Bionic scorpion tail type fly boom, overhead working truck and intelligent monitoring system

Abstract

The invention provides a bionic scorpion tail type fly boom, an overhead working truck and an intelligent monitoring system, and relates to the technical field of overhead working trucks. The bionic scorpion tail type fly jib is applied to an overhead working truck, through the bionic scorpion tail design, multi-joint bending of the fly jib can be achieved, the working range and the working freedom degree of the fly jib are expanded, the overhead working truck adapts to the complex working environment, loads are dispersed, and the overall stability is improved; through the intelligent monitoring system, the whole vehicle is monitored in real time, intelligent and accurate control and early warning of operation of the overhead working truck are achieved, operation of the overhead working truck is protected, the operation safety is improved, meanwhile, a user can know the operation condition of the overhead working truck in real time, the remaining life of parts and potential faults are predicted, and the user experience is improved. Preventive maintenance is achieved in the operation process, a user can reasonably arrange a maintenance plan and adjust the work intensity, the sudden fault probability is reduced, and the operation and maintenance cost is reduced.

Description

Technical Field

[0001] The invention relates to the technical field of aerial work vehicles, and in particular to a bionic scorpion tail type flying arm, an aerial work vehicle and an intelligent monitoring system. Background Art

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

[0003] At present, the boom-type aerial work vehicles mainly include telescopic boom type, folding boom type and aerial work vehicles that combine the two. Among them, the telescopic boom aerial work vehicle is a special vehicle that lifts the work platform to a high altitude through a linear telescopic boom. It is characterized by a large operating range and strong carrying capacity, and is suitable for scenes that require long-distance and high-altitude operations, such as building exterior wall construction, bridge maintenance, power line installation, etc. In order to increase the operating flexibility of the telescopic boom aerial work vehicle, a flying arm is set between the end of the telescopic boom and the work platform. However, in some complex working environments, due to the influence of space, it is still difficult to carry out work by simply adding a flying arm to lift the work platform. This requires the design of the added flying arm so that the flying arm has a larger working range and working freedom, and improves the operating capacity of the telescopic boom aerial work vehicle. In addition, the current aerial work vehicles have a low level of intelligence and low operating safety, which needs to be improved and perfected. Summary of the invention

[0004] The purpose of the present invention is to provide a bionic scorpion tail flying boom, an aerial work vehicle and an intelligent monitoring system, which can realize multi-joint bending of the flying boom to expand the working range and working freedom of the flying boom; and perform real-time monitoring of the entire vehicle to improve operation safety.

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

[0006] A bionic scorpion tail flying boom, comprising:

[0007] Flying boom, several sections of flying boom are arranged head to tail, the flying boom at the head end is used to connect the front end of the main boom, and the flying boom at the tail end is used to connect the working platform;

[0008] The joint mechanism is respectively connected to the adjacent upper section of the flying boom frame and the next section of the flying boom frame. The joint mechanism moves to drive the adjacent next section of the flying boom frame to swing to a set angle between 0° and 180° relative to the upper section of the flying boom frame.

[0009] Preferably, the joint mechanism comprises a support seat, a swing seat, a triangular member 1, a triangular member 2, a transition rod, a drive motor and a drive rod;

[0010] The support seat is arranged at one end of the adjacent upper section of the flying boom, and the swing seat is arranged at one end of the adjacent lower section of the flying boom;

[0011] The upper angle position of the triangular member 1 is hinged to the lower end of the support seat, the lower left angle position of the triangular member 1 is hinged to the first angle position of the triangular member 2, the lower right angle position of the triangular member 1 is hinged to one end of the transition rod, the second angle position of the triangular member 2 is hinged to the lower end of the swing seat, and the other end of the transition rod is hinged to the middle lower position of the swing seat;

[0012] The driving motor is arranged on the supporting seat, the output shaft power of the driving motor is connected to one end of the driving rod, and the other end of the driving rod is hinged to the third angle position of the second triangular component.

[0013] Preferably, the joint mechanism further comprises a limiting member, the limiting member is arranged on the supporting seat, and the limiting member can abut against the swinging seat;

[0014] When the swing seat swings to a set angle relative to the support seat, the limit member prevents the swing seat from continuing to swing.

[0015] Preferably, the drive motor is configured as an electric motor.

