Operation mechanism, suction cup vehicle and operation machine

Abstract

The utility model relates to the field of operation machinery, and discloses an operation mechanism, a suction cup vehicle and operation machinery. The supporting assembly is used for supporting the working device; the rotating adjusting assembly is arranged in the supporting assembly and comprises a rotating device, the rotating device comprises a shell, a rotating shaft arranged in the shell, a piston connected between the rotating shaft and the shell in a sleeving mode and a hydraulic circulating oil way capable of driving the piston to move in the axial direction, and in the axial displacement process of the piston, the piston and the rotating shaft can synchronously rotate in the shell; the rotating device can drive the working device to rotate around the axis of the rotating shaft through rotation of the rotating shaft. According to the invention, the pressure applied to the telescopic arm of the sucker vehicle or the arm support structure of other types of operation machinery by the operation mechanism can be reduced, so that the arm support structure such as the telescopic arm has larger load margin, more operation requirements can be met, and the adaptability of the sucker vehicle or other types of operation machinery is improved.

Description

Technical Field

[0001] The present application belongs to the technical field of operating machinery, and specifically relates to an operating mechanism, a suction cup vehicle and an operating machinery. Background Art

[0002] With the rapid development of the building decoration industry, the dry hanging installation workload of various curtain walls, such as the installation of marble and glass windows, has become increasingly important. The development and application of suction cup vehicles can not only improve the efficiency of decoration construction, but also improve the overall construction quality. However, modern high-rise buildings are increasingly using large-size curtain wall panels, which can be up to several meters in size and weigh hundreds of kilograms, which places high demands on the load capacity of suction cup vehicles.

[0003] The existing suction cup vehicle is mainly composed of a telescopic arm, a variable amplitude cylinder and a suction cup mechanism connected to the front end of the telescopic arm. The suction cup mechanism, as an actuator for the curtain wall panel installation operation, is usually provided with a rotating device, and can be rotated by the rotating device to drive the suction cup frame located at the end of the suction cup mechanism to rotate around the axis of the rotating device.

[0004] However, the rotating devices currently used are mostly swing cylinders, which are heavy, resulting in a large overall weight of the suction cup mechanism, which limits the load margin of the suction cup vehicle to a certain extent, making it difficult for existing suction cup vehicles to meet the installation requirements of large-size curtain wall panels.

[0005] In addition, similar problems to those described above may also exist in some other types of working machinery, that is, a heavy swing cylinder is used in the working mechanism of the working machinery, which limits the load margin of the boom structure supporting the working mechanism, thereby resulting in a narrow applicable operating range of the working machinery. Utility Model Content

[0006] The purpose of the present application is to provide an operating mechanism, a suction cup vehicle and an operating machine, which can effectively reduce the weight of the operating mechanism itself and improve the load capacity of the operating machine so as to meet more operating requirements.

[0007] In order to achieve the above objectives, the present application provides an operating mechanism on one hand, which includes:

[0008] Working device;

[0009] a support assembly for supporting the working device; and

[0010] A rotation adjustment assembly is arranged in the support assembly and includes a rotation device, which includes a housing, a rotating shaft arranged in the housing, a piston sleeved between the rotating shaft and the housing, and a hydraulic circulation oil circuit capable of driving the piston to displace axially. During the axial displacement of the piston, the piston and the rotating shaft can rotate synchronously in the housing, and the rotation device can drive the working device to rotate around the axis of the rotating shaft through the rotation of the rotating shaft.

[0011] In some embodiments, the hydraulic circulating oil circuit includes a first circulating oil circuit and a second circulating oil circuit, the piston includes a first piston and a second piston spaced axially, the rotating device also includes a first rack engagement guide structure arranged between the first piston and the housing and a second rack engagement guide structure arranged between the second piston and the housing, the first piston and the second piston are configured to be able to move back and forth axially under the drive of the first circulating oil circuit and the second circulating oil circuit, respectively, and to be able to rotate synchronously under the guidance of the first rack engagement guide structure and the second rack engagement guide structure, respectively.

[0012] In some embodiments, the operating mechanism also includes a processing device, an angle detection device for detecting a current rotation angle β of the rotating shaft, a first displacement detection device for detecting a current axial displacement Xz of the first piston, and a second displacement detection device for detecting a current axial displacement Xi of the second piston, and the processing device is communicatively connected with the angle detection device, the first displacement detection device, the second displacement detection device, the first circulating oil circuit, and the second circulating oil circuit.

[0013] In some embodiments, the outer peripheral wall at the end of the rotating shaft is provided with a shaft shoulder, and the rotating device further includes a planar thrust bearing arranged between the shaft shoulder and the axial inner end wall of the housing.

[0014] In some embodiments, the rotating device also includes a connecting flange fixedly connected to the end of the rotating shaft, a flange limiter is provided on the connecting flange, and a shell limiter is provided on the axial outer end wall of the shell, and the flange limiter and the shell limiter are configured to be able to abut along the circumferential direction of the rotating device to limit the maximum rotation angle of the rotating device.

