor V-27 is fixed on the base plate V-26. The infrared sensor V-27 detects whether there is an object in the infrared sensing area through the transmitter and the receiver. The range of the infrared sensing area includes the upward radiation area vertical to the base plate V-26, and the height range is from the transmitter end to the lower surface of the lifting box V-4.

[0091] Gear V-9, the gear ring welded to the inner ring of bearing V-16, and the lower surface of the second sliding member V-7 (including the rack) are all pasted with black stickers, which can absorb light, thereby achieving an "invisible" effect in the infrared sensing area. When gear V-9 is not engaged, there is a gap between gear V-9 and the rack or gear ring, and the emitted infrared rays pass through the gap and sense the lower surface of the lifting box V-4 above. The infrared sensor V-27 is connected to the controller of the bidirectional motor and the bidirectional motor V-24 in turn. The bidirectional motor V-24 realizes instantaneous operation, makes a slight rotation of gear V-9, and realizes automatic adjustment of the rotation angle of gear V-9, thereby ensuring that gear V-9 is fully engaged with the rack or gear ring.

[0092] The geometric shape of the first sliding member V-17 is as follows Figure 4 As shown, its two outer sides have the first wheels, the first sliding member V-17 is connected to the outer ring of the bearing V-16 through the first bolt V-18, and the inner ring of the bearing V-16 is connected to the bearing connecting member V-13 through the second bolt V-15.

[0093] The upper and lower ends of the bearing connecting member V-13 are provided with bolt holes, and the bearing connecting member V-13 is connected to the second slide rail V-8 through the third bolt V-14.

[0094] The second wheels on both sides of the second sliding member V-7 are moved with the assistance of the second slide rail V-8. The cooperation between the second sliding member V-7 and the second slide rail V-8 is as follows: Figure 5 shown.

[0095] The second sliding member V-7 is connected to the lifting box V-4 above it by bolts, and the upper and lower lifting boxes V-4 are hinged to the diamond lifting assembly V-5 by a pin shaft. The lifting box V-4 above the diamond lifting assembly V-5 is connected to the workbench box V-1 by a connecting plate V-3 and a connecting plate bolt V-2. A lifting hydraulic cylinder V-6 is provided on the diamond lifting assembly V-5 to control the lifting of the diamond lifting assembly V-5, thereby controlling the lifting of the workbench box V-1.

[0096] The bottom plate V-26 is connected to the flying arm IV-4 in the boom mechanism IV of the aerial work vehicle by welding or bolts, and the position of the workbench V can be adjusted by the driving of the boom main arm IV-1, the boom telescopic arm IV-3 and the flying arm IV-4.

[0097] The sensor position in workbench V is as follows Figure 8 As shown, a first position sensor is placed on one side of the first sliding member V-17 to monitor the lateral position change of the first sliding member V-17 in real time. A second position sensor is placed under the lifting box V-4 connected to the second sliding member V-7 to monitor the relative position change between the second sliding member V-7 and the second slide rail V-8 in real time. A third position sensor is placed under the lifting box V-4 connected to the workbench box V-1 to monitor the height direction position change of the workbench box V-1 in real time.

[0098] The working process of the workbench: the output power of the bidirectional motor V-24 drives the worm gear V-23 to rotate. When the two worm gears V-23 rotate in the same direction, the worm wheel V-12 moves horizontally, and the gear V-9 is meshed with the gear ring welded with the bearing V-16. The worm wheel V-12 drives the upper structure including the workbench box V-1 to move horizontally along the first slide rail V-19 through the telescopic shaft V-11 and the telescopic shaft cylinder V-10; when the two worm gears V-23 rotate in different directions, the position of the worm wheel V-12 remains unchanged. At this time, the two worm gears V-23 drive the worm wheel V-12 to rotate, and the gear V-12 -9 is still meshed with the gear ring welded to the bearing V-16 to realize the rotation of the workbench box V-1; when the two worm gears V-23 turn in different directions, the position of the worm wheel V-12 remains unchanged. At this time, the two worm gears V-23 drive the worm wheel V-12 to rotate, and the telescopic shaft V-11 is extended through the internal hydraulic cylinder and automatically meshed through the infrared sensor V-27, so that the gear V-9 is meshed with the rack on the inner side of the second sliding part V-7, thereby driving the workbench box V-1 to move along the second slide rail V-8 in the horizontal direction, thereby realizing a small range of position adjustment of the workbench box V-1.

