Rotary folding supporting leg and overhead working truck

Abstract

The invention discloses a rotary folding supporting leg and an overhead working truck, and belongs to the technical field of overhead working trucks. The rotary folding supporting leg comprises a sliding rail assembly, a rack assembly is arranged at a notch of the sliding rail assembly, and the rack assembly is connected with the sliding rail assembly; one end of the first hydraulic cylinder is connected with the upper surface of the sliding rail assembly, the other end of the first hydraulic cylinder is connected with the rack assembly, and the first hydraulic cylinder can drive the rack assembly to move left and right along the sliding rail assembly. The rack assembly is meshed with the gear assembly, the gear assembly is connected with the transverse leg main arm, the transverse leg main arm is hinged to the transverse leg folding arm, and the transverse leg folding arm is hinged to the vertical leg. One end of the second hydraulic cylinder is hinged to the transverse leg main arm, and the other end of the second hydraulic cylinder is hinged to the transverse leg folding arm; one end of the dead point assembly is hinged to the transverse leg folding arm, and the other end is hinged to the vertical leg. When the overhead working truck is in a non-working state, folding storage can be achieved between the transverse leg folding arm and the vertical leg and between the transverse leg folding arm and the transverse leg main arm through the hydraulic cylinders, and the width of the whole truck is effectively reduced.

Description

Technical Field

[0001] The invention belongs to the technical field of aerial work vehicles, and in particular relates to a rotating folding support leg and an aerial work vehicle. Background Art

[0002] Aerial work vehicles are multifunctional engineering vehicles designed for aerial work scenarios. Their core function is to safely and efficiently deliver personnel and equipment to a designated height with the help of machinery, platforms or other devices to complete various aerial work tasks. In recent years, with the acceleration of urbanization and the continuous advancement of infrastructure construction, 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 support leg is an essential functional component of the aerial work vehicle, and its load-bearing capacity is related to the working safety of the aerial work vehicle. If the support leg is damaged or fails, the entire work vehicle will tilt or even collapse, causing a serious accident. Therefore, the design of the support leg must ensure extremely high structural stability and safety. 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. Therefore, while optimizing the structure of aerial work vehicles, the introduction of intelligent detection and control systems has become an inevitable trend.

[0004] The supporting legs in the prior art are relatively large, which not only increases the width of the vehicle body, but also increases the difficulty of road transportation. In a crowded working environment, the wide vehicle body is prone to scratching the surrounding equipment, building structures or pipelines, damaging the vehicle body or other people's materials. At the same time, the stability and anti-rollover performance of the supporting legs in the prior art need to be improved.

[0005] Therefore, it is necessary to propose a rotating and folding support leg and an aerial work vehicle to solve the above-mentioned technical problems existing in the prior art. Summary of the invention

[0006] The purpose of the present invention is to provide a rotating and folding support leg and an aerial work vehicle, which can realize the rotating and folding of the support leg while ensuring the stability of the support leg.

[0007] To achieve the above object, the present invention provides the following technical solutions:

[0008] A rotating folding support leg comprises a slide rail assembly, a first hydraulic cylinder, a second hydraulic cylinder and a dead point assembly arranged on a carrying mechanism of an aerial work vehicle;

[0009] A rack assembly is arranged at the notch of the slide rail assembly, and the rack assembly is connected to the slide rail assembly;

[0010] One end of the first hydraulic cylinder is connected to the upper surface of the slide rail assembly, and the other end of the first hydraulic cylinder is connected to the rack assembly. The first hydraulic cylinder can drive the rack assembly to move left and right along the slide rail assembly;

[0011] 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;

[0012] One end of the second hydraulic cylinder is hinged to the cross leg main arm, and the other end of the second hydraulic cylinder is hinged to the cross leg folding arm, so that the second hydraulic cylinder can drive the cross leg folding arm to fold;

[0013] One end of the dead point component is hinged to the horizontal leg folding arm, and the other end of the dead point component is hinged to the vertical leg. The dead point component can drive the vertical leg to fold.

[0014] A high-altitude work vehicle is provided with the above-mentioned rotating and folding support legs.

[0015] Compared with the prior art, the present invention has the following beneficial effects:

[0016] 1. A rotating folding support leg in the present invention can rotate the support leg through the cooperation of various components, and at the same time, the horizontal leg folding arm can be folded under the drive of the second hydraulic cylinder. The present invention is also provided with a dead point component, through which the vertical leg can be folded, so that the vertical leg is parallel to the horizontal leg folding arm, and the folding and storage of the support leg is realized, which effectively reduces the width of the whole vehicle, improves the passability of the vehicle, and can meet more road conditions.