[0015] In some embodiments, the support assembly includes a main arm, a rear connecting plate, a flying arm, a connecting rod, a front connecting plate and a bracket, and the rotation adjustment assembly includes two rotating devices arranged front and back;

[0016] Among them, the rear connecting plate connects the front end of the main arm and the shell of the rotating device located on the rear side, the rotating shaft of the rotating device located on the rear side is relatively fixed to the rear end of the flying arm, the connecting rod connects the front end of the flying arm and the shell of the rotating device located on the front side, the front connecting plate is relatively fixed to the rotating shaft of the rotating device located on the front side and connected to the bracket, and the working device is located at the front end of the bracket.

[0017] In some embodiments, the rotation adjustment assembly further includes a reducer connecting the bracket and the working device.

[0018] In some embodiments, the operating mechanism further includes a pitch adjustment assembly, the pitch adjustment assembly includes a first pitch device and a second pitch device, the front end of the main arm is hinged to the rear connecting plate, the first pitch device is hinged to the main arm and the rear connecting plate, the front end of the flying arm is hinged to the connecting rod, and the second pitch device is hinged to the front end of the flying arm and the connecting rod;

[0019] And / or, the flying arm is formed as a front and rear telescopic arm, the bracket is movably connected to the front connecting plate, and the operating mechanism also includes a three-way adjustment assembly, which includes a front and rear telescopic device for driving the front and rear telescopic arms to extend and retract, a left and right telescopic device for driving the bracket to move left and right relative to the front connecting plate, and an upper and lower telescopic device for driving the bracket to move up and down relative to the front connecting plate.

[0020] The second aspect of the present application also provides a suction cup vehicle, which includes the above-mentioned operating mechanism.

[0021] The third aspect of the present application also provides an operating machine, which includes the above-mentioned operating mechanism.

[0022] Through the above technical solution, the rotating device in the operating mechanism of the present application can make the piston and the rotating shaft rotate synchronously in the housing when the hydraulic circulation oil circuit drives the piston to displace axially. When the rotating shaft rotates, it can drive the working device to rotate around the axis of the rotating shaft. Since there is more space between the housing and the rotating shaft of the rotating device for arranging the piston and for the piston to displace axially, the interior of the rotating device has more non-solid areas. In contrast, the interior of the swing cylinder in the existing operating mechanism is almost entirely solid. Therefore, under the condition of providing the same torque, the rotating device of the present application is lighter than the existing swing cylinder, so that the overall weight of the operating mechanism of the present application is also reduced, which can reduce the pressure applied by the operating mechanism on the telescopic arm of the suction cup vehicle or the arm structure of other types of operating machinery, so that the arm structure such as the telescopic arm has a larger load margin, which can meet more operating requirements and improve the adaptability of the suction cup vehicle or other types of operating machinery.

[0023] Other features and advantages of the embodiments of the present application will be described in detail in the subsequent detailed description. BRIEF DESCRIPTION OF THE DRAWINGS

[0024] The accompanying drawings are used to provide a further understanding of the embodiments of the present application and constitute a part of the specification. Together with the following specific embodiments, they are used to explain the embodiments of the present application, but do not constitute a limitation on the embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on the structures shown in these drawings without creative work. In the drawings:

[0025] Figure 1 A schematic diagram of a control strategy developed based on an operating mechanism in a specific implementation manner of the present application;

[0026] Figure 2 A simplified diagram of a hydraulic control principle developed based on an operating mechanism in a specific embodiment of the present application;

[0027] Figure 3 A schematic diagram of an operating mechanism in a specific implementation manner of the present application;

[0028] Figure 4 for Figure 3 A schematic diagram of the rotating device and the rear connecting plate located at the rear side;

[0029] Figure 5 for Figure 3 A schematic diagram of the rotating device and the front connecting plate located at the front side;

[0030] Figure 6 for Figure 3 A schematic diagram of a rotating device in FIG.

[0031] Figure 7 for Figure 6 A cross-sectional view AA of the rotating device;

[0032] Figure 8 A schematic diagram of a rack meshing guide structure in a specific implementation manner of the present application;

[0033] Figures 9 to 14 Used to illustrate Figure 3 The range of motion of the reducer, two rotating devices, the first pitch device, the second pitch device, the front and rear telescopic devices, the upper and lower telescopic devices, and the left and right telescopic devices.

[0034] Description of Reference Numerals

[0035] 10 Rotating device 20 Speed ​​reducer

[0036] 30 first pitch device 40 second pitch device

[0037] 50 front and rear telescopic device 60 left and right telescopic device

[0038] 70 Upper and lower telescopic device 80 Main arm

[0039] 90 Rear connecting plate 100 Flying arm

[0040] 110 connecting rod 120 front connecting plate

[0041] 130 Bracket 140 Working device

[0042] 150 Angle detection device 160 First displacement detection device

[0043] 170 Second displacement detection device

[0044] 101 housing 102 shaft

[0045] 103 first piston 104 second piston

[0046] 105 Plane thrust bearing 106 Connecting flange

[0047] 107 Piston

[0048] 101a: Shell peripheral wall 101b: Shell end wall

[0049] 101c Housing limiter 101d Housing ring rack

[0050] 106a Flange stopper 107a Piston ring rack DETAILED DESCRIPTION

[0051] The specific implementation of the present application is described in detail below in conjunction with the accompanying drawings. It should be understood that the specific implementation described here is only used to illustrate and explain the present application, and is not used to limit the present application.

