An arm assembly based on multi-degree-of-freedom rotating fly arm and intelligent aerial work platform

Abstract

The application provides an arm assembly based on a multi-degree-of-freedom rotary fly arm and an intelligent aerial work vehicle, and relates to the technical field of aerial work vehicles.The application solves the problems of insufficient swing degree of freedom and angle limitation of the existing fly arm.The arm assembly comprises a main arm, a pitching swing mechanism, a left-right swing mechanism, a fly arm and a work platform.The pitching swing mechanism is connected to the front end of the main arm at one end and can drive the left-right swing mechanism to continuously pitch swing within the range of 0° to -90°.The left-right swing mechanism is connected to the pitching swing mechanism at one end and connected to the work platform through the fly arm at the other end, and can drive the fly arm to continuously swing left and right within the range of -90° to 90°.The application realizes the multi-degree-of-freedom independent large-angle fine adjustment of the end work platform in the vertical and horizontal directions through the double swing mechanisms, has high adjustment flexibility, does not depend on the whole vehicle rotation, meets the complex working condition requirements such as downward vertical operation and obstacle crossing, has compact structure and accurate control.

Description

Technical Field

[0001] This invention relates to the field of aerial work platform technology, and more specifically to a boom assembly based on a multi-degree-of-freedom rotating boom and an intelligent aerial work platform. Background Technology

[0002] Aerial work platforms, as specialized engineering equipment used for personnel or equipment to perform high-altitude operations, have been widely used in fields such as power maintenance, municipal maintenance, building construction, and equipment installation. However, with increasingly complex operating environments, especially in situations with limited space, dense obstacles, or the need for precise positioning, traditional aerial work platforms are gradually revealing their shortcomings in terms of end-effector flexibility.

[0003] In existing technologies, aerial work platforms typically include a chassis system, a slewing system, a main boom, and a boom or work platform located at the end of the main boom. As the end effector directly involved in aerial work, the boom's degrees of freedom and adjustability significantly impact the overall performance of the vehicle. However, existing boom structures often rely on a single motion mechanism, commonly involving the main boom rotating as a whole with the slewing system or possessing only limited pitch adjustment capabilities. Spatial attitude adjustments typically depend on the overall vehicle rotation or multi-stage main boom linkage.

[0004] Existing technology lacks a boom assembly that can achieve multi-directional independent swing at the end of the boom, with a large range of vertical swing angles, and is compact and easy to control. Summary of the Invention

[0005] The purpose of this invention is to provide a boom assembly based on a multi-degree-of-freedom rotating boom and an intelligent aerial work platform, so as to solve the problems of insufficient swing freedom and limited swing angle of the boom in the prior art.

[0006] To achieve the above objectives, the technical solution adopted by the present invention is as follows: A boom assembly based on a multi-degree-of-freedom rotating boom, comprising: Main boom; The pitch and swing mechanism has one end connected to the front end of the main boom; The left and right swing mechanism is connected at one end to the other end of the pitch swing mechanism. The pitch swing mechanism can drive the left and right swing mechanism to swing vertically. The boom has one end connected to the other end of the left and right swing mechanism, which can drive the boom to swing left and right laterally. The work platform connects to the other end of the boom.

[0007] Preferably, the pitch swing mechanism includes a base, a first drive motor, a lead screw, a lead screw nut, a guide rail, a slider, a pitch seat, and a support rod; The base is connected to the front end of the main boom; The first drive motor is mounted on the base, the lead screw is arranged along the front-rear direction of the base, the lead screw is driven to rotate by the first drive motor, and the lead nut is engaged with the lead screw; The guide rail is arranged along the front-back direction of the base, the slider slides in cooperation with the guide rail, and the slider is fixedly connected to the nut. The slider is hinged to the front end of the pitch seat; One end of the support rod is hinged to the middle position of the pitch seat, and the other end of the support rod is hinged to the base. The left and right swinging mechanism is provided on the pitch seat.

[0008] Preferably, there are two lead screws, one located on the left side of the base and the other located on the right side of the base; The guide rail is provided as two rails, one of which is located on the left side of the base and the other is located on the right side of the base; The slider and nut on the same side are fixedly connected; A slider on a guide rail is hinged to the left front end of the pitch mount, and a slider on another guide rail is hinged to the right front end of the pitch mount. The support rod is configured as two rods. The two ends of one support rod are respectively hinged to the left side of the pitch seat and the left side of the base, and the two ends of the other support rod are respectively hinged to the right side of the pitch seat and the right side of the base.