[0016] Preferably, the joint mechanism further comprises a driving shaft, the output shaft of the driving motor is connected to the driving shaft via a coupling, and the driving shaft is connected to one end of a driving rod.

[0017] Preferably, the flying jib is a hollow structure, and the cross section of the flying jib is any one of a quadrilateral, a pentagon, a hexagon and an octagon.

[0018] The present invention also provides an aerial work vehicle, comprising a vehicle chassis, a turntable, a main boom and a working platform, and also comprising the above-mentioned bionic scorpion tail flying boom, the rear end of the main boom is connected to the turntable, the front end of the main boom is connected to the flying boom at the head end, and the flying boom at the end is connected to the working platform.

[0019] The present invention also provides an intelligent monitoring system, which is arranged on the above-mentioned aerial work vehicle. The intelligent monitoring system includes a control unit and a laser radar, a weight sensor and a pressure sensor that are signal-connected to the control unit. The laser radar is arranged on the work platform, and the laser radar is used to scan the environmental parameters of the aerial work vehicle and upload them to the control unit; the weight sensor is arranged at the bottom of the work platform, and the weight sensor is used to monitor the weight data carried by the work platform and upload it to the control unit; the pressure sensor is arranged on the outrigger of the vehicle chassis, and the pressure sensor is used to monitor the outrigger force data and upload it to the control unit.

[0020] Preferably, the intelligent monitoring system also includes a torque sensor, an angle sensor and a temperature sensor which are signal-connected to the control unit. The torque sensor, the angle sensor and the temperature sensor are arranged at the hinge position of the joint mechanism of the bionic scorpion tail flying arm and / or the hinge position between the bionic scorpion tail flying arm and the main boom. The torque sensor is used to monitor the torque data of the hinge position and upload it to the control unit, the angle sensor is used to monitor the swing angle data of the hinge position and upload it to the control unit, and the temperature sensor is used to monitor the temperature data of the hinge position and upload it to the control unit.

[0021] Preferably, the intelligent monitoring system further comprises an alarm unit connected to the control unit by signal, and when the data uploaded by each sensor exceeds a set threshold, the control unit sends an alarm signal to the alarm unit.

[0022] The beneficial technical effects of the present invention are:

[0023] 1. The bionic scorpion tail flying boom of the present invention is applied to aerial work vehicles. Through the bionic scorpion tail design, the flying boom can be bent at multiple joints to expand the working range and working freedom of the flying boom, so that the aerial work vehicle can adapt to complex working environments, disperse the load, and improve the overall stability; through the bionic scorpion tail design, the load of the working platform can be dispersed to each segment, effectively avoiding local stress concentration, extending the service life of the flying boom, and improving the safety of operation; through the bionic scorpion tail design, the high rigidity of the flying boom frame is combined with the flexibility of the joint mechanism, so that the flying boom exhibits excellent bending stiffness when subjected to bending loads. This design not only ensures the stability of the flying boom, but also gives the flying boom sufficient flexibility; the various parts and components of the flying boom are modularized and can be replaced separately, so as to achieve rapid maintenance and avoid affecting the operation time.

[0024] 2. The present invention uses an intelligent monitoring system to monitor the entire vehicle in real time, realize intelligent and precise control of the operation of the aerial work vehicle, warn and protect the operation of the aerial work vehicle, and improve the safety of the operation. At the same time, users can understand the operation status of the aerial work vehicle in real time, predict the remaining life and potential failures of parts, and realize preventive maintenance during operation, which helps users to reasonably arrange maintenance plans, adjust operation intensity, reduce the probability of sudden failures, and reduce operation and maintenance costs. BRIEF DESCRIPTION OF THE DRAWINGS

[0025] Figure 1 A front view of an aerial work vehicle in an embodiment of the present invention;

[0026] Figure 2 This is a front view of a bionic scorpion tail type flying boom and a working platform in an embodiment of the present invention;

[0027] Figure 3 This is a front view of the bionic scorpion tail flying boom in an embodiment of the present invention;

[0028] Figure 4 Schematic diagram of the swing position of the bionic scorpion tail type flying arm in the embodiment of the present invention;

[0029] Figure 5 It is a stereoscopic diagram of the first end of the flying boom frame, the second section of the flying boom frame and the joint mechanism in the embodiment of the present invention;