[0052] Reference Figures 3 to 8 The first exemplary embodiment of the present application provides a working mechanism, which includes a working device 140, a supporting assembly and a rotation adjustment assembly.

[0053] Specifically, the support assembly is used to support the working device 140 so that the working device 140 is located at the front end of the support assembly. The rotation adjustment assembly is arranged in the support assembly and includes a rotation device 10, which includes a housing 101, a rotating shaft 102 arranged in the housing 101, a piston 107 sleeved between the rotating shaft 102 and the housing 101, and a hydraulic circulation oil circuit capable of driving the piston 107 to displace axially. During the axial displacement of the piston 107, the piston 107 and the rotating shaft 102 can rotate synchronously in the housing 101, and the rotating device 10 can drive the working device 140 to rotate around the axis of the rotating shaft 102 through the rotation of the rotating shaft 102.

[0054] Since there is more space between the housing 101 and the rotating shaft 102 of the rotating device 10 of the present application for arranging the piston 107 and for the piston 107 to move axially, the interior of the rotating device 10 has more non-solid areas. In contrast, the interior of the swing cylinder in the existing operating mechanism is almost entirely solid. Therefore, under the condition of providing the same torque, the rotating device 10 of the present application is lighter than the existing swing cylinder, so that the overall weight of the operating mechanism of the present application is also reduced, which can reduce the pressure applied by the operating mechanism on the telescopic arm of the suction cup car or on the arm structure of other types of operating machinery, so that the arm structure such as the telescopic arm has a larger load margin, so that more operating requirements can be met (for example, the suction cup car can meet the installation operation requirements of large-size curtain wall panels (up to several meters and weighing up to hundreds of kilograms)), and improve the adaptability of the suction cup car or other types of operating machinery.

[0055] In other prior arts, the rotating device used in the operating mechanism can also be in the form of a transmission connection between a hydraulic motor and a reducer. The rotation speed of a hydraulic motor is generally fast, and the operating mechanism needs to require its working device 140 to move slowly in some cases (for example, when a suction cup vehicle is installing a large-sized curtain wall panel, the suction cup frame is required to move slowly) to ensure the stability and safety of the operation. Therefore, only using a hydraulic motor to drive the working device 140 to rotate cannot meet the slow movement requirement. Therefore, when using a hydraulic motor, a reducer must be configured to reduce speed, but because of this, the overall weight of the rotating device will also be larger.

[0056] To solve the above problems, the rotating device 10 of the present application can be further optimized as follows, so that it can have a lighter weight than the existing rotating device using a hydraulic motor and a reducer transmission connection while providing the same torque.

[0057] Specifically, the hydraulic circulation oil circuit of the rotating device 10 of the present application includes a first circulation oil circuit and a second circulation oil circuit, the piston 107 includes a first piston 103 and a second piston 104 spaced apart in the axial direction, and the rotating device 10 also includes a first rack meshing guide structure disposed between the first piston 103 and the housing 101 and a second rack meshing guide structure disposed between the second piston 104 and the housing 101. At this time, the first piston 103 and the second piston 104 can be driven by the first circulation oil circuit and the second circulation oil circuit respectively to move back and forth in the axial direction, and can be synchronously rotated under the guidance of the first rack meshing guide structure and the second rack meshing guide structure respectively.

[0058] For example, the meshing method of the first piston 103 and the first rack meshing guide structure, and the meshing method of the second piston 104 and the second rack meshing guide structure can refer to Figure 8 Set it in the form of .

[0059] More specifically, the first rack meshing guide structure and the second rack meshing guide structure are arranged axially spaced apart from each other along the shell 101. The first rack meshing guide structure includes two first shell annular racks fixed in the shell 101 and spaced apart along the axial direction, and the teeth on the two first shell annular racks extend axially toward each other. The second rack meshing guide structure includes two second shell annular racks fixed in the shell 101 and spaced apart along the axial direction, and the teeth on the two second shell annular racks extend axially toward each other.

[0060] The first piston 103 is located between the two first housing annular racks and two first piston annular racks are respectively provided at the two axial ends, and the teeth on the two first piston annular racks extend away from each other in the axial direction. The second piston 104 is located between the two second housing annular racks and two second piston annular racks are respectively provided at the two axial ends, and the teeth on the two second piston annular racks extend away from each other in the axial direction. The first piston 103 and the second piston 104 are both fixed to the rotating shaft 102 in the circumferential direction by forming a keyway with the rotating shaft 102, and the first piston 103 and the second piston 104 can be displaced in the axial direction relative to the rotating shaft 102.

[0061] In addition, the first oil circulation circuit cooperates with the second oil circulation circuit (see Figure 6, the first circulation oil circuit can use the oil port Pa1 and the oil port Pb1 to enter and exit the oil, the second circulation oil circuit can use the oil port Pa2 and the oil port Pb2 to enter and exit the oil, and the oil inlet and outlet directions of the first circulation oil circuit and the second circulation oil circuit can be switched), which can drive the first piston 103 and the second piston 104 to move back and forth in the axial direction, so that the first piston 103 can alternately mesh with the two first shell annular racks and the second piston 104 can alternately mesh with the two second shell annular racks, thereby utilizing the meshing guidance of multiple teeth to make the first piston 103 and the second piston 104 drive the rotating shaft 102 to rotate synchronously.