[0009] Preferably, a driven sprocket is provided at the end of the lead screw, the output shaft of the first drive motor is connected to the drive sprocket, and a chain is connected between the drive sprocket and the driven sprocket.

[0010] Preferably, the left-right swinging mechanism includes a second drive motor, a drive bevel gear, a rotating shaft, and a driven bevel gear; The second drive motor is mounted on the pitch mount, and the output shaft of the second drive motor is connected to the drive bevel gear; The rotating shaft is rotatably connected to the pitch seat, and the driven bevel gear is disposed on the rotating shaft; The passive bevel gear meshes with the driving bevel gear; The rotating shaft is connected to one end of the boom.

[0011] Preferably, the axis of the driving bevel gear and the axis of the driven bevel gear are perpendicular to each other.

[0012] Preferably, it further includes a support base, which is connected to the pitch base and is located above the pitch base. One end of the rotating shaft is rotatably connected to the pitch base, and the other end of the rotating shaft is rotatably connected to the support base.

[0013] Preferably, it also includes a boom mount, the boom mount being connected to the rotating shaft, and one end of the boom frame being connected to the boom mount.

[0014] Preferably, a mechanical limit device and / or an electrical limit switch are provided at the extreme positions of the pitch swing mechanism and / or the left and right swing mechanism.

[0015] An intelligent aerial work platform includes a chassis and a turntable, and also includes the aforementioned boom assembly based on a multi-degree-of-freedom rotating boom, wherein the rear end of the main boom is connected to the turntable.

[0016] Compared with existing technologies, the boom assembly and intelligent aerial work platform based on a multi-degree-of-freedom rotating boom of the present invention achieve the following significant technical effects: 1. This invention achieves multi-degree-of-freedom independent adjustment of the end-effector platform. Through the organic combination of a pitch and swing mechanism and a left-right swing mechanism, this invention enables the boom to achieve independent vertical pitch and lateral swing in both directions. Compared to traditional adjustment methods that rely on vehicle rotation or multi-stage boom linkage, the end-effector adjustment of this invention is no longer limited by the boom posture, significantly improving the adjustment flexibility and spatial adaptability of the work platform.

[0017] 2. This invention expands the operating angle range to meet the needs of complex working conditions. The pitch and swing mechanism adopts a linkage mechanism composed of a lead screw, slider, and support rod, which can drive the boom to continuously pitch and swing within the range of 0° to -90°, enabling the work platform to perform vertical downward operations, facilitating special working conditions such as bridge bottom surface inspection and deep pit operations. The left and right swing mechanism, through bevel gear transmission, can drive the boom to achieve 180° continuous swing within the range of -90° to 90°, allowing the work platform to easily cross side obstacles or operate close to walls. The two mechanisms work together to greatly expand the working coverage of the aerial work platform.

[0018] 3. This invention achieves fine-tuning and high-precision control. The pitch and oscillation mechanism uses a lead screw drive, and the left and right oscillation mechanism uses a bevel gear drive. Both are precision transmission methods. Combined with the encoder or angle sensor built into the drive motor, precise control and closed-loop feedback adjustment of the end-effector angle can be achieved. Operators can precisely control minute angle changes of the work platform, meeting the high positioning accuracy requirements of operations such as equipment installation and precision maintenance.

[0019] 4. The pitching and swinging mechanisms and left-right swinging mechanisms of this invention have a compact structure and stable and reliable transmission, ensuring smooth operation of the mechanisms under load. Simultaneously, dual protection—mechanical and electrical limits—is provided at the extreme motion positions to effectively prevent overtravel and improve the safety and service life of the equipment. Attached Figure Description

[0020] Figure 1 This is a schematic diagram of the structure of the aerial work platform vehicle according to an embodiment of the present invention; Figure 2 This is a perspective view of the pitch swing mechanism, the left and right swing mechanism, and the flying arm according to an embodiment of the present invention; Figure 3 This is an exploded view of the pitch swing mechanism, the left and right swing mechanism, and the flying arm according to an embodiment of the present invention; Figure 4 This is a cross-sectional view of the pitch swing mechanism, the left and right swing mechanism, and the flying arm according to an embodiment of the present invention; Figure 5 The three-dimensional pitch and oscillation mechanism of this invention is shown in the embodiment. Figure 1 ; Figure 6 The three-dimensional pitch and oscillation mechanism of this invention is shown in the embodiment. Figure 2 ; Figure 7 This is a perspective view of the left-right swinging mechanism according to an embodiment of the present invention. Detailed Implementation

[0021] To make the objectives, technical solutions, and beneficial effects of this invention clearer, the invention will be further described in detail below with reference to specific embodiments and the accompanying drawings. Certain embodiments of the invention will be described more fully below with reference to the accompanying drawings, and some, but not all, of these embodiments will be shown. In fact, various embodiments of the invention can be implemented in many different forms and should not be construed as limited to the embodiments set forth herein; rather, these embodiments are provided to enable the invention to meet applicable legal requirements.