[0099] like Fig.13 As shown, this embodiment also innovates the connection between the lifting box V-4 and the diamond lifting assembly V-5. There are slide rails on the inner surface of the lifting box V-4, and there are wheels at both ends of the diamond lifting assembly V-5. Under the extension and retraction of the lifting hydraulic cylinder V-6, the wheels can move on the slide rails to achieve the vertical lifting of the diamond lifting assembly V-5. This embodiment also designs the appearance and lightweight materials of the workbench box V-1. The workbench box V-1 is made of carbon fiber material. According to the weaving method of carbon fiber, the advantage of strong tensile strength of carbon fiber is reasonably utilized, which not only improves the tensile strength of the workbench box V-1, but also achieves lightweight aerial work vehicles.

[0100] like Fig.16 As shown, the transport mechanism I includes a cab I-1, a frame I-2, a mounting chassis I-3, a fuel tank I-4 and a hydraulic pump. The cab I-1 is located at the front end of the transport mechanism I, and is internally arranged with a driving platform, a seat, a temperature control device, etc. The frame I-2 is located behind the cab I-1, and a matching mounting chassis I-3 is installed above it. The mounting chassis I-3 can be used to connect the transport system and the working system. The mounting chassis I-3 can be personalized for different needs. The fuel tank I-4 and the hydraulic pump are fixedly connected to the frame I-2 at the bottom of the vehicle.

[0101] like Fig.17 As shown, the slewing mechanism III includes a slewing box III-1, a slewing support bearing III-2, a slewing pinion III-3, a connecting rod III-4, a slewing reducer III-5, a hydraulic motor buckle III-6, a hydraulic motor III-7 and a hydraulic motor base III-8.

[0102] The hydraulic motor buckle III-6 cooperates with the hydraulic motor base III-8 to fix the hydraulic motor III-7.

[0103] The output shaft of the hydraulic motor III-7 is connected to the rotary reducer III-5, one end of the connecting rod III-4 is key-connected to the rotary reducer III-5, and the other end is key-connected to the rotary forward pinion III-3. A circular rack is welded to the inner ring of the rotary support bearing III-2, and the gear ring of the rotary forward pinion III-3 is meshed with the inner ring rack of the rotary support bearing III-2. The outer ring of the rotary support bearing III-2 is connected to the rotary housing III-1 by bolts. There are bolt holes at the lower end of the rotary housing III-1, which is connected and fixed to the carrying mechanism I by bolts.

[0104] The outer ring of the slewing support bearing III-2 is fixed, and the inner ring of the slewing support bearing III-2 is connected to the boom base IV-6 by bolts. When the power of the hydraulic motor III-7 drives the slewing forward pinion III-3 to rotate, the inner ring of the slewing support bearing III-2 meshing with the slewing forward pinion III-3 rotates, thereby driving the upper boom mechanism IV to rotate.

[0105] like Fig.18 As shown, the boom mechanism IV includes the boom main arm IV-1, the boom small hydraulic cylinder IV-2, the boom telescopic arm IV-3, the flying arm IV-4, the boom large hydraulic cylinder IV-5 and the boom base IV-6. The upper end of the boom base IV-6 is hinged to the boom main arm IV-1, and the two ends of the boom small hydraulic cylinder IV-2 are respectively hinged to the middle of the boom base IV-6 and the middle of the boom main arm IV-1.

[0106] One end of the boom large hydraulic cylinder IV-5 is hinged to the carrying mechanism I, and the other end is hinged to the boom main arm IV-1. Each telescopic arm in the boom telescopic arm IV-3 is nested and connected, and the hydraulic cylinder provides power to extend and retract with the assistance of the internal slide rail of each telescopic arm. The boom telescopic arm IV-3 and the boom main arm IV-1 are also nested and extended and retracted with the assistance of the slide rail through the hydraulic cylinder. The flying arm IV-4 is hinged to the top of the boom telescopic arm IV-3.

[0107] The material of the arm mechanism IV is high-strength low-carbon steel, and bs700 is used in this embodiment.

[0108] like Fig.14 and Fig.15 As shown, the support mechanism II includes a horizontal leg telescopic arm II-1, a first hydraulic cylinder II-3, a second hydraulic cylinder II-2, a horizontal leg main arm II-4, a protective cover II-5, a first dead point rod II-6, a second dead point rod II-7, a foot support II-8 and a vertical leg II-9.