[0062] Further, refer to Figure 7 The housing 101 may include a housing peripheral wall portion 101a and two housing end wall portions 101b connected to the two axial ends of the housing peripheral wall portion 101a. In this case, the two first housing annular racks may be respectively arranged on the inner peripheral wall of the housing peripheral wall portion 101a and the inner end wall of one of the housing end wall portions 101b, and the two second housing annular racks may be respectively arranged on the inner peripheral wall of the housing peripheral wall portion 101a and the inner end wall of the other housing end wall portion 101b.

[0063] Through the above-mentioned optimized design, when the rotating device 10 of the present application converts the axial displacement of the first piston 103 and the second piston 104 into a rotational displacement, due to the use of multiple teeth meshing guides, the first piston 103 and the second piston 104 can convert a large axial displacement into a small rotational displacement, thereby realizing that the first piston 103 and the second piston 104 synchronously drive the rotating shaft 102 to rotate slowly, and then drive the working device 140 to rotate slowly around the axis of the rotating shaft 102. At this time, the rotating device 10 of the present application does not need to be additionally configured with a reducer to reduce speed, and can also meet the slow movement requirements of the working device 140. Therefore, under the condition of providing the same torque, the rotating device 10 of the present application is lighter than the existing rotating device using a hydraulic motor and a reducer transmission connection.

[0064] Moreover, the rotating device 10 of the present application adopts the first rack meshing guide structure and the second rack meshing guide structure to respectively guide the first piston 103 and the second piston 104 to rotate, and utilizes the meshing between multiple teeth to enable the rotating device 10 to have a stronger load capacity.

[0065] It should be noted that even if the rotating device 10 is provided with the first piston 103 and the second piston 104, there are still many non-solid areas inside the rotating device 10. Therefore, when providing the same torque, the rotating device 10 of the present application is still lighter than the existing swing cylinder.

[0066] In summary, it can be seen that through the above-mentioned optimized design, under the condition of providing the same torque, the rotating device 10 of the present application has a lighter weight than the existing swing cylinder and the existing rotating device using a hydraulic motor and a reducer transmission connection.

[0067] In an optional embodiment, the outer peripheral wall of the end of the rotating shaft 102 may be provided with a shaft shoulder, and a plane thrust bearing 105 may be provided between the shaft shoulder and the axial inner end wall of the housing 101. In this way, by providing the plane thrust bearing 105, the friction inside the rotating device 10 can be effectively reduced, and its structural reliability can be improved, especially under heavy load conditions, the rotating device 10 can still rotate smoothly without getting stuck.

[0068] In an optional embodiment, the rotating device 10 may further include a connecting flange 106 fixedly connected to the end of the rotating shaft 102, and a flange stopper 106a is provided on the connecting flange 106. In this case, a shell stopper 101c is provided on the axial outer end wall of the shell 101. When the rotating shaft 102 drives the connecting flange 106 to rotate synchronously to a certain angle, the flange stopper 106a and the shell stopper 101c can be abutted along the circumferential direction of the rotating device 10, thereby limiting the maximum rotation angle of the rotating device 10, and preventing collision damage between structures caused by excessive rotation angle.

[0069] In an optional embodiment, the support assembly includes a main arm 80, a rear connecting plate 90, a flying arm 100, a connecting rod 110, a front connecting plate 120 and a bracket 130, and the rotation adjustment assembly includes two rotating devices 10 arranged front and rear.

[0070] Among them, the rear connecting plate 90 connects the front end of the main arm 80 and the shell 101 of the rotating device 10 located on the rear side, the rotating shaft 102 of the rotating device 10 located on the rear side is relatively fixed to the rear end of the flying arm 100, the connecting rod 110 connects the front end of the flying arm 100 and the shell 101 of the rotating device 10 located on the front side, the front connecting plate 120 is relatively fixed to the rotating shaft 102 of the rotating device 10 located on the front side and connected to the bracket 130, and the working device 140 is located at the front end of the bracket 130.

[0071] Furthermore, for the two rotating devices 10 arranged front and back, the rotating shaft 102 of the rotating device 10 located on the front side can be fixed to the front connecting plate 120 through the connecting flange 106, while the rotating shaft 102 of the rotating device 10 located on the rear side can be fixed to the rear end of the flying arm 100 through the connecting flange 106.

[0072] In an optional embodiment, the rotation adjustment assembly also includes a reducer 20 connecting the bracket 130 and the working device 140, and the reducer 20 can drive the working device 140 to rotate in a vertical plane or in an inclined plane inclined relative to the horizontal plane. In addition, the aforementioned rotating device 10 can drive the working device 140 to rotate around the axis of the rotating shaft 102. Therefore, by setting up the rotation adjustment assembly, the suction cup vehicle or other types of working machinery have multiple degrees of rotation freedom, thereby expanding the working range.