[0022] In the description of this invention, it should be noted that the terms "inner," "outer," "upper," "lower," "front," and "rear," etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are used only for the convenience of describing this invention and for simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this invention. Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance.

[0023] Please refer to Figures 1 to 7 As shown, in this embodiment of the invention, a boom assembly based on a multi-degree-of-freedom rotating boom and an intelligent aerial work vehicle are provided.

[0024] A boom assembly based on a multi-degree-of-freedom rotating boom includes a main boom 1, a pitch swing mechanism 2, a left and right swing mechanism 3, a boom 4, and a work platform 5.

[0025] One end of the pitch swing mechanism 2 is connected to the front end of the main boom 1, and one end of the left and right swing mechanism 3 is connected to the other end of the pitch swing mechanism 2. The pitch swing mechanism 2 can drive the left and right swing mechanism 3 to pitch and swing vertically.

[0026] One end of the boom 4 is connected to the other end of the left-right swing mechanism 3, and the other end of the boom 4 is connected to the work platform 5. The left-right swing mechanism 3 can drive the boom 4 to swing left and right in the lateral direction.

[0027] In this way, the work platform 5 can achieve vertical independent pitch and large-angle fine swing and horizontal independent left and right large-angle fine swing. The swing freedom is high and does not rely on the whole vehicle rotation system or the main boom linkage. This improves the adjustment flexibility and end angle adjustment precision of the work platform 5, meets the work platform 5's operational needs for downward operation, crossing obstacles and fine adjustment of left and right angles, and expands the applicability of aerial work vehicles in various working conditions.

[0028] The pitch and oscillation mechanism 2 includes a base 21, a first drive motor 22, a lead screw 23, a lead screw nut 24, a guide rail 25, a slider 26, a pitch seat 27, and a support rod 28.

[0029] The base 21 is connected to the front end of the main boom 1. The first drive motor 22 is located at the rear end of the base 21. The lead screw 23 is arranged along the front-rear direction of the base 21. Both ends of the lead screw 23 are rotatably connected to the base 21 via bearings. The lead screw 23 is driven to rotate by the first drive motor 22. The lead screw nut 24 is fitted onto the lead screw 23. The guide rail 25 is arranged along the front-rear direction of the base 21. The slider 26 is slidably fitted onto the guide rail 25, and the slider 26 is fixedly connected to the lead screw nut 24. The pitch seat 27 is provided with a left-right swing mechanism 3. The front end of the pitch seat 27 is hinged to the slider 26. One end of the support rod 28 is hinged to the middle position of the pitch seat 27, and the other end of the support rod 28 is hinged to the rear end of the base 21.

[0030] Specifically, there are two lead screws 23, one located on the left side of the base 21 and the other on the right side. There are also two guide rails 25, one on the left side of the base 21 and the other on the right side. Slider 26 and lead screw nut 24 are fixedly connected on the same side. The left front end of the pitch seat 27 is hinged to the slider 26 on one guide rail 25, and the right front end of the pitch seat 27 is hinged to the slider 26 on the other guide rail 25. There are two support rods 28, one with its ends hinged to the left side of the pitch seat 27 and the left side of the base 21, and the other with its ends hinged to the right side of the pitch seat 27 and the right side of the base 21. This ensures stable transmission between the base 21 and the pitch seat 27.

[0031] A driven sprocket 291 is provided at the end of the lead screw 23. The output shaft of the first drive motor 22 is connected to the drive sprocket 292. A chain 293 is connected between the drive sprocket 292 and the driven sprocket 291.

[0032] The output shaft of the first drive motor 22 rotates in either the forward or reverse direction, driving the drive sprocket 292 to rotate. The drive sprocket 292, via the chain 293, drives the two driven sprockets 291 to rotate synchronously, which in turn drives the two lead screws 23 to rotate synchronously. The rotation of the lead screws 23, through the cooperation between the lead screw 23 and the lead nut 24, the sliding cooperation between the slider 26 and the guide rail 25, and the hinged cooperation between the support rod 28 and the pitch seat 27 and the base 21, enables the pitch seat 27 to achieve continuous, large-angle, precise oscillation within the range of 0° to -90°. Here, 0° corresponds to the horizontally forward-extended posture of the boom 4, and -90° corresponds to the vertically downward-extended posture of the boom 4.

