Bionic scorpion tail type fly jib, aerial working truck

Abstract

The application provides a bionic scorpion tail type boom, an aerial work vehicle and an intelligent monitoring system, and relates to the technical field of the aerial work vehicle.The bionic scorpion tail type boom is applied to the aerial work vehicle, and through the bionic scorpion tail design, the multi-joint bending of the boom can be realized, so that the working range and the working freedom of the boom are enlarged, the aerial work vehicle can adapt to complex working environments, the load can be dispersed, and the overall stability is improved;through the intelligent monitoring system, the whole vehicle can be monitored in real time, the operation of the aerial work vehicle can be intelligently and accurately controlled, the aerial work vehicle operation can be warned and protected, the operation safety is improved, meanwhile, the user can know the operation condition of the aerial work vehicle in real time, predict the remaining life and potential faults of parts, and preventive maintenance can be realized in the operation process, which helps the user to reasonably arrange the maintenance plan, adjust the operation intensity, reduce the probability of sudden faults, and reduce the operation and maintenance cost.

Description

Technical Field

[0001] This invention relates to the field of aerial work platform technology, specifically to a biomimetic scorpion tail boom, an aerial work platform, and an intelligent monitoring system. Background Technology

[0002] Aerial work platforms are specialized vehicles used to transport workers and equipment for aerial operations. A typical aerial work platform includes a chassis, a turntable, a boom, and a work platform. The turntable is mounted 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 after the boom is deployed and raised, it moves the work platform to the designated aerial work area.

[0003] Currently, aerial work platforms with booms mainly include telescopic boom platforms, folding boom platforms, and combinations of both. Telescopic boom platforms are specialized vehicles that use a linear telescopic boom to lift the work platform to a high altitude. They are characterized by a large working range and high load-bearing capacity, making them suitable for scenarios requiring long-distance and high-altitude operations, such as building exterior wall construction, bridge maintenance, and power line installation. To increase the operational flexibility of telescopic boom platforms, a boom arm is installed between the end of the telescopic boom and the work platform. However, in some complex working environments, due to space constraints, simply adding a boom arm to raise and lower the work platform is still insufficient for effective operation. This necessitates designing the boom arm to provide a larger working range and greater freedom of movement, thereby improving the operational capabilities of the telescopic boom platform. Furthermore, current aerial work platforms have relatively low levels of intelligence and operational safety, requiring further improvement. Summary of the Invention

[0004] The purpose of this invention is to provide a biomimetic scorpion tail boom, aerial work platform, and intelligent monitoring system, which can realize multi-joint bending of the boom to expand its working range and degree of freedom; and to monitor the entire vehicle in real time to improve operational safety.

[0005] To achieve the above objectives, the technical solution adopted by the present invention is as follows:

[0006] A biomimetic scorpion tail-like flying arm includes:

[0007] The boom consists of several boom sections arranged end to end. The boom at the beginning is used to connect to the front end of the main boom, and the boom at the end is used to connect to the work platform.

[0008] The joint mechanism connects the adjacent upper and lower sections of the boom respectively. The joint mechanism moves to drive the adjacent lower section of the boom to swing to a set angle between 0° and 180° relative to the upper section of the boom.

[0009] Preferably, the joint mechanism comprises a support base, a swing base, a triangular component one, a triangular component two, a transition rod, a driving motor and a driving rod.

[0010] The support base is arranged at one end of an adjacent upper boom section, and the swing base is arranged at one end of an adjacent lower boom section.

[0011] The lower end of the support base is hingedly connected to an upper corner of the triangular component one, the first corner of the triangular component two is hingedly connected to a lower left corner of the triangular component one, one end of the transition rod is hingedly connected to a lower right corner of the triangular component one, the lower end of the swing base is hingedly connected to a second corner of the triangular component two, and the other end of the transition rod is hingedly connected to a middle lower corner of the swing base.

[0012] The driving motor is arranged on the support base, the output shaft of the driving motor is connected to one end of the driving rod, and the other end of the driving rod is hingedly connected to a third corner of the triangular component two.

[0013] Preferably, the joint mechanism further comprises a limiting piece arranged on the support base, and the limiting piece can abut against the swing base.

[0014] When the swing base swings relative to the support base to a set angle, the limiting piece blocks the swing base from continuing to swing.

[0015] Preferably, the driving motor is 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 through a coupling, and one end of the driving rod is connected to the driving shaft.