[0073] For example, refer to Fig. 9 and Fig.10 The reducer 20 can drive the working device 140 to rotate within an angle range of ±β3 in a vertical plane or an inclined plane inclined relative to a horizontal plane. The rotating device 10 located at the rear side can drive the working device 140 to swing within an angle range of ±α3, and the rotating device 10 located at the front side can drive the working device 140 to swing within an angle range of ±α4.

[0074] In an optional embodiment, the working mechanism further includes a pitch adjustment assembly, which includes a first pitch device 30 and a second pitch device 40. The first pitch device 30 and the second pitch device 40 can both adopt linear telescopic devices, such as electric cylinders, hydraulic cylinders, linear motors, etc. At this time, the front end of the main arm 80 is hinged to the rear connecting plate 90, the first pitch device 30 is hinged to the main arm 80 and the rear connecting plate 90, the front end of the flying arm 100 is hinged to the connecting rod 110, and the second pitch device 40 is hinged to the front end of the flying arm 100 and the connecting rod 110. By driving the first pitch device 30 and the second pitch device 40, the working device 140 can adjust the pitch angle.

[0075] For example, refer to Fig.11 and Fig.12 The first pitch device 30 can drive the working device 140 to adjust the pitch angle within an angle range of -α2 to +α1, and the second pitch device 40 can drive the working device 140 to adjust the pitch angle within an angle range of -β2 to +β1.

[0076] In an optional embodiment, the flying arm 100 can be formed as a front and rear telescopic arm, the bracket 130 can be movably connected to the front connecting plate 120, and the operating mechanism can also include a three-way adjustment assembly, which includes a front and rear telescopic device 50 for driving the front and rear telescopic arms to extend and retract, a left and right telescopic device 60 for driving the bracket 130 to move left and right relative to the front connecting plate 120, and an upper and lower telescopic device 70 for driving the bracket 130 to move up and down relative to the front connecting plate 120.

[0077] For example, refer to Fig.13 and Fig.14The front and rear telescopic devices 50 can drive the front and rear telescopic arms to telescope forward and backward within a range of L1, the left and right telescopic devices 60 can drive the working device 140 to move left and right within a range of L3, and the upper and lower telescopic devices 70 can drive the working device 140 to move up and down within a range of L2.

[0078] In an optional embodiment, when the operating mechanism is provided with the above-mentioned two rotating devices 10, the reducer 20, the first pitch device 30, the second pitch device 40, the front and rear telescopic device 50, the left and right telescopic device 60 and the upper and lower telescopic device, the operating mechanism has multiple degrees of freedom, thereby having a larger operating range, being able to meet the operating requirements in different spaces, and having strong adaptability.

[0079] The operating mechanism of the present application can further develop a control system for accurately controlling the rotation angle based on the rotating device 10. Figure 1 , Figure 2 , Figures 4 to 8 The control system includes an angle detection device 150 for detecting the rotation angle of the rotating shaft 102, a displacement detection device for detecting the axial displacement of the piston 107, and a processing device communicating with the angle detection device 150 and the displacement detection device, wherein the processing device is configured as follows:

[0080] Obtaining a target rotation angle α and a current rotation angle β of the rotating shaft 102;

[0081] Calculate the rotation angle difference γ between the target rotation angle α and the current rotation angle β;

[0082] Determine the target axial displacement X of the piston 107 according to the rotation angle difference γ and the preset piston displacement-rotation shaft rotation angle correspondence relationship;

[0083] The piston 107 is controlled to be displaced based on the target axial displacement X so that the rotating shaft 102 rotates to the target rotation angle α.

[0084] In this way, based on the piston displacement-rotation angle correspondence determined by the structure of the rotating device 10, the rotation angle of the rotating shaft 102 can be controlled by controlling the axial displacement of the piston 107, thereby obtaining a higher angle control accuracy. In addition, the present application also indirectly controls the angular velocity of the rotating shaft 102 by controlling the axial displacement speed of the piston 107, so that the angular velocity control accuracy of the rotating shaft is better and the micro-control effect is better.

[0085] In an optional embodiment, the processing device is further configured to:

[0086] Obtain the current axial displacement of the piston 107;

[0087] The piston 107 is controlled in a closed loop according to the target axial displacement X and the current axial displacement.

[0088] In this way, the displacement amount and displacement speed of the piston 107 can be controlled more accurately, thereby further improving the angle control accuracy and angular speed control accuracy of the rotating shaft 102 .

[0089] In an optional embodiment, the rotating device 10 also includes a rack meshing guide structure arranged between the piston 107 and the housing 101, and the piston 107 can be moved back and forth axially under the drive of the hydraulic circulation oil circuit, and in the process of the piston 107 moving back and forth axially, the rack meshing guide structure can guide the piston 107 to rotate, so that the piston 107 drives the rotating shaft 102 to rotate synchronously.