[0033] The left-right swing mechanism 3 includes a second drive motor 31, a drive bevel gear 32, a rotating shaft 33, and a driven bevel gear 34. The second drive motor 31 is located at the rear end of the pitch mount 27. The output shaft of the second drive motor 31 is connected to the drive bevel gear 32 via a reducer. The rotating shaft 33 is rotatably connected to the pitch mount 27. The driven bevel gear 34 is located on the rotating shaft 33 and meshes with the drive bevel gear 32. The axis of the drive bevel gear 32 and the axis of the driven bevel gear 34 are perpendicular to each other. The rotating shaft 33 is connected to one end of the boom 4.

[0034] Specifically, the support base 35 is connected to the pitch base 27 via the support frame 351, and the support base 35 is located above the pitch base 27. One end of the rotating shaft 33 is rotatably connected to the pitch base 27 via a bearing, and the other end of the rotating shaft 33 is rotatably connected to the support base 35 via a bearing. The boom mount 36 is connected to the rotating shaft 33, and one end of the boom frame 4 is assembled and connected to the boom mount 36.

[0035] The output shaft of the second drive motor 31 rotates in either the forward or reverse direction, driving the drive bevel gear 32 to rotate. The drive bevel gear 32, through its meshing with the driven bevel gear 34, drives the rotating shaft 33 to rotate, thereby driving the boom 4 and the work platform 5 to rotate. The boom 4 and the work platform 5 can achieve continuous, large-angle, precise left-right swinging within a 180° range between -90° and 90°. -90° corresponds to the boom 4 extending horizontally to the left, and -90° corresponds to the boom 4 extending horizontally to the right.

[0036] In addition, mechanical limit devices and electrical limit switches are installed at the extreme positions of the pitch oscillation mechanism 2 and the left and right oscillation mechanism 3. The electrical limit switches are electrically connected to the controller (vehicle controller) to achieve dual limit protection of the angle oscillation stroke using both mechanical and electrical limits. Each drive motor (first drive motor 22, second drive motor 31) is equipped with an encoder or angle sensor. The encoder or angle sensor acquires the angle position signal in real time and is electrically connected to the controller for feedback control of angle adjustment. The controller is electrically connected to the control terminals of each drive motor (first drive motor 22, second drive motor 31) to achieve closed-loop control of the movement of the pitch oscillation mechanism 2 and the left and right oscillation mechanism 3.

[0037] An intelligent aerial work platform includes a chassis 6, a turntable 7, and a lifting hydraulic cylinder 8. It also includes the aforementioned boom assembly based on a multi-degree-of-freedom rotating boom. The rear end of the main boom 1 is connected to a support boom seat 71 on the turntable 7. One end of the lifting hydraulic cylinder 8 is hinged to the support boom seat 71, and the other end is hinged to the main boom 1. The main boom 1 includes several telescopic booms arranged in a nested configuration. Adjacent telescopic booms can extend and retract relative to each other. The front end of the first telescopic boom is connected to the base 21 of the pitch swing mechanism 2, and the rear end of the last telescopic boom is connected to the support boom seat 71.

[0038] The rotation of the turntable 7 relative to the chassis 6 drives the main boom 1, pitch and sway mechanism 2, left and right sway mechanism 3, boom 4, and work platform 5 to swing significantly left and right. The extension and retraction of the lifting hydraulic cylinder 8 drives the main boom 1 to swing significantly up and down relative to the support boom seat 71. The relative extension and retraction of adjacent telescopic booms drives the pitch and sway mechanism 2, left and right sway mechanism 3, boom 4, and work platform 5 to extend and retract significantly. The pitch and sway mechanism 2 drives the left and right sway mechanism 3, boom 4, and work platform 5 to achieve continuous, large-angle, precise pitch and sway within the range of 0° to -90°. The left and right sway mechanism 3 drives the boom 4 and work platform 5 to achieve continuous, large-angle, precise left and right sway within the range of -90° to 90° (180° range). Thus, through the above coordinated operation, the work platform 5 achieves precise adjustment with a large number of degrees of freedom, increasing its working range and operational flexibility. The working platform 5 is flexible in adjustment and has a finely adjustable end angle, which meets the operational needs of the working platform 5 for downward operation, crossing obstacles, and fine adjustment of left and right angles, thus expanding the applicability of the aerial work vehicle in various working conditions.