[0109] One end of the first hydraulic cylinder Ⅱ-3 is connected to the cross leg main arm Ⅱ-4, and the other end of the first hydraulic cylinder Ⅱ-3 is connected to the cross leg telescopic arm Ⅱ-1;

[0110] The cross leg telescopic arm Ⅱ-1 is nested in the cross leg main arm Ⅱ-4, and the cross leg telescopic arm Ⅱ-1 can slide in the cross leg main arm Ⅱ-4;

[0111] One end of the horizontal leg telescopic arm II-1 away from the horizontal leg main arm II-4 is hinged to the vertical leg II-9;

[0112] The horizontal leg telescopic arm Ⅱ-1 is hinged to the first dead point rod Ⅱ-6, the vertical leg Ⅱ-9 is hinged to the second dead point rod Ⅱ-7, and the first dead point rod Ⅱ-6 is hinged to the second dead point rod Ⅱ-7;

[0113] One end of the second hydraulic cylinder Ⅱ-2 is hinged to the cross-leg telescopic arm Ⅱ-1, and the other end of the second hydraulic cylinder Ⅱ-2 is hinged to the end of the first dead point rod Ⅱ-6 away from the cross-leg telescopic arm Ⅱ-1;

[0114] One end of the horizontal leg main arm II-4 away from the vertical leg II-9 is arranged on the aerial work vehicle carrying mechanism I;

[0115] When the support mechanism II is in a folded state, the first dead point rod II-6 and the second hydraulic cylinder II-2 are retracted in the internal hollow structure of the horizontal leg telescopic arm II-1, the second dead point rod II-7 is retracted in the internal hollow structure of the vertical leg II-9, and the vertical leg II-9 and the horizontal leg telescopic arm II-1 are jointly retracted in the horizontal leg main arm II-4.

[0116] One end of the horizontal leg telescopic arm Ⅱ-1 is hinged to the vertical leg Ⅱ-9 through a pin shaft, and the middle part of the horizontal leg telescopic arm Ⅱ-1 is hinged to the second hydraulic cylinder Ⅱ-2 and the first dead point rod Ⅱ-6 through a pin shaft.

[0117] Both ends of the first hydraulic cylinder Ⅱ-3 are fixedly connected to the cross-leg telescopic arm Ⅱ-1 and the cross-leg main arm Ⅱ-4 through pin shafts. The cross-leg telescopic arm Ⅱ-1 is nested inside the cross-leg main arm Ⅱ-4, and relative movement between the two can be achieved by telescoping the first hydraulic cylinder Ⅱ-3.

[0118] The inner side of the protective cover II-5 and the outer side of the cross leg main arm II-4 are interlocked with each other and can be nested for installation.

[0119] The two ends of the second dead point rod Ⅱ-7 are respectively hinged with the first dead point rod Ⅱ-6 and the vertical leg Ⅱ-9 through a pin shaft, the bottom of the vertical leg Ⅱ-9 is welded to the foot support Ⅱ-8, and both ends of the second dead point rod Ⅱ-7 and the first dead point rod Ⅱ-6 are provided with hinge holes.

[0120] The first hydraulic cylinder II-3 and the second hydraulic cylinder II-2 are both connected to the hydraulic pump of the aerial work vehicle.

[0121] The internal hollow structures of the horizontal leg telescopic arm Ⅱ-1 and the vertical leg Ⅱ-9 are both reinforced with ribs to improve the mechanical properties.

[0122] The material of the support mechanism II is high-strength low-carbon steel, and bs700 is used in this embodiment.

[0123] The working range of the aerial work platform is as follows Fig.19 shown in the figure. The working range is a, where 0m < a < 40m; the boom length range is b, where 0m < b < 40m, the boom pitching angle is θ, where -8° < θ < 85°; the slewing range of the turntable is β, where 0° < β < 120°.

[0124] As Fig.32 and Fig.33 shown in the figure, this embodiment also describes a smart control system, which is arranged on the intelligent aerial work platform with a multi-degree-of-freedom workbench mentioned above.

[0125] The smart control system includes several position sensors, several angle sensors, several stress sensors, several bending moment sensors and a control unit;

[0126] A first position sensor for monitoring the lateral position change of the first sliding member V-17 is arranged on the first sliding member V-17, and a first angle sensor is placed below the bearing connecting member V-13 to monitor the rotation angle of the bearing V-16 in real time. A second position sensor for monitoring the position change of the second sliding member V-7 is arranged on the lifting box V-4 connected to the second sliding member V-7, and a third position sensor for monitoring the height change of the workbench box V-1 is arranged on the lifting box V-4 connected to the workbench box V-1;

[0127] A bending moment sensor for monitoring the bending moment change, a fifth position sensor for monitoring the elongation height of the boom mechanism IV, a first stress sensor for monitoring the stress change of the boom mechanism IV, and a second angle sensor for monitoring the angle change of the boom mechanism IV are arranged on the boom mechanism IV of the intelligent aerial work platform;