[0090] For example, refer to Figure 8 Two housing annular racks 101d spaced apart in the axial direction are fixedly provided in the housing 101, and the teeth on the two housing annular racks 101d extend toward each other in the axial direction. The piston 107 is located between the two housing annular racks 101d and two piston annular racks 107a are respectively provided at the two axial ends, and the teeth on the two piston annular racks 107a extend away from each other in the axial direction. In addition, the piston 107 is fixed to the rotating shaft 102 in the circumferential direction by forming a keyway with the rotating shaft 102, and the piston 107 can be displaced in the axial direction relative to the rotating shaft 102. The piston 107 is driven to move back and forth in the axial direction through the hydraulic circulation oil circuit, and the piston 107 can alternately mesh with the two housing annular racks 101d, so that under the meshing guidance of multiple teeth, the piston 107 can drive the rotating shaft 102 to rotate synchronously.

[0091] Based on the settings in this optional embodiment, the processing device is further configured to:

[0092] The conversion coefficient k is determined by the corresponding relationship between piston displacement and shaft rotation angle;

[0093] The target axial displacement X is calculated based on the rotation angle difference γ and the conversion coefficient k, where: Z is the number of teeth and hw is the tooth height.

[0094] In other words, when the number of teeth Z and the tooth height hw of the rack meshing guide structure are designed, the specific value of the conversion coefficient k can be determined, that is, the conversion coefficient k can be regarded as a constant, so that the rotation angle difference γ and the target axial displacement X satisfy a linear relationship.

[0095] In an optional embodiment, the hydraulic circulation oil circuit includes a first circulation oil circuit and a second circulation oil circuit, the piston 107 includes a first piston 103 and a second piston 104 spaced apart along the axial direction, the rotating device 10 also includes a first rack engagement guide structure arranged between the first piston 103 and the housing 101 and a second rack engagement guide structure arranged between the second piston 104 and the housing 101, the first piston 103 and the second piston 104 can be respectively driven by the first circulation oil circuit and the second circulation oil circuit to move back and forth in the axial direction, and can be respectively driven by the first circulation oil circuit and the second circulation oil circuit to rotate synchronously under the guidance of the first rack engagement guide structure and the second rack engagement guide structure.

[0096] Furthermore, the displacement detecting device includes a first displacement detecting device 160 for detecting the axial displacement of the first piston 103 and a second displacement detecting device 170 for detecting the axial displacement of the second piston 104 .

[0097] At this point, the processing device is also configured as:

[0098] Obtain the current axial displacement Xz of the first piston 103 and the current axial displacement Xi of the second piston 104;

[0099] The current composite axial displacement Xk is calculated according to the current axial displacement Xz, the current axial displacement Xi and the invalid displacement Xj, wherein Xk=Xz+Xi-Xj;

[0100] The first piston 103 and the second piston 104 are closed-loop controlled according to the target axial displacement X and the current composite axial displacement Xk.

[0101] It should be noted that the invalid displacement Xj is determined by the motion characteristics of the first piston 103 and the second piston 104, and is the axial displacement generated by the first piston 103 and the second piston 104 that does not affect the rotation of the shaft 102. Therefore, when calculating the current composite axial displacement Xk, the invalid displacement Xj is eliminated to avoid affecting the accuracy of closed-loop control.

[0102] In an optional embodiment, a first proportional reversing valve is provided in the first circulating oil circuit, a second proportional reversing valve is provided in the second circulating oil circuit, and the processing device is communicatively connected with the first proportional reversing valve and the second proportional reversing valve, and is further configured as follows:

[0103] Calculate the displacement difference △X between the target axial displacement X and the current composite axial displacement Xk;

[0104] A first flow control signal is generated according to the displacement difference △X and the preset first speed proportional coefficient to control the first proportional reversing valve to adjust the flow of the first circulation oil circuit, and a second flow control signal is generated according to the displacement difference △X and the preset second speed proportional coefficient to control the second proportional reversing valve to adjust the flow of the second circulation oil circuit to adjust the angular velocity of the rotating shaft 102.

[0105] For example, refer to Figure 2 and Figure 6 The pressure oil Pp provided by the hydraulic pump station can be proportionally flow-controlled through the first proportional reversing valve in the first circulating oil circuit and the second proportional reversing valve in the second circulating oil circuit, thereby realizing the inlet and outlet oil drive control of the oil ports Pa1 and Pb1 and the oil ports Pa2 and Pb2 in the rotating device 10.

[0106] It should be noted that when the flow rate of the first circulation oil circuit is adjusted according to the displacement difference △X and the first speed proportional coefficient, the displacement difference △X can be multiplied by the first speed proportional coefficient to obtain a first flow control signal, thereby adjusting the flow rate of the first circulation oil circuit according to the first flow control signal; when the flow rate of the second circulation oil circuit is adjusted according to the displacement difference △X and the second speed proportional coefficient, the displacement difference △X can be multiplied by the second speed proportional coefficient to obtain a second flow control signal, thereby adjusting the flow rate of the second circulation oil circuit according to the second flow control signal.

[0107] When the displacement difference △X is larger, the axial displacement speed of the first piston 103 and the second piston 104 is faster, thereby driving the rotating shaft 102 to rotate faster; when the displacement difference △X is smaller, the axial displacement speed of the first piston 103 and the second piston 104 is slower, thereby driving the rotating shaft 102 to rotate slower.