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

[0018] The application further provides a high-altitude operation vehicle comprising a vehicle chassis, a slewing table, a main boom section and a working platform, and further comprising the above-mentioned bionic scorpion tail type boom section, the rear end of the main boom section is connected to the slewing table, the front end of the main boom section is connected to the first boom section, and the last boom section is connected to the working platform.

[0019] The application further provides an intelligent monitoring system arranged on the aerial work platform, the intelligent monitoring system comprising a control unit and a laser radar, a weight sensor and a pressure sensor in signal connection with the control unit, the laser radar being arranged on the working platform and used for scanning environmental parameters of the aerial work platform and uploading the control unit; the weight sensor being arranged at the bottom of the working platform and used for monitoring weight data borne by the working platform and uploading the control unit; and the pressure sensor being arranged on the outrigger of the vehicle chassis and used for monitoring force data of the outrigger and uploading the control unit.

[0020] Preferably, the intelligent monitoring system further comprises a torque sensor, an angle sensor and a temperature sensor in signal connection with the control unit, the torque sensor, the angle sensor and the temperature sensor being arranged at the articulated positions of the joint mechanism of the bionic scorpion tail type fly jib and / or the articulated positions of the bionic scorpion tail type fly jib and the main arm frame, the torque sensor being used for monitoring torque data of the articulated positions and uploading the control unit, the angle sensor being used for monitoring swing angle data of the articulated positions and uploading the control unit, and the temperature sensor being used for monitoring temperature data of the articulated positions and uploading the control unit.

[0021] Preferably, the intelligent monitoring system further comprises an alarm unit in signal connection with the control unit, the control unit sending an alarm signal to the alarm unit when the data uploaded by each sensor exceeds a set threshold value.

[0022] The application has the following beneficial technical effects:

[0023] 1. The bionic scorpion tail type fly jib is applied to the aerial work platform, through the bionic scorpion tail design, the fly jib can realize multi-joint bending to expand the working range and the working freedom of the fly jib, so that the aerial work platform can adapt to complex working environments, disperse loads and improve overall stability; through the bionic scorpion tail design, the load of the working platform can be dispersed to each segment, so as to effectively avoid local stress concentration, prolong the service life of the fly jib and improve the operation safety; through the bionic scorpion tail design, the high rigidity of the fly jib frame is combined with the flexibility of the joint mechanism, so that the fly jib exhibits excellent bending stiffness when bearing bending load, which not only ensures the stability of the fly jib, but also endows the fly jib with sufficient flexibility; each component and member of the fly jib is modularized and can be replaced individually, so that quick maintenance is realized and the operation time is not affected.

[0024] 2、The application realizes intelligent and accurate control of the aerial working vehicle operation, early warning and protection of the aerial working vehicle operation, improves the operation safety, meanwhile, the user can realize real-time monitoring of the aerial working vehicle operation, predict the remaining life and potential failure of the parts, realize preventive maintenance in the operation process, help the user to reasonably arrange the maintenance plan, adjust the operation intensity, reduce the probability of sudden failure and operation and maintenance cost. BRIEF DESCRIPTION OF DRAWINGS

[0025] Figure 1 It is the front view of the aerial working vehicle in the embodiment of the application;

[0026] Figure 2 It is the front view of the bionic scorpion tail type boom and working platform in the embodiment of the application;

[0027] Figure 3 It is the front view of the bionic scorpion tail type boom in the embodiment of the application;

[0028] Figure 4 It is the swing position schematic view of the bionic scorpion tail type boom in the embodiment of the application;

[0029] Figure 5 It is the perspective view of the boom frame, the second section boom frame and the joint mechanism of the first end in the embodiment of the application;

[0030] Figure 6 It is the perspective view of the boom frame, the second section boom frame and the joint mechanism of the first end in the embodiment of the application, after removing part of components;

[0031] Figure 7 It is the exploded view of the boom frame, the second section boom frame and the joint mechanism of the first end in the embodiment of the application;

[0032] Figure 8 It is the front view of the two section boom frame and the joint mechanism in the embodiment of the application;

[0033] Figure 9 It is the front view of the three section boom frame and the joint mechanism in the embodiment of the application;

[0034] Figure 10 It is the perspective view of the four section boom frame and the joint mechanism in the embodiment of the application;

[0035] Figure 11 It is the front view of the four section boom frame and the joint mechanism in the embodiment of the application;