[0030] Figure 6 It is a three-dimensional diagram of the first end flying boom frame, the second section flying boom frame and the joint mechanism after some parts are removed in the embodiment of the present invention;

[0031] Figure 7 An exploded view of the first end of the flying boom, the second section of the flying boom and the joint mechanism in an embodiment of the present invention;

[0032] Figure 8 It is a front view of two sections of the flying boom and the joint mechanism in the embodiment of the present invention;

[0033] Fig. 9 It is a front view of a three-section flying boom and a joint mechanism in an embodiment of the present invention;

[0034] Fig.10 It is a three-dimensional diagram of a four-section flying boom and a joint mechanism in an embodiment of the present invention;

[0035] Fig.11 It is a front view of a four-section flying boom and a joint mechanism in an embodiment of the present invention;

[0036] Fig.12 A three-dimensional diagram of a five-section flying boom and a joint mechanism in an embodiment of the present invention;

[0037] Fig.13 It is a front view of a five-section flying boom and a joint mechanism in an embodiment of the present invention;

[0038] Fig.14 It is a schematic structural diagram of each boom of the main boom in an embodiment of the present invention, in which the cross section of each boom is a quadrilateral;

[0039] Fig.15 It is a schematic structural diagram of each boom of the main boom in an embodiment of the present invention, in which the cross section of each boom is a pentagon;

[0040] Fig.16 It is a schematic structural diagram of a main boom in an embodiment of the present invention in which each boom has a hexagonal cross section;

[0041] Fig.17 It is a structural schematic diagram of each boom of the main boom in an embodiment of the present invention, in which the cross section of each boom is an octagon;

[0042] Fig.18 This is a front view of the working platform in the embodiment of the present invention;

[0043] Fig.19 is a front view of a supporting leg in an embodiment of the present invention;

[0044] Fig. 20 It is a front view of the main boom in an embodiment of the present invention. DETAILED DESCRIPTION

[0045] In order to make the purpose, technical scheme and beneficial effects of the present invention more clearly understood, the present invention is further described in detail below in combination with specific embodiments and with reference to the accompanying drawings. Certain embodiments of the present invention will be described more comprehensively with reference to the accompanying drawings, in which some but not all embodiments will be shown. In fact, the various embodiments of the present invention can be implemented in many different forms and should not be construed as being limited to the embodiments described herein; rather, these embodiments are provided so that the present invention meets applicable legal requirements.

[0046] In the description of the present invention, it should be noted that the terms "inside", "outside", "upper", "lower", "front", "back" and the like indicate directions or positional relationships based on directions or positional relationships shown in the drawings, and are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific direction, be constructed and operated in a specific direction, and therefore cannot be understood as limiting the present invention. In addition, the terms "first" and "second" are used for descriptive purposes only, and cannot be understood as indicating or implying relative importance.

[0047] Please refer to Figures 1 to 20 As shown, in an embodiment of the present invention, a bionic scorpion tail flying boom, an aerial work vehicle and an intelligent monitoring system are provided.

[0048] A bionic scorpion tail type flying boom comprises a flying boom frame 1 and a joint mechanism 2. A plurality of flying boom frames 1 are arranged head to tail in sequence. The flying boom frame 1 at the head end is used to connect to the front end of a main boom frame 3. Each boom frame of the main boom frame 3 is nested and arranged in sequence and can be relatively telescopic. The flying boom frame 1 at the end is used to connect to a working platform 4. The joint mechanism 2 is respectively connected to the adjacent upper section flying boom frame 1 and the next section flying boom frame 1. The joint mechanism 2 moves to drive the adjacent next section flying boom frame 1 to swing to a set angle between 0° and 180° relative to the upper section flying boom frame 1.

[0049] The joint mechanism 2 includes a support seat 21, a swing seat 22, a triangular member 1 23, a triangular member 24, a transition rod 25, a drive motor 26 and a drive rod 27. The triangular member 1 23, the triangular member 24, the transition rod 25 and the drive rod 27 are symmetrically arranged on both sides of the support seat 21.

[0050] The support seat 21 is a saddle-shaped structure, and its main view is a triangle, straddling one end of the adjacent upper section of the jib frame 1, and the support seat 21 is fixedly connected to one end of the jib frame. The main view of the swing seat 22 is a trapezoid, and the swing seat 22 is fixedly connected to one end of the adjacent lower section of the jib frame 1.