[0017] 2. The present invention is also provided with stress sensors and position sensors, which can monitor the key components of the rotating and folding support legs in real time, so as to remind the vehicle operator to perform maintenance in time to avoid the occurrence of dangerous events, thereby greatly improving the safety performance. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] 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.

[0019] Figure 1 It is an assembly drawing of the aerial work vehicle with the rotating folding support legs extended;

[0020] Figure 2 It is an assembly drawing of the aerial work vehicle with the rotating folding support legs folded;

[0021] Figure 3 It is a schematic diagram of the structure of the carrying mechanism;

[0022] Figure 4 yes Figure 3 Middle AA section cutaway view;

[0023] Figure 5 This is a schematic diagram of the structure of the rotating folding support leg in the extended state. Figure 1 ;

[0024] Figure 6 yes Figure 5 Exploded diagram of

[0025] Figure 7 is a schematic diagram of the structure of the rotating folding support leg in a folded state;

[0026] Figure 8 It is a partial cross-sectional view of the meshing point between the gear and the rack;

[0027] Fig. 9 is a partial cross-sectional view of the rotating and folding supporting leg;

[0028] Fig.10 yes Fig. 9 Middle BB section cutaway view;

[0029] Fig.11 This is a schematic diagram of the structure of the rotating folding support leg in the extended state. Figure 2 ;

[0030] Fig.12 yes Fig.11 Middle CC section cutaway view;

[0031] Fig.13 It is a structural schematic diagram of the connection between the first dead point rod and the second dead point rod;

[0032] Fig.14 yes Fig.13 Middle DD section cutaway view;

[0033] Fig.15 is the limit position diagram of the rotating folding support leg;

[0034] Fig.16 This is a schematic diagram of the structure of the slide rail assembly. Figure 1 ;

[0035] Fig.17 This is a schematic diagram of the structure of the slide rail assembly. Figure 2 ;

[0036] Fig.18 This is a schematic diagram of the structure of the rack assembly. Figure 1 ;

[0037] Fig.19 This is a schematic diagram of the structure of the rack assembly. Figure 2 ;

[0038] Fig. 20 This is the structural diagram of the bearing seat. Figure 1 ;

[0039] Fig.21This is a schematic diagram of the structure of the gear assembly. Figure 1 ;

[0040] Fig. 22 This is a schematic diagram of the structure of the gear assembly. Figure 2 ;

[0041] Fig.23 It is a structural diagram of the rotary mechanism;

[0042] Fig.24 It is an exploded diagram of the slewing mechanism;

[0043] Fig.25 It is a structural diagram of the arm mechanism;

[0044] Fig.26 It is the overall mechanical analysis diagram of the aerial work vehicle;

[0045] Fig. 27 It is a schematic diagram of the overall mechanical analysis of the aerial work vehicle;

[0046] Fig.28 This is the mechanical analysis diagram of the rotating folding support leg;

[0047] Fig.29 It is the auxiliary calculation diagram of normal stress;

[0048] Fig.30 It is the auxiliary calculation diagram of shear stress;

[0049] Fig.31 It is the auxiliary calculation diagram of bending moment;

[0050] Fig.32 It is a power source auxiliary calculation diagram;

[0051] Fig.33 is the sensor arrangement diagram of the rotating folding support leg;

[0052] Fig.34 yes Fig.33 A partial enlarged view of the middle A;

[0053] Fig.35 yes Fig.33 A partial enlarged view of point B in the middle;

[0054] Fig.36 yes Fig.33 A partial enlarged view of point C in the middle;

[0055] Fig.37 It is the sensor arrangement diagram of the boom mechanism;

[0056] Fig.38 yes Fig.37 A partial enlarged view of the middle A;

[0057] Fig.39 yes Fig.37 A partial enlarged view of point B in the middle;

[0058] Fig.40 yes Fig.37 A partial enlarged view of point C in the middle;

[0059] Fig.41 It is the layout diagram of the angle sensor of the boom mechanism;

[0060] Fig.42 yes Fig.41 A partial enlarged view of the middle A;

[0061] Fig.43 yes Fig.41 A partial enlarged view of point B in the middle. DETAILED DESCRIPTION

[0062] 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.

[0063] 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.

[0064] It should be noted that all directional indications in the embodiments of the present invention (such as up, down, left, right, front, back, etc.) are only used to explain the relative position relationship, movement status, etc. between the components under a certain specific posture (as shown in the accompanying drawings). If the specific posture changes, the directional indication will also change accordingly.