[0036] Figure 12 It is the perspective view of the five section boom frame and the joint mechanism in the embodiment of the application;

[0037] Figure 13 It is the front view of the five section boom frame and the joint mechanism in the embodiment of the application;

[0038] Figure 14 Structure diagram of the cross section of each arm support of the main arm support in the embodiment of the present application is quadrilateral;

[0039] Figure 15 Structure diagram of the cross section of each arm support of the main arm support in the embodiment of the present application is pentagonal;

[0040] Figure 16 Structure diagram of the cross section of each arm support of the main arm support in the embodiment of the present application is hexagonal;

[0041] Figure 17 Structure diagram of the cross section of each arm support of the main arm support in the embodiment of the present application is octagonal;

[0042] Figure 18 Main view of the working platform in the embodiment of the present application;

[0043] Figure 19 Main view of the supporting leg in the embodiment of the present application;

[0044] Figure 20 Main view of the main arm support in the embodiment of the present application. DETAILED DESCRIPTION

[0045] In order to make the objects, technical solutions and advantages of the present application clearer, the present application will be further described in detail below with reference to the specific embodiments and the accompanying drawings. Some but not all of the embodiments of the present application will be shown in the drawings. In fact, various embodiments of the present application can be implemented in many different forms, and should not be interpreted as being limited to the embodiments described herein; on the contrary, these embodiments are provided to meet the applicable legal requirements.

[0046] In the description of the present application, it should be noted that the terms "inner", "outer", "upper", "lower", "front", "back" and the like indicate the orientation or positional relationship based on the orientation or positional relationship shown in the drawings, and are only for the convenience of describing the present application and simplifying the description, and do not indicate or imply that the devices or elements referred to must have a particular orientation, be constructed and operated in a particular orientation, and therefore cannot be understood as a limitation on the present application. In addition, the terms "first" and "second" are only for descriptive purposes and cannot be understood as indicating or implying relative importance.

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

[0048] The bionic scorpion tail type boom comprises a boom frame 1 and a joint mechanism 2, a plurality of boom frames 1 are arranged in sequence, the first end of the boom frame 1 is used for connecting the front end of a main boom frame 3, the boom frames of the main boom frame 3 are arranged in sequence and can be relatively telescoped, and the last end of the boom frame 1 is used for connecting a working platform 4; the joint mechanism 2 is connected with the adjacent last boom frame 1 and the next boom frame 1 respectively. The joint mechanism 2 is actuated to drive the adjacent next boom frame 1 to swing relative to the last boom frame 1 between 0° and 180° to a set angle.

[0049] The joint mechanism 2 comprises a support seat 21, a swing seat 22, a triangular component one 23, a triangular component two 24, a transition rod 25, a driving motor 26 and a driving rod 27. The triangular component one 23, the triangular component two 24, the transition rod 25 and the driving rod 27 are symmetrically arranged on both sides of the support seat 21.

[0050] The support seat 21 is a saddle-shaped structure, the front view of which is triangular, straddling one end of the adjacent last boom frame 1, and the support seat 21 is fixedly connected with the one end of the boom frame.

[0051] The upper corner position of the triangular component one 23 is hingedly connected with the lower end of the support seat 21 through a first hinge 281, the lower left corner position of the triangular component one 23 is hingedly connected with the first corner position of the triangular component two 24 through a second hinge 282, the lower right corner position of the triangular component one 23 is hingedly connected with one end of the transition rod 25 through a third hinge 283, the second corner position of the triangular component two 24 is hingedly connected with the lower middle position of the swing seat 22 through a fourth hinge 284, and the other end of the transition rod 25 is hingedly connected with the lower middle position of the swing seat 22 through a fifth hinge 285.

[0052] The driving motor 26 is arranged on the support seat 21, the output shaft of the driving motor 26 is connected with one end of the driving rod 27, and the other end of the driving rod 27 is hingedly connected with the third corner position of the triangular component two 24 through a sixth hinge 286.

[0053] The output shaft of the driving motor 26 is rotated to drive the driving rod 27 to swing, and then drive the triangular component two 24, the triangular component one 23 and the transition rod 25 to swing, so as to generate a traction force on the swing seat 22, and drive the next boom frame 1 to swing relative to the last boom frame 1.

[0054] The driving motor 26 is arranged as an electric motor, the output shaft of the driving motor 26 is connected with the driving shaft 261 through a shaft coupling, both ends of the driving shaft 261 are connected with the support seat 21 through bearings, and the driving shaft 261 is connected with one end of the driving rod 27.