[0128] The control unit is signal-connected to each position sensor, each angle sensor, each stress sensor, each bending moment sensor and the data output terminal. The data output terminal displays the position and angle change data of the workbench V, the stress and position change data of the support mechanism II, and the bending moment, position, stress and angle change data of the boom mechanism IV in real time;

[0129] The control unit is signal-connected to the infrared sensor V-27 and the controller of the bidirectional motor V-24. When the infrared sensor V-27 detects that the gear V-9 is not engaged, the control unit controls the bidirectional motor V-24 to rotate through the controller of the bidirectional motor V-24 until the gear V-9 is engaged.

[0130] The smart control system also includes a human-machine interaction unit, which enables the operator to perform remote control through a multi-mode handle or a computer interface, such as multi-touch (supporting the operation interface of a navigation disk or a projector).

[0131] The smart management and control system also includes a trajectory intelligent control unit, which can perceive the environment and use a variety of sensors to accurately obtain the spatial layout of the high-altitude working area and realize automatic trajectory planning.

[0132] Based on visual recognition, deep learning algorithms and computer path optimization algorithms (such as AI algorithm or robot kinematic planning), the optimal operation route is generated and transmitted to the data output end of the cab Ⅰ-1. In this embodiment, the data output end is a display screen, which adjusts the target point coordinates or step size according to the task objectives; as well as the execution of mode trajectories, it supports switching between fixed trajectory, random trajectory and mixed trajectory modes to adapt to different work scenarios, and can also provide vibration or light feedback prompts to help operators understand the real-time status of the equipment.

[0133] Next, a mechanical analysis of the aerial work vehicle is performed at the extreme position to determine the installation position of the sensor.

[0134] The vertical leg with the largest support reaction force is found by calculating the support reaction force of the support mechanism II, and then the point with the maximum stress on the vertical leg is calculated through strength analysis. The maximum point is the connection between the second dead point rod II-7 and the vertical leg II-9. This place is designed to be hollow to accommodate the second dead point rod II-7 and achieve lightweight. The stress is concentrated here, so the sixth stress sensor is placed here.

[0135] The sixth position sensor is placed at the connection between the vertical leg II-9 and the horizontal leg telescopic arm II-1 to monitor the extension length of the horizontal leg telescopic arm II-1 of the support mechanism II in real time. Since the horizontal leg telescopic arm II-1 is subjected to the reaction force of the vertical leg II-9 at this connection, the seventh stress sensor should also be placed here.

[0136] The total length of the cross leg telescopic arm Ⅱ-1 and the cross leg main arm Ⅱ-4 in the extended state is simplified to a cantilever beam. The maximum bending moment is at the maximum distance from the vertical leg Ⅱ-9. According to the shear stress calculation formula, the cross-sectional area of ​​the cross leg telescopic arm Ⅱ-1 is about half of the cross leg main arm Ⅱ-4. Therefore, the shear stress at the outermost part of the cross leg main arm Ⅱ-4 is the largest, and the eighth stress sensor is placed here. The sensor placement position is as follows: Fig. 20 shown.

[0137] The boom mechanism IV is simplified to a cantilever beam. The maximum bending moment is at the hinge of the boom main arm IV-1 and the boom base IV-6, and a bending moment sensor is placed here. As the boom telescopic arm IV-3 is extended, a fifth position sensor is placed at the end of the boom telescopic arm IV-3 to monitor its extension height in real time. At the same time, as the cross-sectional area of ​​the boom telescopic arm IV-3 gradually decreases from the outside to the inside, according to the strength and stiffness calculation formula, the dangerous node of the boom telescopic arm IV-3 should be the innermost telescopic arm, and the first stress sensor is placed at this dangerous node. The sensor is placed as shown in the following figure. Fig.24 and Fig.28 shown.

[0138] Boom mechanism IV strength and stiffness analysis:

[0139]

[0140] Where, F is the maximum pressure on the boom (N); A 3 is the pressure area (m 2 ).

[0141]

[0142] Among them, F Q2 is the arm shear force (N); A4 is the arm shear surface area (m 2 ).

[0143] Bending section coefficient W z for:

[0144]

[0145] Among them, B is the outer surface width of the telescopic arm of the boom, b is the inner surface width of the telescopic arm of the boom, H is the outer surface height of the telescopic arm of the boom, and h is the inner surface height of the telescopic arm of the boom.

[0146] In order to monitor the stress changes of workbench V in real time, a second stress sensor is placed on the bottom plate at the end of flying arm IV-4.