[0065] In addition, in the present invention, descriptions such as "first", "second", etc. are only used for descriptive purposes and cannot be understood as indicating or implying their relative importance or implicitly indicating the number of the indicated technical features. Therefore, the features defined as "first" or "second" may explicitly or implicitly include at least one of the features. In the description of the present invention, the meaning of "plurality" is at least two, such as two, three, etc., unless otherwise clearly and specifically defined.

[0066] In the present invention, unless otherwise clearly specified and limited, the terms "connection", "fixation", etc. should be understood in a broad sense. For example, "fixation" can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium, it can be the internal connection of two elements or the interaction relationship between two elements, unless otherwise clearly defined. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0067] 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.

[0068] Example 1

[0069] The present embodiment relates to a rotating and folding support leg, wherein the rotating and folding support leg II comprises a slide rail assembly, a first hydraulic cylinder II-4, a second hydraulic cylinder II-3 and a dead point assembly arranged on the aerial work vehicle carrying mechanism I.

[0070] A rack assembly II-5 is arranged at the notch of the slide rail assembly II-6, and the rack assembly II-5 is connected to the slide rail assembly II-6; one end of the first hydraulic cylinder II-4 is connected to the upper surface of the slide rail assembly II-6, and the other end of the first hydraulic cylinder II-4 is connected to the rack assembly II-5. The first hydraulic cylinder II-4 can drive the rack assembly II-5 to move left and right along the slide rail assembly II-6; the rack assembly II-5 is meshed with the gear assembly II-7, and the gear assembly II-7 is connected to the cross leg main arm II-9, and the cross leg main arm Arm Ⅱ-9 is hinged to the cross leg folding arm Ⅱ-10, and the cross leg folding arm Ⅱ-10 is hinged to the vertical leg Ⅱ-2; one end of the second hydraulic cylinder Ⅱ-3 is hinged to the cross leg main arm Ⅱ-9, and the other end of the second hydraulic cylinder Ⅱ-3 is hinged to the cross leg folding arm Ⅱ-10, and the second hydraulic cylinder Ⅱ-3 can drive the cross leg folding arm Ⅱ-10 to fold; one end of the dead point assembly is hinged to the cross leg folding arm Ⅱ-10, and the other end of the dead point assembly is hinged to the vertical leg Ⅱ-2, and the dead point assembly can drive the vertical leg Ⅱ-2 to fold.

[0071] The slide rail assembly Ⅱ-6 includes a mounting seat Ⅱ-6-1 and a slide rail Ⅱ-6-2; a slot is provided on the mounting seat Ⅱ-6-1, and the slide rail Ⅱ-6-2 is arranged on the lower surface of the mounting seat Ⅱ-6-1, and the rack assembly Ⅱ-5 passes through the slot and is connected to the slide rail Ⅱ-6-2; a mounting seat boss Ⅱ-6-3 is arranged on the end of the upper surface of the mounting seat Ⅱ-6-1 away from the slot, one end of the first hydraulic cylinder Ⅱ-4 is connected to the mounting seat boss Ⅱ-6-3, and the other end of the first hydraulic cylinder Ⅱ-4 is connected to the rack assembly Ⅱ-5; slide rail bosses Ⅱ-6-4 are arranged on both sides of the slide rail Ⅱ-6-2.

[0072] The rack assembly Ⅱ-5 includes a fixed plate Ⅱ-5-1, a rack Ⅱ-5-2 and a slide bar Ⅱ-5-3; a fixed plate boss Ⅱ-5-4 is arranged on the upper surface of the fixed plate Ⅱ-5-1, and the fixed plate boss Ⅱ-5-4 is connected to the first hydraulic cylinder Ⅱ-4; a rack Ⅱ-5-2 is arranged on the lower surface of the fixed plate Ⅱ-5-1, and the rack Ⅱ-5-2 is meshed with the gear assembly Ⅱ-7; slide bars Ⅱ-5-3 are arranged on both sides of the fixed plate Ⅱ-5-1, and the slide bar Ⅱ-5-3 is engaged with the slide rail Ⅱ-6-2, and the slide bar Ⅱ-5-3 can drive the fixed plate Ⅱ-5-1 and the rack Ⅱ-5-2 to move left and right along the slide rail Ⅱ-6-2.

[0073] Gear assembly Ⅱ-7 includes gear Ⅱ-7-1, connecting rod Ⅱ-7-2, connecting piece Ⅱ-7-3 and bearing Ⅱ-7-4 arranged on the aerial work vehicle carrying mechanism Ⅰ; one end of connecting rod Ⅱ-7-2 is connected to connecting piece Ⅱ-7-3, the outside of connecting piece Ⅱ-7-3 is connected to bearing Ⅱ-7-4, and the inside of connecting piece Ⅱ-7-3 is connected to cross leg main arm Ⅱ-9; the other end of connecting rod Ⅱ-7-2 passes through the slide rail boss Ⅱ-6-4 to connect gear Ⅱ-7-1, and gear Ⅱ-7-1 is meshed with rack Ⅱ-5-2, and the cooperation of gear Ⅱ-7-1 and rack Ⅱ-5-2 can drive the cross leg main arm Ⅱ-9 to rotate.