[0055] The joint mechanism further comprises a limiting piece 29, which is specifically a limiting column. The limiting piece 29 is arranged on opposite sides of the support base 21 and can abut against the swing base 22. When the swing base 22 swings relative to the support base 21 to a set angle, the limiting piece 29 blocks the swing base 22 from continuing to swing. In this embodiment, when the swing base 22 swings relative to the support base 21 to 90°, the swing base 22 is blocked from continuing to swing by the limiting piece 29, so that the adjacent next section of the flying jib 1 swings relative to the previous section of the flying jib 1 between 0° and 90°.

[0056] The flying jib 1 is a hollow structure, and the cross section of the flying jib 1 is any one of a quadrilateral, a pentagon, a hexagon and an octagon. By designing the flying jib as a hollow structure and optimizing the cross section shape, the strength and rigidity of the flying jib 1 are ensured, the mass of the flying jib 1 is significantly reduced, the overall load of the flying jib is reduced, the inertia is reduced, the movement speed and flexibility are improved, the use of materials is reduced, the cost is reduced, the portability of the flying jib is improved, the strength and rigidity of the flying jib are enhanced, the inertia is reduced, and the sensitivity of the flying jib when starting and stopping is improved.

[0057] A high-altitude operation vehicle comprises a vehicle chassis 51, a rotating table 52, a lifting hydraulic cylinder 53, a support arm base 54, a main jib 3 and a working platform 4. The rotating table 52 is arranged on the vehicle chassis 51. The rear end of the main jib 3 is hinged to the support arm base 54 on the rotating table 52. One end of the lifting hydraulic cylinder 53 is hinged to the support arm base 54, and the other end of the lifting hydraulic cylinder 53 is hinged to the main jib 3. The front end of the main jib 3 is connected to the first flying jib 1, and the last flying jib 1 is connected to the working platform 4. The main jib 3, the flying jib and the working platform 4 are swung left and right by rotating the rotating table 52 relative to the vehicle chassis 51. The main jib 3 is swung up and down relative to the support arm base 54 by extending and retracting the lifting hydraulic cylinder 53.

[0058] An intelligent monitoring system is arranged on the high-altitude operation vehicle described above. The intelligent monitoring system comprises a control unit (vehicle-mounted controller) and a laser radar 61, a weight sensor 62 and a pressure sensor 63 which are signal-connected to the control unit. The laser radar 61 is arranged on the working platform 4. The laser radar 61 is used to scan the environmental parameters of the high-altitude operation vehicle and upload the control unit to generate an accurate three-dimensional environmental map. Accordingly, the high-altitude operation vehicle can analyze and predict potential obstacles and dangerous areas in real time. When obstacles are found, the high-altitude operation vehicle can take timely measures to avoid obstacles, such as adjusting the path or height of the flying jib, to avoid collision with obstacles. The high-altitude operation vehicle usually needs to work in various complex environments, such as urban streets and construction sites. The laser radar 61 can penetrate obstacles such as smoke and dust, providing clear environmental perception capability, so that the high-altitude operation vehicle can stably work in complex environments.

[0059] The weight sensor 62 is arranged at the bottom of the working platform 4, and is used to monitor the weight data borne by the working platform 4 and upload the control unit. The weight sensor 62 monitors the weight borne by the working platform 4 in real time, and ensures that the maximum bearing capacity of the aerial working vehicle is not exceeded during the operation. This helps to prevent mechanical failure or safety accidents caused by overloading, and ensures the safety of the operator and the surrounding environment.

[0060] The pressure sensor 63 is arranged on the outrigger 511 of the vehicle chassis 51, and is used to monitor the force data borne by the outrigger 511 and upload the control unit. The pressure sensor 63 monitors whether the outrigger 511 is fully stressed in real time, and ensures the stability of the aerial working vehicle during the aerial operation. If uneven stress of the outrigger 511 is detected, the control unit is immediately locked to move the boom, preventing the aerial working vehicle from overturning or collapsing due to unstable support, thereby protecting the safety of the operator and the surrounding environment.