[0147] The calculation formula for anti-overturning stability is:

[0148]

[0149] Among them, G z G is the overall weight of the chassis Ⅰ-3, support mechanism Ⅱ and slewing mechanism Ⅲ; x is the weight of the lower arm (N); G s is the weight of the upper arm (N); G d is the working bucket and load (N); L z is the distance between the center of gravity of the vehicle body and the overturning line (m); L x is the distance between the center of gravity of the lower arm and the overturning line (m); L s is the distance between the center of gravity of the upper arm and the overturning line (m); L d It is the distance between the center of gravity of the working bucket and load and the overturning line (m).

[0150] Considering that the materials of support mechanism II and arm mechanism IV are both low-carbon steel, the fourth strength theory formula is used for calculation:

[0151]

[0152] Among them, σ 1, σ 2 , σ 3 The three principal stresses at the representative point; σ r4 It is the fourth strength theoretical fatigue limit.

[0153] The calculated stress σ of support mechanism II and arm mechanism IV r4 and material yield strength σ y For comparison: r4＜＜ σ y , due to the stress σ r4 Much smaller than the yield strength σ y , meeting the design requirements.

[0154] After mechanical analysis of the aerial work vehicle, sensors are installed at extreme positions.

[0155] Calculate the power source:

[0156] Cylinder thrust:

[0157]

[0158] Cylinder pulling force:

[0159]

[0160] Extension speed:

[0161]

[0162] Retraction speed:

[0163]

[0164] Among them, F 1 is the force generated in the rodless cavity (N); F 2 is the force generated in the rod cavity (N); A is the area of ​​the rodless cavity (m 2 );D is the inner diameter of the oil cylinder (m); d is the diameter of the piston rod (m); V 1 V is the piston rod extension speed (m / s); 2 is the piston rod retraction speed (m / s); Q 1 is the oil flow rate from the rodless chamber side of the cylinder (m 3 / s); Q 2 is the oil flow rate from the rod chamber side of the cylinder (m 3 / s), P 1 is the pressure on the rodless side of the cylinder, P 2 It is the pressure on the rod side of the cylinder.

[0165] The power source uses the chassis engine to transmit power to the hydraulic pump through the power output. The hydraulic oil is sucked from the oil tank to the oil pump through the coarse filter, and then the pressure oil output by the hydraulic pump is delivered to the working circuit through the fine filter. The actions of the working device, such as the extension and retraction of the support mechanism II, the rotation of the arm mechanism and the slewing mechanism are all controlled by the corresponding hydraulic working device through the corresponding reversing valve.

[0166] A display screen is installed in the cab Ⅰ-1, which can reflect the information of the aerial work vehicle in real time, such as Fig.31 As shown in the figure, during aerial work, it is inconvenient for construction workers to communicate with operators due to the long distance, so construction workers can use wireless handles to accurately reach the construction site to work.

[0167] Various sensors of the intelligent management and control system are connected to the control unit. During the operation of the aerial work vehicle, stress, bending moment, temperature and other sensors are used for perception. After the signal is converted, the information is collected and processed by the chip of the control unit. The data working conditions are analyzed through the automatic identification module of the control unit, and energy, geometry, mechanical properties and other aspects are monitored in real time. The real-time monitoring results and test results can be viewed on the computer screen. If an abnormality occurs, such as energy exceeding the limit, sensor threshold abnormality, etc., the corresponding alarm function of the control unit will be triggered, and corresponding control measures will be taken, such as emergency stop or self-adjustment of the controller. At the same time, the control unit background will summarize, analyze, calculate and score the data, which can realize functions such as performance optimization and fault diagnosis, and can also generate logs and provide personalized reminders to fully ensure the stable operation and efficient management of the equipment.

[0168] In this embodiment, for aerial work vehicles that have been in service, the vehicle operation status data is uploaded to the cloud database for aggregation through the Internet. The vehicle manufacturing company uses big data technology to analyze and process the vehicle operation data, determine the potential dangerous time and dangerous structure of the vehicle, and provide fault diagnosis, repair and maintenance reminder information to the vehicle user unit; in addition, based on the early operation data of the vehicle, the manufacturing company can upgrade and iterate subsequent products in a targeted manner, realize customized design of the product, and improve the reliability, stability and service life of the product.

[0169] Example 2

[0170] like Fig.34 As shown, this embodiment also relates to an aerial work vehicle. Except for the following technical features that are different from the above-mentioned embodiment 1, the remaining technical features of the aerial work vehicle can refer to the above-mentioned embodiment 1.