[0074] The dead point assembly includes a first dead point rod Ⅱ-11, a second dead point rod Ⅱ-13 and a third hydraulic cylinder Ⅱ-12; the first dead point rod Ⅱ-11 is hinged to the horizontal leg folding arm Ⅱ-10, the second dead point rod Ⅱ-13 is hinged to the vertical leg Ⅱ-2, and the first dead point rod Ⅱ-11 is hinged to the second dead point rod Ⅱ-13; one end of the third hydraulic cylinder Ⅱ-12 is hinged to the horizontal leg folding arm Ⅱ-10, and the other end of the third hydraulic cylinder Ⅱ-12 is hinged to the first dead point rod Ⅱ-11.

[0075] Reinforcing ribs are arranged inside the cross leg main arm II-9 and inside the cross leg folding arm II-10.

[0076] The rotating and folding supporting leg II also includes a foot support II-1, which is arranged at one end of the vertical leg II-2 close to the ground.

[0077] The rotating folding support leg II also includes a first stress sensor for detecting stress changes in the vertical leg II-2, a second stress sensor for detecting the reaction force of the vertical leg II-2 on the horizontal leg folding arm II-10, a third stress sensor for detecting the shear stress on the horizontal leg main arm II-9, and a position sensor for monitoring the extension length of the horizontal leg folding arm II-10.

[0078] like Fig.16 , Fig.17 As shown, the bolt holes on the bottom surface of the mounting seat Ⅱ-6-1 in the slide rail assembly Ⅱ-6 are connected to the carrying mechanism Ⅰ through bolts, and there is a mounting seat boss Ⅱ-6-3 on the upper end of the mounting seat Ⅱ-6-1. One end of the first hydraulic cylinder Ⅱ-4 is connected to the mounting seat boss Ⅱ-6-3, and the other end is connected to the fixed plate boss Ⅱ-5-4. The rack assembly Ⅱ-5 is located at the square notch of the mounting seat Ⅱ-6-1. There is a slide rail Ⅱ-6-2 on the lower surface of the mounting seat Ⅱ-6-1. The slide bar Ⅱ-5-3 in the rack assembly Ⅱ-5 is engaged with the slide rail Ⅱ-6-2.

[0079] The gear II-7-1 in the gear assembly II-7 meshes with the rack II-5-2 in the rack assembly II-5. The gear II-7-1 is connected to the connecting member II-7-3 through the connecting rod II-7-2, and the connecting rod II-7-2 passes through the slide rail boss II-6-4.

[0080] The geometric shape of the connecting part Ⅱ-7-3 in the gear assembly Ⅱ-7 is a hollow structure with a circular outer surface and a square inner surface. The cross leg main arm Ⅱ-9 is nested in the square hollow structure. The bearing Ⅱ-7-4 is sleeved on the outside of the connecting part Ⅱ-7-3. The connecting part Ⅱ-7-3 and the bearing Ⅱ-7-4 are rigidly connected to one end of the cross leg main arm Ⅱ-9 through the bearing seat Ⅱ-8 through a pin shaft. The bearing seat Ⅱ-8 is fixedly connected to the carrying mechanism Ⅰ through bolts.

[0081] The other end of the cross-leg main arm Ⅱ-9 is respectively hinged to the second hydraulic cylinder Ⅱ-3 and the cross-leg folding arm Ⅱ-10, and the other end of the second hydraulic cylinder Ⅱ-3 is also hinged to the cross-leg folding arm Ⅱ-10.

[0082] like Figure 5 , Figure 6 As shown, the middle part of the horizontal leg folding arm Ⅱ-10 is respectively hinged with the first dead point rod Ⅱ-11 and the third hydraulic cylinder Ⅱ-12 through a pin shaft. The second dead point rod Ⅱ-13 is respectively hinged with the first dead point rod Ⅱ-11 and the vertical leg Ⅱ-2 through a pin shaft, the bottom of the vertical leg Ⅱ-2 is welded with the foot support Ⅱ-1, and both ends of the second dead point rod Ⅱ-13 and the first dead point rod Ⅱ-11 have hinge holes.