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

[0062] The torque sensor, the angle sensor and the temperature sensor can monitor the torque, angle and temperature data of the hinge position in real time. Once an abnormality is found, an alarm is immediately issued through the control unit and the alarm unit, which helps to find problems in time and take corresponding measures, thereby improving the safety and reliability of the aerial working vehicle. At the same time, the user can know the running condition of the aerial working vehicle in real time, and realize preventive maintenance during the running process, which helps the user to reasonably arrange the maintenance plan, adjust the operation intensity, and reduce the operation and maintenance cost.

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

[0064] So far, the embodiment has been described in detail in combination with the drawings. According to the above description, those skilled in the art should have a clear understanding of the bionic scorpion tail type boom, the overhead working vehicle and the intelligent monitoring system. The bionic scorpion tail type boom is applied to the overhead working vehicle, and through the bionic scorpion tail design, the multi-joint bending of the boom can be realized to expand the working range and the working degree of freedom of the boom, so that the overhead working vehicle can adapt to a complex working environment, 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, the local stress concentration can be effectively avoided, the service life of the boom can be prolonged, and the operation safety can be improved. Through the bionic scorpion tail design, the high rigidity of the boom frame is combined with the flexibility of the joint mechanism, so that the boom shows excellent bending stiffness when bearing the bending load. This design not only ensures the stability of the boom, but also gives the boom sufficient flexibility. The components and members of the boom realize modularization and can be replaced individually to realize quick repair and avoid affecting the operation time. The intelligent monitoring system is used to monitor the whole vehicle in real time, intelligently and accurately control the operation of the overhead working vehicle, give an early warning and protect the operation of the overhead working vehicle, improve the operation safety, and at the same time, the user can know the operation condition of the overhead working vehicle in real time, predict the remaining life and potential faults of the parts, realize preventive maintenance in the operation process, help the user to reasonably arrange the maintenance plan, adjust the operation intensity, reduce the probability of sudden failure, and reduce the operation and maintenance cost.

[0065] The above specific embodiments further illustrate the purpose, technical solutions and beneficial effects of the present application. It should be understood that the above description is only for specific embodiments of the present application and is not used to limit the present application. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present application should be included in the protection scope of the present application.

Claims

1. A biomimetic scorpion tail-shaped flying arm, characterized in that, include: The boom consists of several boom sections arranged end to end. The boom at the beginning is used to connect to the front end of the main boom, and the boom at the end is used to connect to the work platform. The joint mechanism connects the adjacent upper and lower sections of the boom respectively. The joint mechanism moves to drive the adjacent lower section of the boom to swing to a set angle between 0° and 180° relative to the upper section of the boom. The joint mechanism includes a support base, a swing base, a triangular component one, a triangular component two, a transition rod, a drive motor, and a drive rod. The support seat is located at one end of the adjacent upper section of the boom, and the swing seat is located at one end of the adjacent lower section of the boom. The lower end of the support seat is hinged at the upper included angle of the first triangular component, the first included angle of the second triangular component is hinged at the lower left included angle of the first triangular component, one end of the transition rod is hinged at the lower right included angle of the first triangular component, the lower end of the swing seat is hinged at the second included angle of the second triangular component, and the other end of the transition rod is hinged at the lower middle position of the swing seat. The drive motor is mounted on the support base. The output shaft of the drive motor is powered to one end of the drive rod, and the other end of the drive rod is hinged to the third included angle of the triangular component two.

2. The biomimetic scorpion tail-type flying arm according to claim 1, characterized in that, The joint mechanism further includes a limiting member, which is disposed on the support base and can abut against the swing base; When the swing seat swings relative to the support seat to a set angle, the limiting member prevents the swing seat from continuing to swing.

3. The biomimetic scorpion tail-type flying arm according to claim 1, characterized in that, The drive motor is configured as an electric motor.

4. The biomimetic scorpion tail-type flying arm according to claim 1, characterized in that, The joint mechanism also includes a drive shaft, the output shaft of the drive motor is connected to the drive shaft via a coupling, and the drive shaft is connected to one end of the drive rod.

5. The biomimetic scorpion tail-type flying arm according to claim 1, characterized in that, The boom is a hollow structure, and its cross-section can be any one of four shapes: quadrilateral, pentagon, hexagon, or octagon.

6. An aerial work platform vehicle, comprising a chassis, a turntable, a main boom, and a working platform, characterized in that, It also includes the biomimetic scorpion tail boom as described in any one of claims 1 to 5, wherein the rear end of the main boom is connected to the rotary table, the front end of the main boom is connected to the first boom, and the last boom is connected to the work platform.

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