[0051] The upper angle position of the triangular member 23 is hinged to the lower end of the support seat 21 via the first hinge 281, the lower left angle position of the triangular member 23 is hinged to the first angle position of the triangular member 24 via the second hinge 282, the lower right angle position of the triangular member 23 is hinged to one end of the transition rod 25 via the third hinge 283, the second angle position of the triangular member 24 is hinged to the lower end of the swing seat 22 via the fourth hinge 284, and the other end of the transition rod 25 is hinged to the middle lower position of the swing seat 22 via the fifth hinge 285.

[0052] The driving motor 26 is disposed on the supporting base 21 , and the output shaft power of the driving motor 26 is connected to one end of the driving rod 27 , and the other end of the driving rod 27 is hinged to the third angle position of the triangular component 2 24 via the sixth hinge 286 .

[0053] The output shaft of the driving motor 26 rotates to drive the driving rod 27 to swing, thereby driving the triangular member 24, the triangular member 1 23 and the transition rod 25 to swing, thereby generating traction on the swing seat 22, so that the swing seat 22 drives the next section of the flying boom 1 to swing relative to the previous section of the flying boom 1.

[0054] The driving motor 26 is configured as an electric motor. The output shaft of the driving motor 26 is connected to the driving shaft 261 via a coupling. Both ends of the driving shaft 261 are connected to the support seat 21 via bearings. The driving shaft 261 is connected to one end of the driving rod 27 .

[0055] The joint mechanism further includes a limiter 29, which is specifically configured as a limiter column. The limiter 29 is disposed on opposite sides of the support seat 21, and the limiter 29 can abut against the swing seat 22. When the swing seat 22 swings to a set angle relative to the support seat 21, the limiter 29 blocks the swing seat 22 from continuing to swing. In this embodiment, when the swing seat 22 swings to 90° relative to the support seat 21, the limiter 29 blocks the swing seat 22 from continuing to swing, so that the next adjacent section of the fly boom 1 swings between 0° and 90° relative to the previous section of the fly boom 1.

[0056] The flying boom 1 is a hollow structure, and the cross section of the flying boom 1 is any one of a quadrilateral, a pentagon, a hexagon and an octagon. By designing the flying boom as a hollow structure and optimizing the cross-sectional shape thereof, the mass of the flying boom 1 is significantly reduced, the overall load of the flying boom is reduced, the inertia is reduced, and the movement speed and flexibility are improved on the basis of ensuring the strength and rigidity of the flying boom 1; at the same time, the use of materials can be reduced, the cost can be reduced, the lightness of the flying boom can be improved, the strength and rigidity of the flying boom can be enhanced, the inertia can be reduced, and the sensitivity of the flying boom when starting and stopping can be improved.

[0057] An aerial work vehicle comprises a vehicle chassis 51, a slewing platform 52, a lifting hydraulic cylinder 53, a support arm seat 54, a main boom 3 and a working platform 4. The slewing platform 52 is arranged on the vehicle chassis 51, the rear end of the main boom 3 is hinged to the support arm seat 54 on the slewing platform 52, one end of the lifting hydraulic cylinder 53 is hinged to the support arm seat 54, and the other end of the lifting hydraulic cylinder 53 is hinged to the main boom 3. The front end of the main boom 3 is connected to the flying boom 1 at the head end, and the flying boom 1 at the end is connected to the working platform 4. The slewing platform 52 rotates relative to the vehicle chassis 51 to drive the main boom 3, the flying boom and the working platform 4 to swing left and right. The lifting hydraulic cylinder 53 is extended and retracted to drive the main boom 3 to swing up and down relative to the support arm seat 54.

[0058] An intelligent monitoring system is arranged on the above-mentioned aerial work vehicle. The intelligent monitoring system includes a control unit (on-board controller) and a laser radar 61, a weight sensor 62 and a pressure sensor 63 connected to the control unit signal. The laser radar 61 is set on the working platform 4. The laser radar 61 is used to scan the environmental parameters of the aerial work vehicle and upload the control unit to generate an accurate three-dimensional environmental map. Based on this, the aerial work vehicle can analyze and predict potential obstacles and dangerous areas in real time. When obstacles are found, the aerial work vehicle can take obstacle avoidance measures in time, such as adjusting the path or height of the flying arm to avoid collision with obstacles. Aerial work vehicles usually need to operate in various complex environments, such as urban streets, construction sites, etc. The laser radar 61 can penetrate obstacles such as smoke and dust, provide clear environmental perception capabilities, and enable the aerial work vehicle to operate stably in complex environments.