[0083] The hollow structures of the horizontal leg folding arm II-10 and the vertical leg II-2 are reinforced with ribs to improve the mechanical properties. The material of the rotating folding support leg II is high-strength low-carbon steel, such as bs700.

[0084] like Figure 7 As shown, the rotating folding support leg II retracts the horizontal leg folding arm II-10 and the vertical leg II-2 from the side by folding. The obvious contrast between the extension and retraction of the rotating folding support leg II greatly reduces the obstruction when the aerial work vehicle is traveling.

[0085] When the rotating folding support leg II is supporting, the first hydraulic cylinder II-4 drives the rack assembly II-5 to move by telescoping, and the rack II-5-2 in the rack assembly II-5 is meshed with the gear II-7-1 in the gear assembly II-7, thereby realizing the rotation of the gear assembly II-7 by 90 degrees, and the second hydraulic cylinder II-3 is extended to drive the horizontal leg folding arm II-10 to swing. At the same time, the third hydraulic cylinder II-12 is extended to make its foot support II-1 contact with the ground to achieve support; when the rotating folding support leg II is retracted, it is recovered according to the original process.

[0086] This embodiment adopts dead point components and reinforcing ribs, which not only saves materials and costs, but also improves the structural mechanical properties and overall stability. When the aerial work vehicle is not in working state, the cross leg folding arm Ⅱ-10 and the vertical leg Ⅱ-2, and the cross leg folding arm Ⅱ-10 and the cross leg main arm Ⅱ-9 can be folded and stored, which effectively reduces the width of the vehicle, improves the vehicle's passability, and can meet more road conditions.

[0087] Example 2

[0088] This embodiment 2 describes an aerial work vehicle, which is provided with the rotating and folding support leg II in embodiment 1.

[0089] like Figure 1 As shown, the aerial work vehicle in this embodiment includes a carrying mechanism I, a rotating and folding support leg II, a slewing mechanism III, a boom mechanism IV and a working platform V.

[0090] 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 I-5. Figure 3 and Figure 4 As shown, the cab Ⅰ-1 is located at the front end of the carrying mechanism Ⅰ, and the driving platform, seats, temperature control devices and other systems are arranged inside; the frame Ⅰ-2 is located behind the cab, and a matching mounting chassis Ⅰ-3 is installed on the top of the frame Ⅰ-3. The mounting chassis Ⅰ-3 can be used to connect the carrying system and the working system. According to different needs, the mounting chassis Ⅰ-3 can be personalized. The fuel tank Ⅰ-4 and the hydraulic pump Ⅰ-5 are fixedly connected to the frame Ⅰ-2 at the bottom of the vehicle.

[0091] like Fig.23 , Fig.24 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. The hydraulic motor buckle III-6 cooperates with the hydraulic motor base III-8 to fix the hydraulic motor III7.

[0092] The output shaft of hydraulic motor Ⅲ-7 is connected to rotary reducer Ⅲ-5, one end of connecting rod Ⅲ-4 is key-connected to rotary reducer Ⅲ-5, and the other end is key-connected to rotary pinion Ⅲ-3, a circular rack is welded to the inner ring of rotary support bearing Ⅲ-2, the gear ring of rotary pinion Ⅲ-3 is meshed with the inner ring rack of rotary support bearing Ⅲ-2, the outer ring of rotary support bearing Ⅲ-2 is connected to rotary housing Ⅲ-1 by bolts, and the lower end of rotary housing Ⅲ-1 has bolt holes, which are connected and fixed to carrying mechanism Ⅰ by bolts. The outer ring of rotary support bearing Ⅲ-2 is fixed, and the inner ring of rotary support bearing Ⅲ-2 is connected to boom base Ⅳ-6 by bolts. When the power of hydraulic motor Ⅲ-7 drives rotary pinion Ⅲ-3 to rotate, the inner ring of rotary support bearing Ⅲ-2 meshed with rotary pinion Ⅲ-3 rotates, thereby driving the upper boom mechanism Ⅳ to rotate.

[0093] like Fig.25As 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.

[0094] 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 connected and extend and retract with the assistance of the slide rail through the hydraulic cylinder. The flying arm is hinged to the top of the boom telescopic arm. The material of the boom mechanism is high-strength low-carbon steel, such as: bs700.

[0095] Figure 1 and Figure 2 As shown, this embodiment designs the appearance and lightweight materials of the working platform V. Carbon fiber materials are used. The advantages of strong tensile strength of carbon fiber are reasonably utilized according to the weaving method of carbon fiber, which not only improves the tensile strength of the working platform V, but also realizes the lightweight of the aerial work vehicle. The working platform V is connected to the bottom plate at the end of the flying arm IV-4 by welding or bolts.