[0171] Another supporting mechanism VI is provided on the aerial work vehicle in this embodiment, and the supporting mechanism VI includes a slide rail assembly VI-6, a first hydraulic cylinder VI-4, a second hydraulic cylinder VI-3, a third hydraulic cylinder VI-12, a first dead point rod VI-11 and a second dead point rod VI-13 provided on the chassis of the aerial work vehicle.

[0172] A rack assembly VI-5 is arranged at the notch of the slide rail assembly VI-6, and the rack assembly VI-5 is engaged with the slide rail on the lower surface of the slide rail assembly VI-6; one end of the first hydraulic cylinder VI-4 is connected to the upper surface of the slide rail assembly VI-6, and the other end is fixedly connected to the rack assembly VI-5, and the first hydraulic cylinder VI-4 can drive the rack assembly VI-5 to move left and right along the slide rail; the rack assembly VI-5 is engaged with the gear assembly VI-7, and the gear assembly VI-7 is connected to the cross leg main arm VI-9, and the cross leg main arm VI-9 is hinged to the cross leg folding Arm VI-10, horizontal leg folding arm VI-10 is hinged to vertical leg VI-2; one end of the second hydraulic cylinder VI-3 is hinged to the horizontal leg main arm VI-9, and the other end is hinged to the horizontal leg folding arm VI-10; the first dead point rod VI-11 is hinged to the horizontal leg folding arm VI-10, the second dead point rod VI-13 is hinged to the vertical leg VI-2, and the first dead point rod VI-11 is hinged to the second dead point rod VI-13; one end of the third hydraulic cylinder VI-12 is hinged to the horizontal leg folding arm VI-10, and the other end is hinged to the first dead point rod VI-11.

[0173] The bolt holes on the bottom of the rail assembly VI-6 are connected to the carrying mechanism I by bolts. There is a boss on the upper end of the rail assembly VI-6. One end of the first hydraulic cylinder VI-4 is fixedly connected to the boss, and the other end is fixedly connected to the boss on the upper surface of the rack assembly VI-5. The rack assembly VI-5 is located at the square notch of the rail assembly VI-6. There is a rail on the lower surface of the rail assembly VI-6. The rack assembly VI-5 is connected with the rail. The gear assembly VI-7 is located below the rack assembly VI-5 and meshes with its gear. One end of the gear assembly VI-7 has a circular outer surface and a square hollow structure inside. The cross leg main arm VI-9 is nested in the square hollow structure. The gear assembly VI-7 is rigidly connected to one end of the cross leg main arm VI-9 through the bearing seat VI-8 through a pin shaft. The bearing seat VI-8 is fixedly connected to the carrying mechanism I by bolts. The other end of the cross-leg main arm VI-9 is respectively hinged to the second hydraulic cylinder VI-3 and the cross-leg folding arm VI-10, and the other end of the second hydraulic cylinder VI-3 is also hinged to the cross-leg folding arm VI-10.

[0174] The middle part of the horizontal leg folding arm VI-10 is respectively hinged with the first dead point rod VI-11 and the third hydraulic cylinder VI-12 through a pin shaft. The second dead point rod VI-13 is respectively hinged with the first dead point rod VI-11 and the vertical leg VI-2 through a pin shaft, the bottom of the vertical leg VI-2 is welded with the foot support VI-1, and both ends of the second dead point rod VI-13 and the first dead point rod VI-11 are provided with hinge holes.

[0175] The internal hollow structures of the horizontal leg folding arm VI-10 and the vertical leg VI-2 are both reinforced with ribs to improve the mechanical properties.

[0176] The material of the support mechanism VI is high-strength low-carbon steel, and bs700 is used in this embodiment.

[0177] The support mechanism VI can be folded and retracted from the side to form the horizontal leg folding arm VI-10 and the vertical leg VI-2. By folding and retracting the support mechanism VI, the obstruction of the aerial work vehicle during driving is reduced.

[0178] In this embodiment, a sensor is installed on the support mechanism VI to monitor the working condition of the support mechanism VI. The sensor is placed at a position such as Fig.36 shown.

[0179] By calculating the support reaction force of the support leg VI of the supporting mechanism, the leg with the largest support reaction force is found, and then the point where the vertical leg VI-2 is subjected to the maximum stress is calculated through the strength analysis of the vertical leg VI-2. The maximum point is the connection between the second dead point rod VI-13 and the vertical leg VI-2. This place is designed to be hollow to accommodate the second dead point rod VI-13 and achieve lightweight. The stress is concentrated here, so the third stress sensor is placed here.