[0108] It can be seen that, through the configuration in this optional embodiment, the variable speed rotation closed-loop control of the rotating shaft 102 can be realized. When the displacement difference △X is large, the fast rotation control requirement can be met. When the displacement difference △X is small, the slow micro-motion rotation control requirement can be met, thereby effectively taking into account both the rotation efficiency and the rotation angle accuracy. In particular, when the displacement difference △X is extremely small, the rotation speed of the rotating shaft 102 is too fast and the angle overshoot phenomenon occurs, and the micro-motion control effect is excellent.

[0109] The second exemplary embodiment of the present application further provides a suction cup vehicle, which includes the above-mentioned operating mechanism. In this case, the operating mechanism is formed as a suction cup mechanism of the suction cup vehicle, and the working device 140 is formed as a suction cup frame in the suction cup mechanism. Obviously, the suction cup vehicle of this exemplary embodiment has all the technical effects brought by the above-mentioned operating mechanism, so it will not be repeated here.

[0110] The third exemplary embodiment of the present application further provides a working machine, which includes the above-mentioned working mechanism. For example, the working machine can be other types of aerial working machines, engineering machinery, emergency rescue machinery, etc., and the working device 140 can be a working bucket, a rust removal brush, a nozzle (such as for rust removal), etc. Obviously, the working machine of this exemplary embodiment also has all the technical effects brought by the above-mentioned working mechanism, so it will not be repeated here.

[0111] In the description of the present application, it should be understood that the terms "first" and "second" are used for descriptive purposes only and should not be understood as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one of the features. In the description of the present application, "plurality" means at least two, such as two, three, etc., unless otherwise clearly and specifically defined.

[0112] In this application, unless otherwise clearly specified and limited, the terms "installed", "connected", "connected", "fixed" and the like should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection, an electrical connection, or communication with each other; 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 this application can be understood according to specific circumstances.

[0113] In the description of this specification, the description with reference to the terms "one embodiment", "some embodiments", "example", "specific example", or "some examples" etc. means that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the present application. In this specification, the schematic representations of the above terms do not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described may be combined in any one or more embodiments or examples in a suitable manner. In addition, those skilled in the art may combine and combine the different embodiments or examples described in this specification and the features of the different embodiments or examples, without contradiction.

[0114] Those skilled in the art will appreciate that the embodiments of the present application may be provided as methods, systems or computer program products. Therefore, the present application may adopt the form of a complete hardware embodiment, a complete software embodiment or an embodiment in combination with software and hardware. Moreover, the present application may adopt the form of a computer program product implemented on one or more computer-usable storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) that contain computer-usable program code.

[0115] The present application is described with reference to the flowcharts and / or block diagrams of the methods, devices (systems), and computer program products according to the embodiments of the present application. It should be understood that each process and / or box in the flowchart and / or block diagram, as well as the combination of the processes and / or boxes in the flowchart and / or block diagram, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, a special-purpose computer, an embedded processor, or other programmable data processing device to generate a machine, so that the instructions executed by the processor of the computer or other programmable data processing device generate instructions for implementing the processes in the flowchart and / or block diagram. Figure 1 A process or multiple processes and / or boxes Figure 1 A device that provides the functions specified in a block or multiple blocks.

[0116] These computer program instructions may also be stored in a computer-readable memory capable of directing a computer or other programmable data processing device to operate in a specific manner, so that the instructions stored in the computer-readable memory produce an article of manufacture comprising an instruction device, which implements the process Figure 1 A process or multiple processes and / or boxes Figure 1 A function specified in one or more boxes.

[0117] These computer program instructions can also be loaded onto a computer or other programmable data processing device so that a series of operating steps are executed on the computer or other programmable device to produce a computer-implemented process, thereby providing instructions for implementing the process. Figure 1 A process or multiple processes and / or boxes Figure 1 The steps for the functions specified in one or more boxes.

[0118] In a typical configuration, a computing device includes one or more processors (CPU), input / output interfaces, network interfaces, and memory.

[0119] The memory may include non-permanent memory in a computer-readable medium, random access memory (RAM) and / or non-volatile memory in the form of read-only memory (ROM) or flash RAM. The memory is an example of a computer-readable medium.

[0120] Computer readable media include permanent and non-permanent, removable and non-removable media that can be implemented by any method or technology to store information. Information can be computer readable instructions, data structures, program modules or other data. Examples of computer storage media include, but are not limited to, phase change memory (PRAM), static random access memory (SRAM), dynamic random access memory (DRAM), other types of random access memory (RAM), read-only memory (ROM), electrically erasable programmable read-only memory (EEPROM), flash memory or other memory technology, compact disk read-only memory (CD-ROM), digital versatile disk (DVD) or other optical storage, magnetic cassettes, magnetic tape disk storage or other magnetic storage devices or any other non-transmission media that can be used to store information that can be accessed by a computing device. As defined herein, computer readable media does not include temporary computer readable media (transitory media), such as modulated data signals and carrier waves.

[0121] It should also be noted that the terms "include", "comprises" or any other variations thereof are intended to cover non-exclusive inclusion, so that a process, method, commodity or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, commodity or device. In the absence of more restrictions, the elements defined by the sentence "comprises a ..." do not exclude the existence of other identical elements in the process, method, commodity or device including the elements.