[0096] Perform mechanical analysis on the aerial work vehicle at the extreme position, as follows: Fig.26 As shown, it is simplified and calculated after force analysis. The force analysis of the support mechanism is as follows Fig. 27 shown.

[0097] The structure is calculated by force analysis, and the degrees of freedom are calculated according to formula (1):

[0098] F=3n-(2P L -P H -P')-F' (1)

[0099] Where n is the number of active components, P L For low pair number, P H is the number of high pairs, P' is the number of virtual constraints, and F' is the number of local degrees of freedom. According to the geometric relationship of the rotating folding support leg II, the arm mechanism IV and other structures, the calculation and analysis are carried out through formulas (2)-(5):

[0100] Triangle side length formula:

[0101]

[0102] Equilibrium equations of arbitrary plane force systems:

[0103] ∑Fx =0 (3)

[0104] ∑F y =0 (4)

[0105] ∑M 0 (F)=0 (5)

[0106] In the formula, F x is the force in the X direction, F y is the force in the Y direction, M 0 is the torque;

[0107] The support leg with the largest support reaction force is found by calculating the support reaction force of the rotating folding support leg II, and then the maximum stress point is calculated by the strength analysis of the vertical leg II-2. The maximum point is the connection between the second dead point rod II-13 and the vertical leg II-2. This place is designed to be hollow to accommodate the second dead point rod II-13 and achieve lightweight. The stress is concentrated here, so the first stress sensor is placed here. A position sensor is placed at the connection between the vertical leg II-2 and the horizontal leg folding arm II-10 to monitor the extension length of the horizontal leg folding arm II-10 in real time. Since the horizontal leg folding arm II-10 is affected by the support reaction force of the vertical leg II-2 at this connection, the second stress sensor should also be placed here.

[0108] like Fig. 27 As shown in the figure, the calculation formula for the reaction force of the rotating folding support leg II is:

[0109]

[0110] M=G 3 Lcosθ (10)

[0111] Among them, G 1 is the gravity of the rotating part of the aerial work vehicle (N); G 2 is the gravity of the non-rotating part (N); θ is the direction angle between the rotation center of the working device and the telescopic boom (°); R a , R b , R c , R d are the reaction forces (N) received by the right front supporting leg, the left front supporting leg, the left rear supporting leg, and the right rear supporting leg respectively; e 1 、e 2 is the eccentric distance (m); a is the width between the leg landing point and the center of gravity of the turntable (m); b is the total length of half of the aerial work vehicle (m); M is the bending moment of the rotating part of the aerial work vehicle to the rotation center of the working device (N·m); L is the arm length; G 3 is the weight of the workbench (N).

[0112] Strength analysis of vertical leg II-2:

[0113]

[0114] Among them, σ max is the maximum normal stress (N); R max For R a , R b , R c , R d Maximum support reaction force (N); A 1 is the effective cross-sectional area of ​​the vertical legs (m 2 ).

[0115] like Fig.29 , Fig.30 and Fig.31 As shown, the strength and stiffness analysis of the cross leg folding arm Ⅱ-10 and the cross leg main arm Ⅱ-9 in the extended state is carried out:

[0116] I z =∫ A ydA (12)

[0117] M max =R max L 1 (13)

[0118]

[0119] Among them, M max is the maximum bending moment of the cross leg folding arm Ⅱ-10 or the cross leg main arm Ⅱ-9 in the extended state (N·m); σ is the normal stress (N); I is the moment of inertia; L 1 It is the total length (m) of the cross leg folding arm II-10 and the cross leg main arm II-9 in the extended state.

[0120]

[0121] Among them, F Q1 A is the shear force of the cross leg folding arm Ⅱ-10 or the cross leg main arm Ⅱ-9 in the extended state (N); 2 is the shear surface area of ​​the cross leg folding arm Ⅱ-10 or the cross leg main arm Ⅱ-9 in the extended state (m 2 ).

[0122] The mechanics of the rotating folding support leg II is simplified to a cantilever beam. The maximum bending moment is at the maximum distance from the vertical leg II-2. According to the shear stress calculation formula, the shear stress at the outermost part of the main arm II-9 of the horizontal leg is the largest and the third stress sensor is placed here. The sensor placement position is as follows: Fig.33 shown.

[0123] 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 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 a stress sensor is placed at this dangerous node. The sensor is placed as shown in the following figure. Fig.37 shown.

[0124] Boom mechanism IV strength and stiffness analysis:

[0125]

[0126] Where, F is the maximum pressure on the boom (N); A 3 is the pressure area (m 2 ).