[0180] A fourth position sensor is placed at the connection between the vertical leg VI-2 and the horizontal leg folding arm VI-10 to monitor the extension length of the support mechanism crossbeam in real time. Since the horizontal leg folding arm VI-10 at this connection is subjected to the reaction force of the vertical leg VI-2, a fourth stress sensor should also be placed here.

[0181] When extended, the folding arm VI-10 of the horizontal leg and the main arm VI-9 of the horizontal leg are mechanically simplified to cantilever beams. The maximum bending moment is at the maximum distance from the vertical leg VI-2. According to the shear stress calculation formula, the shear stress at the outermost part of the main arm VI-9 of the horizontal leg is the largest, and the fifth stress sensor is placed here.

[0182] The working process of the aerial work vehicle is as follows: after the aerial work vehicle travels to the designated position through the carrying mechanism I, when the supporting mechanism VI is supporting, the first hydraulic cylinder VI-4 drives the rack assembly VI-5 to move by telescoping, and the rack assembly VI-5 is meshed with the gear of the gear assembly VI-7. Driven by the rack assembly VI-5, the gear assembly VI-7 is rotated 90 degrees, and the second hydraulic cylinder VI-3 is extended to drive the horizontal leg folding arm VI-10 to swing. At the same time, the third hydraulic cylinder Cylinder VI-12 is extended to make its foot support VI-1 contact with the ground to achieve support; slewing mechanism III realizes horizontal rotation under the power output of hydraulic motor III-7, the small hydraulic cylinder IV-2 of the boom and the large hydraulic cylinder IV-5 of the boom are extended to adjust the inclination angle, the telescopic arm IV-3 of the boom is extended, and after the telescopic arm IV-3 of the boom is extended to the specified position, the flying arm IV-4 adjusts its position through the swing of the hydraulic cylinder, and the workbench V arrives at the specified location for operation, and can be retracted along the original route when work stops.

[0183] The embodiments of the present invention are only used to illustrate the technical solutions of the present invention rather than to limit the present invention. It can be understood by those skilled in the art that various changes, modifications, substitutions and variations may be made to the embodiments without departing from the principles and spirit of the present invention. The scope of the present invention is defined by the attached claims and their equivalents.

Claims

1. An intelligent aerial work vehicle with a multi-degree-of-freedom workbench, characterized in that: A workbench is arranged on the intelligent aerial work vehicle, and the workbench comprises a bottom plate, a transmission assembly, a first sliding assembly and a second sliding assembly; A bidirectional motor and a first sliding assembly are arranged on the bottom plate, the first sliding assembly is connected to the bearing assembly, and the first sliding assembly is used to drive the bearing assembly to move left and right; The bearing assembly is connected to the second sliding assembly, and the bearing assembly is used to drive the second sliding assembly to rotate; The second sliding assembly is connected to the lifting assembly, the lifting assembly is connected to the workbench box, and the second sliding assembly is used to drive the lifting assembly and the workbench box to move left and right; One end of the transmission component is connected to the bidirectional motor, and the other end of the transmission component is selectively connected to the bearing component or the second sliding component.

2. The intelligent aerial work vehicle with a multi-degree-of-freedom workbench according to claim 1 is characterized in that: The transmission assembly includes a worm, a worm wheel, a telescopic shaft, a telescopic shaft cylinder and a gear; A telescopic shaft is sleeved on the telescopic shaft, and a hydraulic cylinder is arranged inside the telescopic shaft and the telescopic shaft, which is used to drive the telescopic shaft and the telescopic shaft to extend and retract; A worm gear is arranged on the telescopic shaft, and a gear is arranged on the telescopic shaft cylinder; The worm is connected to the output end of the bidirectional motor, and the worm is meshed with the worm wheel; The gear is selectively connected to the bearing assembly or the second sliding assembly.

3. The intelligent aerial work vehicle with a multi-degree-of-freedom workbench according to claim 2 is characterized in that: The first sliding assembly includes a first sliding rail and a first sliding member; The first slide rail is arranged on the bottom plate, and a first groove is provided on the first slide rail; A first wheel is arranged on the first sliding member, and the first wheel can move leftward and rightward along the first groove; The first sliding member is connected to the bearing assembly.

4. The intelligent aerial work vehicle with a multi-degree-of-freedom workbench according to claim 3 is characterized in that: The bearing assembly comprises a bearing and a bearing connector; The outer ring of the bearing is connected to the first sliding member, and the inner ring of the bearing is provided with a gear ring matched with the gear; One end of the bearing connecting piece is connected to the inner ring of the bearing, and the other end of the bearing connecting piece is connected to the second sliding component.