[0059] The weight sensor 62 is arranged at the bottom of the working platform 4. The weight sensor 62 is used to monitor the weight data carried by the working platform 4 and upload it to the control unit. The weight sensor 62 monitors the weight carried on the working platform 4 in real time to ensure that the maximum load capacity of the aerial work vehicle is not exceeded during the operation. This helps to prevent mechanical failures or safety accidents caused by overloading and ensure the safety of operators and the surrounding environment.

[0060] The pressure sensor 63 is arranged on the outrigger 511 of the vehicle chassis 51. The pressure sensor 63 is used to monitor the force data of the outrigger 511 and upload it to the control unit. The pressure sensor 63 monitors in real time whether the outrigger 511 is fully stressed to ensure the stability of the work vehicle during aerial work. If it is detected that the outrigger 511 is unevenly stressed, the control unit will immediately lock the boom movement to prevent the aerial work vehicle from overturning or collapsing due to unstable support, thereby protecting the safety of the operator and the surrounding environment.

[0061] The torque sensor, angle sensor and temperature sensor are arranged at the hinge position of the joint mechanism of the bionic scorpion tail flying boom and / or the hinge position between the bionic scorpion tail flying boom and the main boom. The torque sensor is used to monitor the torque data of the hinge position and upload it to the control unit, the angle sensor is used to monitor the swing angle data of the hinge position and upload it to the control unit, and the temperature sensor is used to monitor the temperature data of the hinge position and upload it to the control unit.

[0062] The torque sensor, angle sensor and temperature sensor can monitor the torque, angle and temperature data of the articulated position in real time. Once an abnormality is found, the control unit and alarm unit will immediately issue an alarm, which helps to find problems in time and take corresponding measures, thereby improving the safety and reliability of the aerial work vehicle. At the same time, users can understand the operation of the aerial work vehicle in real time and implement preventive maintenance during operation, which helps users to reasonably arrange maintenance plans, adjust operation intensity, and reduce operation and maintenance costs.

[0063] The alarm unit is connected to the control unit by signal. When the data uploaded by each sensor exceeds the set threshold, the control unit sends an alarm signal to the alarm unit to remind the operator to take corresponding measures to ensure operation safety.

[0064] So far, the present embodiment has been described in detail in conjunction with the accompanying drawings. Based on the above description, those skilled in the art should have a clear understanding of a bionic scorpion tail type flying arm, an aerial work vehicle and an intelligent monitoring system of the present invention. The bionic scorpion tail flying arm of the present invention is applied to an aerial work vehicle. Through the bionic scorpion tail design, the multi-joint bending of the flying arm can be realized to expand the working range and working freedom of the flying arm, so that the aerial work vehicle can adapt to complex working environments, disperse the load, and improve the overall stability; through the bionic scorpion tail design, the load of the working platform can be dispersed to each segment, effectively avoiding local stress concentration, extending the service life of the flying arm, and improving the safety of operation; through the bionic scorpion tail design, the high rigidity of the flying arm frame is combined with the flexibility of the joint mechanism, so that the flying arm exhibits excellent bending stiffness when subjected to bending loads. This design not only ensures the stability of the flying arm, but also gives the flying arm sufficient flexibility; the various components and members of the flying arm are modularized and can be replaced separately to achieve rapid maintenance and avoid affecting the operation time. The present invention uses an intelligent monitoring system to monitor the entire vehicle in real time, realize intelligent and precise control of the operation of the aerial work vehicle, warn and protect the operation of the aerial work vehicle, and improve the safety of the operation. At the same time, users can understand the operation status of the aerial work vehicle in real time, predict the remaining life and potential failures of parts, and realize preventive maintenance during operation, which helps users to reasonably arrange maintenance plans, adjust operation intensity, reduce the probability of sudden failures, and reduce operation and maintenance costs.

[0065] The specific embodiments described above further illustrate the objectives, technical solutions and beneficial effects of the present invention in detail. It should be understood that the above description is only a specific embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the present invention should be included in the protection scope of the present invention.