[0127]

[0128] Among them, F Q2 is the arm shear force (N); A 4 is the shear surface area of ​​the boom (m 2 ).

[0129] Bending section coefficient W z for:

[0130]

[0131] Among them, B is the outer surface width of the telescopic arm IV-3 of the boom, b is the inner surface width of the telescopic arm IV-3 of the boom, H is the outer surface height of the telescopic arm IV-3 of the boom, and h is the inner surface height of the telescopic arm IV-3 of the boom.

[0132] In order to monitor the stress changes of working platform V in real time, a stress sensor is placed on the bottom plate at the end of flying arm IV-4.

[0133] The calculation formula for anti-overturning stability is:

[0134]

[0135] Among them, G z The overall weight of the chassis Ⅰ-3, the rotating folding support legs Ⅱ and the slewing mechanism Ⅲ; G 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 xis 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).

[0136] Considering that the materials of the rotating folding support leg II and the arm mechanism IV are both low-carbon steel, the fourth strength theory formula is used for calculation:

[0137]

[0138] 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.

[0139] The calculated stress σ of the rotating folding support leg Ⅱ and the 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.

[0140] like Fig.32 As shown, the power source is calculated:

[0141] Cylinder thrust:

[0142]

[0143] Cylinder pulling force:

[0144]

[0145] Extension speed:

[0146]

[0147] Retraction speed:

[0148]

[0149] 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 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 1is 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.

[0150] The power source uses the chassis engine to transmit power to the hydraulic pump I-5 through the power output. The hydraulic oil is sucked from the oil tank into the oil pump through the coarse filter, and then the pressure oil output by the 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 rotating folding support leg II, the rotation of the arm mechanism IV and the slewing mechanism III are all controlled by the corresponding hydraulic working device through the corresponding reversing valve.

[0151] After mechanical analysis of the aerial work vehicle, sensors are installed at extreme positions.

[0152] 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, the folding support leg Ⅱ is rotated for support, the first hydraulic cylinder Ⅱ-4 drives the rack assembly Ⅱ-5 to move by telescoping, the rack Ⅱ-5-2 in the rack assembly Ⅱ-5 meshes with the gear Ⅱ-7-1 in the gear assembly Ⅱ-7, so that the gear assembly Ⅱ-7 rotates 90 degrees, the second hydraulic cylinder Ⅱ-3 extends to drive the horizontal leg folding arm Ⅱ-10 to swing, at the same time, the third hydraulic cylinder Ⅱ-12 extends to make the foot support Ⅱ-1 contact the ground to achieve support. The slewing mechanism Ⅲ realizes horizontal rotation under the power output of the hydraulic motor Ⅲ-7, the small hydraulic cylinder Ⅳ-2 of the boom and the large hydraulic cylinder Ⅳ-5 of the boom are telescopic 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 designated position, the flying arm Ⅳ-4 adjusts the position through the swing of the hydraulic cylinder, and the working platform Ⅴ arrives at the designated location for operation, and can be retracted along the original route when stopping work.

[0153] In this example, the aerial work vehicle also includes a control unit, and the control unit signal is connected to the first stress sensor, the second stress sensor, the third stress sensor, the position sensor and the data output terminal. In this embodiment, the data output terminal is a display screen. The display screen is set in the cab Ⅰ-1 and can reflect the information of the aerial work vehicle in real time. Since it is inconvenient for construction workers to communicate with operators due to the long distance during aerial work, the construction workers themselves can accurately reach the construction site to work through the wireless handle.

[0154] During operation, the aerial work vehicle senses through various sensors such as stress, bending moment, and temperature. The control unit converts the signal, collects information, and processes it through the chip. The data working condition is analyzed through the automatic identification unit, and it can monitor energy, geometry, mechanical properties and other aspects in real time. The real-time monitoring results and test results can be viewed on the display screen. If an abnormality occurs, such as energy exceeding the limit, sensor threshold abnormality, etc., it will trigger corresponding alarms and control measures, such as emergency stop or self-adjustment of the controller. At the same time, the 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.

[0155] The aerial work vehicle of this embodiment also includes a human-computer interaction system, which enables the operator to remotely control the vehicle through a multi-mode handle or a computer interface, such as multi-touch (supporting an operating interface of a navigation disk or a projector).

[0156] Based on visual recognition and deep learning algorithms, the aerial work vehicle of this embodiment also includes a trajectory intelligent control system. The system can perceive the environment and use a variety of sensors to accurately obtain the spatial layout of the aerial work area; realize automatic trajectory planning, generate the optimal operation route through the computer's path optimization algorithm (such as Al algorithm or robot kinematic planning) and transmit it to the display screen in the cab Ⅰ-1, adjust the target point coordinates or step length according to the task objectives, and execute the mode trajectory, support fixed trajectory, random trajectory and mixed trajectory mode switching, and adapt to different work scenarios; help operators grasp the real-time status of the equipment through vibration or light feedback prompts.