5. The intelligent aerial work vehicle with a multi-degree-of-freedom workbench according to claim 4 is characterized in that: The second sliding assembly includes a second sliding rail and a second sliding member; The second slide rail is connected to the bearing connector, and the second slide rail has second grooves on both inner sides; Second wheels are arranged on two outer sides of the second sliding member, and the second wheels can move left and right along the second groove; Racks matching the gears are arranged on the two inner sides of the second sliding member; The second sliding member is connected to the lifting assembly.

6. The intelligent aerial work vehicle with a multi-degree-of-freedom workbench according to claim 5, characterized in that: The upper end of the lifting assembly is provided with a lifting box body connected to the workbench box body, and the lower end of the lifting assembly is provided with a lifting box body connected to the second sliding member.

7. The intelligent aerial work vehicle with a multi-degree-of-freedom workbench according to claim 6, characterized in that: Also included is an infrared sensor disposed on the bottom plate; The infrared sensor is connected to the controller of the bidirectional motor and the bidirectional motor in sequence.

8. The intelligent aerial work vehicle with a multi-degree-of-freedom workbench according to claim 7, characterized in that: The gear, the gear ring of the inner ring of the bearing, the lower surface of the second sliding member and the rack are all provided with black stickers; The black sticker cooperates with the infrared sensor to detect whether the gear is meshed with the ring gear or the rack.

9. The intelligent aerial work vehicle with a multi-degree-of-freedom workbench according to claim 8, characterized in that: A supporting mechanism is provided on the intelligent aerial work vehicle; The support mechanism includes a slide rail assembly, a first hydraulic cylinder, a second hydraulic cylinder, a third hydraulic cylinder, a first dead point rod and a second dead point rod arranged on the chassis of the intelligent aerial work vehicle; A rack assembly is arranged at the notch of the slide rail assembly, and the rack assembly is engaged and connected with the slide rail on the lower surface of the slide rail assembly; One end of the first hydraulic cylinder is connected to the upper surface of the slide rail assembly, and the other end is connected to the rack assembly. The first hydraulic cylinder can drive the rack assembly to move left and right along the slide rail; The rack assembly is meshed with the gear assembly, the gear assembly is connected to the main arm of the horizontal leg, the main arm of the horizontal leg is hinged to the folding arm of the horizontal leg, and the folding arm of the horizontal leg is hinged to the vertical leg; One end of the second hydraulic cylinder is hinged to the cross leg main arm, and the other end is hinged to the cross leg folding arm; The first dead point rod is hinged to the horizontal leg folding arm, the second dead point rod is hinged to the vertical leg, and the first dead point rod is hinged to the second dead point rod; One end of the third hydraulic cylinder is hinged to the horizontal leg folding arm, and the other end is hinged to the first dead point rod.

10. An intelligent management and control system, characterized in that: The intelligent management and control system is arranged on the intelligent aerial work vehicle with a multi-degree-of-freedom workbench as described in any one of claims 1 to 9; The intelligent control system includes several position sensors, several stress sensors, several angle sensors, several bending moment sensors and a control unit; The position sensor includes a first position sensor for monitoring the lateral position change of the first slide member, a second position sensor for monitoring the position change of the second slide rail, a third position sensor for monitoring the height change of the workbench box, a fourth position sensor for monitoring the extension length of the cross leg folding arm, and a fifth position sensor for monitoring the extension height of the arm support mechanism; The stress sensor includes a first stress sensor for monitoring the stress change of the boom mechanism, a second stress sensor for monitoring the stress change of the workbench, a third stress sensor for monitoring the stress change of the vertical leg, a fourth stress sensor for monitoring the magnitude of the reaction force of the horizontal leg folding arm supported by the vertical leg, and a fifth stress sensor for monitoring the stress change of the horizontal leg main arm; The angle sensor includes a first angle sensor for monitoring the rotation angle of the bearing and a second angle sensor for monitoring the angle change of the boom mechanism; The bending moment sensor is used to monitor the bending moment changes of the boom mechanism; The control unit is connected to the position sensor, stress sensor, angle sensor, bending moment sensor and data output terminal by signals. The data output terminal displays the position and angle change data of the workbench, the stress and position change data of the support mechanism and the bending moment, position, stress and angle change data of the arm mechanism in real time. The control unit signal connects the infrared sensor and the controller of the bidirectional motor. When the infrared sensor detects that the gears are not engaged, the control unit controls the bidirectional motor to rotate through the controller of the bidirectional motor until the gears are engaged.

Images