Claims

1. A bionic scorpion tail flying boom, characterized in that: include: Flying boom, several sections of flying boom are arranged head to tail, the flying boom at the head end is used to connect the front end of the main boom, and the flying boom at the tail end is used to connect the working platform; The joint mechanism is respectively connected to the adjacent upper section of the flying boom frame and the next section of the flying boom frame. The joint mechanism moves to drive the adjacent next section of the flying boom frame to swing to a set angle between 0° and 180° relative to the upper section of the flying boom frame.

2. The bionic scorpion tail flying boom according to claim 1, characterized in that: The joint mechanism comprises a supporting seat, a swinging seat, a triangular component 1, a triangular component 2, a transition rod, a driving motor and a driving rod; The support seat is arranged at one end of the adjacent upper section of the flying boom, and the swing seat is arranged at one end of the adjacent lower section of the flying boom; The upper angle position of the triangular member 1 is hinged to the lower end of the support seat, the lower left angle position of the triangular member 1 is hinged to the first angle position of the triangular member 2, the lower right angle position of the triangular member 1 is hinged to one end of the transition rod, the second angle position of the triangular member 2 is hinged to the lower end of the swing seat, and the other end of the transition rod is hinged to the middle lower position of the swing seat; The driving motor is arranged on the supporting seat, the output shaft power of the driving motor is connected to one end of the driving rod, and the other end of the driving rod is hinged to the third angle position of the second triangular component.

3. The bionic scorpion tail flying boom according to claim 2, characterized in that: The joint mechanism further comprises a limiter, which is arranged on the support seat and can abut against the swing seat; When the swing seat swings to a set angle relative to the support seat, the limit member prevents the swing seat from continuing to swing.

4. The bionic scorpion tail flying boom according to claim 2, characterized in that: The drive motor is configured as an electric motor.

5. The bionic scorpion tail flying boom according to claim 2, characterized in that: The joint mechanism also includes a driving shaft, the output shaft of the driving motor is connected to the driving shaft via a coupling, and the driving shaft is connected to one end of the driving rod.

6. The bionic scorpion tail flying boom according to claim 1, characterized in that: The flying jib is a hollow structure, and the cross section of the flying jib is any one of a quadrilateral, a pentagon, a hexagon and an octagon.

7. An aerial work vehicle, comprising a chassis, a slewing platform, a main boom and a working platform, characterized in that: It also includes the bionic scorpion tail flying boom as described in any one of claims 1 to 6, wherein the rear end of the main boom is connected to the turntable, the front end of the main boom is connected to the flying boom at the head end, and the flying boom at the end is connected to the working platform.

8. An intelligent monitoring system, characterized in that: The intelligent monitoring system is arranged on the aerial work vehicle described in claim 7, and the intelligent monitoring system includes a control unit and a laser radar, a weight sensor and a pressure sensor connected to the control unit by signal. The laser radar is arranged on the working platform, and the laser radar is used to scan the environmental parameters of the aerial work vehicle and upload them to the control unit; the weight sensor is arranged at the bottom of the working platform, and the weight sensor is used to monitor the weight data carried by the working platform and upload it to the control unit; the pressure sensor is arranged on the outrigger of the vehicle chassis, and the pressure sensor is used to monitor the force data of the outrigger and upload it to the control unit.

9. An intelligent monitoring system according to claim 8, characterized in that: The intelligent monitoring system also includes a torque sensor, an angle sensor and a temperature sensor which are connected to the control unit signal. The torque sensor, the angle sensor and the temperature sensor are arranged at the hinge position of the joint mechanism of the bionic scorpion tail flying arm and / or the hinge position of the bionic scorpion tail flying arm and the main boom. The torque sensor is used to monitor the torque data of the hinge position and upload it to the control unit, the angle sensor is used to monitor the swing angle data of the hinge position and upload it to the control unit, and the temperature sensor is used to monitor the temperature data of the hinge position and upload it to the control unit.

10. An intelligent monitoring system according to claim 8 or 9, characterized in that: The intelligent monitoring system further comprises an alarm unit connected to the control unit by signal. When the data uploaded by each sensor exceeds a set threshold, the control unit sends an alarm signal to the alarm unit.

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