[0122] The above are only embodiments of the present application and are not intended to limit the present application. For those skilled in the art, the present application may have various changes and variations. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present application should be included within the scope of the claims of the present application.

Claims

1. An operating mechanism, characterized in that: include: Working device (140); A support assembly, used to support the working device (140); and A rotation adjustment assembly is arranged in the support assembly and comprises a rotation device (10), wherein the rotation device (10) comprises a housing (101), a rotating shaft (102) arranged in the housing (101), a piston (107) sleeved between the rotating shaft (102) and the housing (101), and a hydraulic circulation oil circuit capable of driving the piston (107) to move axially. During the axial displacement of the piston (107), the piston (107) and the rotating shaft (102) can rotate synchronously in the housing (101), and the rotation device (10) can drive the working device (140) to rotate around the axis of the rotating shaft (102) through the rotation of the rotating shaft (102).

2. The operating mechanism according to claim 1, characterized in that: The hydraulic oil circulation circuit comprises a first oil circulation circuit and a second oil circulation circuit, the piston (107) comprises a first piston (103) and a second piston (104) spaced apart along the axial direction, the rotating device (10) further comprises a first rack meshing guide structure arranged between the first piston (103) and the housing (101), and a second rack meshing guide structure arranged between the second piston (104) and the housing (101), the first piston (103) and the second piston (104) being arranged to be able to move back and forth along the axial direction under the drive of the first oil circulation circuit and the second oil circulation circuit respectively, and to be able to rotate synchronously under the guidance of the first rack meshing guide structure and the second rack meshing guide structure respectively.

3. The operating mechanism according to claim 2, characterized in that: The operating mechanism further comprises a processing device, an angle detection device (150) for detecting a current rotation angle β of the rotating shaft (102), a first displacement detection device (160) for detecting a current axial displacement Xz of the first piston (103), and a second displacement detection device (170) for detecting a current axial displacement Xi of the second piston (104); the processing device is communicatively connected with the angle detection device (150), the first displacement detection device (160), the second displacement detection device (170), the first circulating oil circuit, and the second circulating oil circuit.

4. The operating mechanism according to claim 1, characterized in that: The outer peripheral wall at the end of the rotating shaft (102) is provided with a shaft shoulder, and the rotating device (10) further comprises a planar thrust bearing (105) arranged between the shaft shoulder and the axial inner end wall of the housing (101).

5. The operating mechanism according to claim 1, characterized in that: The rotating device (10) further comprises a connecting flange (106) fixedly connected to the end of the rotating shaft (102); a flange stopper (106a) is provided on the connecting flange (106); a shell stopper (101c) is provided on the axial outer end wall of the shell (101); the flange stopper (106a) and the shell stopper (101c) are arranged to be able to abut against each other along the circumferential direction of the rotating device (10) to limit the maximum rotation angle of the rotating device (10).

6. The operating mechanism according to any one of claims 1 to 5, characterized in that: The support assembly comprises a main arm (80), a rear connecting plate (90), a flying arm (100), a connecting rod (110), a front connecting plate (120) and a bracket (130), and the rotation adjustment assembly comprises two rotating devices (10) arranged front and rear; Wherein, the rear connecting plate (90) connects the front end of the main arm (80) and the shell (101) of the rotating device (10) located on the rear side, the rotating shaft (102) of the rotating device (10) located on the rear side is relatively fixed to the rear end of the flying arm (100), the connecting rod (110) connects the front end of the flying arm (100) and the shell (101) of the rotating device (10) located on the front side, the front connecting plate (120) is relatively fixed to the rotating shaft (102) of the rotating device (10) located on the front side and connected to the bracket (130), and the working device (140) is located at the front end of the bracket (130).

7. The operating mechanism according to claim 6, characterized in that: The rotation adjustment assembly also includes a reducer (20) connecting the bracket (130) and the working device (140).

8. The operating mechanism according to claim 6, characterized in that: The operating mechanism further comprises a pitch adjustment assembly, the pitch adjustment assembly comprising a first pitch device (30) and a second pitch device (40), the front end of the main arm (80) is hinged to the rear connecting plate (90), the first pitch device (30) is hinged to the main arm (80) and the rear connecting plate (90), the front end of the flying arm (100) is hinged to the connecting rod (110), and the second pitch device (40) is hinged to the front end of the flying arm (100) and the connecting rod (110); And / or, the flying arm (100) is formed as a front and rear telescopic arm, the bracket (130) is movably connected to the front connecting plate (120), and the operating mechanism also includes a three-way adjustment assembly, which includes a front and rear telescopic device (50) for driving the front and rear telescopic arms to extend and retract, a left and right telescopic device (60) for driving the bracket (130) to move left and right relative to the front connecting plate (120), and an up and down telescopic device (70) for driving the bracket (130) to move up and down relative to the front connecting plate (120).

9. Suction cup car, characterized in that, It comprises the working mechanism according to any one of claims 1 to 8, wherein the working mechanism is formed as a suction cup mechanism of the suction cup vehicle, and the working device (140) is formed as a suction cup frame.

10. An operating machine, characterized in that: Comprising an operating mechanism according to any one of claims 1 to 8.

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