[0039] The present invention has been described in detail above with reference to the accompanying drawings. Based on the above description, those skilled in the art should have a clear understanding of the boom assembly and intelligent aerial work platform based on a multi-degree-of-freedom rotating boom of the present invention. The specific embodiments described above further illustrate the purpose, technical solution, and beneficial effects of the present invention. It should be understood that the above descriptions are merely specific embodiments of the present invention and are 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 within the protection scope of the present invention.

Claims

1. A boom assembly based on a multi-degree-of-freedom rotating boom, characterized in that, include: Main boom; The pitch and swing mechanism has one end connected to the front end of the main boom; The left and right swing mechanism is connected at one end to the other end of the pitch swing mechanism. The pitch swing mechanism can drive the left and right swing mechanism to swing vertically. The boom has one end connected to the other end of the left and right swing mechanism, which can drive the boom to swing left and right laterally. The work platform connects to the other end of the boom.

2. The boom assembly based on a multi-degree-of-freedom rotating boom according to claim 1, characterized in that, The pitch swing mechanism includes a base, a first drive motor, a lead screw, a lead screw nut, a guide rail, a slider, a pitch seat, and a support rod; The base is connected to the front end of the main boom; The first drive motor is mounted on the base, the lead screw is arranged along the front-rear direction of the base, the lead screw is driven to rotate by the first drive motor, and the lead nut is engaged with the lead screw; The guide rail is arranged along the front-back direction of the base, the slider slides in cooperation with the guide rail, and the slider is fixedly connected to the nut. The slider is hinged to the front end of the pitch seat; One end of the support rod is hinged to the middle position of the pitch seat, and the other end of the support rod is hinged to the base. The left and right swinging mechanism is provided on the pitch seat.

3. The boom assembly based on a multi-degree-of-freedom rotating boom according to claim 2, characterized in that, The lead screw is configured as two screws, one located on the left side of the base and the other located on the right side of the base; The guide rail is provided as two rails, one of which is located on the left side of the base and the other is located on the right side of the base; The slider and nut on the same side are fixedly connected; A slider on a guide rail is hinged to the left front end of the pitch mount, and a slider on another guide rail is hinged to the right front end of the pitch mount. The support rod is configured as two rods. The two ends of one support rod are respectively hinged to the left side of the pitch seat and the left side of the base, and the two ends of the other support rod are respectively hinged to the right side of the pitch seat and the right side of the base.

4. The boom assembly based on a multi-degree-of-freedom rotating boom according to claim 3, characterized in that, A driven sprocket is provided at the end of the lead screw, and a drive sprocket is connected to the output shaft of the first drive motor. A chain connects the drive sprocket and the driven sprocket.

5. A boom assembly based on a multi-degree-of-freedom rotating boom according to claim 2, characterized in that, The left and right swinging mechanism includes a second drive motor, a drive bevel gear, a rotating shaft, and a driven bevel gear; The second drive motor is mounted on the pitch mount, and the output shaft of the second drive motor is connected to the drive bevel gear; The rotating shaft is rotatably connected to the pitch seat, and the driven bevel gear is disposed on the rotating shaft; The passive bevel gear meshes with the driving bevel gear; The rotating shaft is connected to one end of the boom.

6. A boom assembly based on a multi-degree-of-freedom rotating boom according to claim 5, characterized in that, The axis of the driving bevel gear and the axis of the driven bevel gear are perpendicular to each other.

7. A boom assembly based on a multi-degree-of-freedom rotating boom according to claim 5, characterized in that, It also includes a support base, which is connected to the pitch base and is located above the pitch base. One end of the rotating shaft is rotatably connected to the pitch base, and the other end of the rotating shaft is rotatably connected to the support base.

8. A boom assembly based on a multi-degree-of-freedom rotating boom according to claim 5, characterized in that, It also includes a boom mount, which is connected to the rotating shaft, and one end of the boom frame is connected to the boom mount.

9. A boom assembly based on a multi-degree-of-freedom rotating boom according to any one of claims 1 to 8, characterized in that, Mechanical limit devices and / or electrical limit switches are provided at the extreme positions of the pitch swing mechanism and / or the left and right swing mechanism.

10. An intelligent aerial work platform, comprising a chassis and a turntable, characterized in that, It also includes a boom assembly based on a multi-degree-of-freedom rotating boom as described in any one of claims 1 to 9, wherein the rear end of the main boom is connected to the rotary table.

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