[0157] The aerial work vehicle of this embodiment not only realizes real-time monitoring of mechanical data such as stiffness, strength and fatigue of key components through intelligent design, but also can automatically sense the operating status and realize automatic adjustment; alarm and emergency stop can be performed for abnormal conditions of the aerial work vehicle, which greatly improves the safety performance; key components can be detected in real time to remind vehicle operators to perform maintenance in time to avoid the occurrence of dangerous events;

[0158] For the aerial work vehicles that have been in service, the aerial work vehicles of this embodiment upload 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 vehicle's early operation data, the manufacturing company can upgrade and iterate subsequent products in a targeted manner, realize customized product design, and improve product reliability, stability and service life.

[0159] 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. A rotating and folding support leg, characterized in that: It includes a slide rail assembly, a first hydraulic cylinder, a second hydraulic cylinder and a dead point assembly arranged on the aerial work vehicle carrying mechanism; A rack assembly is arranged at the notch of the slide rail assembly, and the rack assembly is connected to 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 of the first hydraulic cylinder is connected to the rack assembly. The first hydraulic cylinder can drive the rack assembly to move left and right along the slide rail assembly; 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 of the second hydraulic cylinder is hinged to the cross leg folding arm, so that the second hydraulic cylinder can drive the cross leg folding arm to fold; One end of the dead point component is hinged to the horizontal leg folding arm, and the other end of the dead point component is hinged to the vertical leg. The dead point component can drive the vertical leg to fold.

2. The rotatable and foldable support leg according to claim 1, characterized in that: The slide rail assembly comprises a mounting seat and a slide rail; A notch is provided on the mounting seat, a slide rail is provided on the lower surface of the mounting seat, and the rack assembly passes through the notch and is connected to the slide rail; A mounting seat boss is provided at one end of the upper surface of the mounting seat away from the notch, one end of the first hydraulic cylinder is connected to the mounting seat boss, and the other end of the first hydraulic cylinder is connected to the rack assembly; Slide rail bosses are arranged on both sides of the slide rail.

3. The rotatable and foldable support leg according to claim 2, characterized in that: The rack assembly includes a fixed plate, a rack and a slide bar; A fixing plate boss is provided on the upper surface of the fixing plate, and the fixing plate boss is connected to the first hydraulic cylinder; A rack is provided on the lower surface of the fixed plate, and the rack is meshed with the gear assembly; Slide bars are arranged on both sides of the fixed plate, and the slide bars are engaged and connected with the slide rails. The slide bars can drive the fixed plate and the rack to move left and right along the slide rails.

4. The rotatable and foldable support leg according to claim 3, characterized in that: The gear assembly includes a gear, a connecting rod, a connecting piece and a bearing arranged on the carrying mechanism of the aerial work vehicle; One end of the connecting rod is connected to the connecting piece, the outside of the connecting piece is connected to the bearing, and the inside of the connecting piece is connected to the cross leg main arm; The other end of the connecting rod passes through the slide rail boss to connect the gear, and the gear is meshed with the rack. The cooperation between the gear and the rack can drive the cross leg main arm to rotate.

5. The rotatable and foldable support leg according to claim 1, characterized in that: The dead point assembly includes a first dead point rod, a second dead point rod and a third hydraulic cylinder; 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 of the third hydraulic cylinder is hinged to the first dead point rod.

6. A rotatable and foldable support leg according to claim 1, characterized in that: Reinforcing ribs are arranged inside the cross leg main arm and inside the cross leg folding arm.

7. The rotatable and foldable support leg according to claim 1, characterized in that: It also includes a foot support, which is arranged at one end of the vertical leg close to the ground.

8. The rotatable and foldable support leg according to claim 1, characterized in that: It also includes a first stress sensor for detecting stress changes in the vertical leg, a second stress sensor for detecting the vertical leg support reaction force on the horizontal leg folding arm, a third stress sensor for detecting the shear stress on the horizontal leg main arm, and a position sensor for monitoring the extension length of the horizontal leg folding arm.

9. An aerial work vehicle, characterized in that: The aerial work vehicle is provided with a rotating and folding support leg as described in any one of claims 1 to 8.

10. The aerial work vehicle according to claim 9, characterized in that: It also includes a control unit, which is signal-connected to the first stress sensor, the second stress sensor, the third stress sensor, the position sensor and the data output terminal.

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