CN109650302A - Aerial work equipment - Google Patents
Aerial work equipment Download PDFInfo
- Publication number
- CN109650302A CN109650302A CN201811513237.4A CN201811513237A CN109650302A CN 109650302 A CN109650302 A CN 109650302A CN 201811513237 A CN201811513237 A CN 201811513237A CN 109650302 A CN109650302 A CN 109650302A
- Authority
- CN
- China
- Prior art keywords
- chassis
- aerial work
- work equipment
- mecanum wheel
- equipment according
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
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Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66F—HOISTING, LIFTING, HAULING OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD
- B66F11/00—Lifting devices specially adapted for particular uses not otherwise provided for
- B66F11/04—Lifting devices specially adapted for particular uses not otherwise provided for for movable platforms or cabins, e.g. on vehicles, permitting workmen to place themselves in any desired position for carrying out required operations
- B66F11/042—Lifting devices specially adapted for particular uses not otherwise provided for for movable platforms or cabins, e.g. on vehicles, permitting workmen to place themselves in any desired position for carrying out required operations actuated by lazy-tongs mechanisms or articulated levers
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D63/00—Motor vehicles or trailers not otherwise provided for
- B62D63/02—Motor vehicles
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16F—SPRINGS; SHOCK-ABSORBERS; MEANS FOR DAMPING VIBRATION
- F16F13/00—Units comprising springs of the non-fluid type as well as vibration-dampers, shock-absorbers, or fluid springs
- F16F13/005—Units comprising springs of the non-fluid type as well as vibration-dampers, shock-absorbers, or fluid springs comprising both a wound spring and a damper, e.g. a friction damper
- F16F13/007—Units comprising springs of the non-fluid type as well as vibration-dampers, shock-absorbers, or fluid springs comprising both a wound spring and a damper, e.g. a friction damper the damper being a fluid damper
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- General Engineering & Computer Science (AREA)
- Structural Engineering (AREA)
- Life Sciences & Earth Sciences (AREA)
- Geology (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Transportation (AREA)
- Forklifts And Lifting Vehicles (AREA)
Abstract
The invention relates to the field of engineering machinery, and discloses high-altitude operation equipment, wherein the high-altitude operation equipment comprises a chassis (100), a lifting device (300) and a working platform (400), wherein the lifting device is installed on the chassis to drive the working platform arranged on the lifting device to lift, the chassis comprises a frame (110), a transverse swing arm (120) and a walking device (200), the walking device comprises Mecanum wheels (210) and a damping unit (220), the Mecanum wheels are used for driving the chassis to move in an all-around manner, one end of the damping unit is hinged with the frame, and the other end of the damping unit is hinged with the transverse swing arm. Mecanum wheels can drive the chassis to move in all directions. The vibration reduction unit connected with the transverse swing arm and the frame is arranged, so that the stability of the high-altitude operation equipment can be correspondingly improved by matching with the improved moving performance.
Description
Technical field
The present invention relates to engineering machinery fields, more particularly to a kind of aerial lift device.
Background technique
In the prior art, aerial lift device generally includes workbench, lifting device (such as scissor arms), base apparatus
Deng.Wherein, base apparatus includes running gear.Running gear includes left and right hub motor and wheel, and wheel is that hard rubber is solid
Tire or foam fill tire, such as may include two front-wheels and two rear-wheels.By taking front-wheel drive turns to as an example, left and right wheel
Hub motor can be separately mounted to the inside of two front-wheels.In this arrangement, before aerial lift device can only be realized simply
Afterwards, movement is turned to, can not achieve all-around mobile (such as left and right transverse shifting, oblique straight trip, no-radius pivot stud etc.).Cause
This, aerial lift device it is mobile restricted so that normal operation is restricted.
Summary of the invention
The purpose of the invention is to overcome the problems, such as that aerial lift device of the existing technology is mobile restricted, one is provided
Kind aerial lift device, the aerial lift device can be realized all-around mobile.
To achieve the goals above, one aspect of the present invention provides a kind of aerial lift device, wherein the high altitude operation is set
Standby includes chassis, lifting device and workbench, and the lifting device is installed on the chassis, is arranged with driving in the lifting
Workbench lifting on device, the chassis include vehicle frame, pressure-bearing type swing arm and running gear, and the running gear includes wheat
Ke Namu wheel and damper unit, the Mecanum wheel is for driving the chassis all-around mobile, and the one of the damper unit
End is hinged with the vehicle frame, and the other end and the pressure-bearing type swing arm are hinged.
Preferably, the running gear includes the first Mecanum wheel and the second Mecanum wheel, and first Mike receives
The orientation of the roller of the orientation of the roller of nurse wheel and second Mecanum wheel on the contrary, the chassis the same side
It is arranged alternately first Mecanum wheel and the second Mecanum wheel, the quantity of the Mecanum wheel of the same side on the chassis
For even number, first Mecanum wheel and the second Mecanum wheel is respectively set in the not ipsilateral corresponding position on the chassis.
Preferably, the damper unit includes hydraulic damper and the vibration damping bullet that is set on the outside of the hydraulic damper
Spring, one end of the hydraulic damper and the vehicle frame are hinged, and the other end and the pressure-bearing type swing arm are hinged.
Preferably, the running gear includes the travel driving motor for driving the Mecanum wheel, the high-altitude
Operating equipment includes the control unit for controlling the travel driving motor, and the aerial lift device further includes and the control
The laser radar of unit electrical connection processed and/or ultrasonic obstacle avoidance sensor.
Preferably, described control unit includes the platform control device of chassis controller and setting on the working platform,
For the chassis controller for controlling the travel driving motor, the platform control device can receive the chassis controller
Signal and the operation that the travel driving motor can be controlled by the chassis controller.
Preferably, the aerial lift device include setting display on the working platform and with the display
The camera of electrical connection.
Preferably, the laser radar is electrically connected with the platform control device, the ultrasound obstacle avoidance sensor and the bottom
Disk controller electrical connection.
Preferably, the lifting device includes pump motor, and the chassis controller is also used to control the pump motor.
Preferably, the aerial lift device includes the supporting leg that is installed on the chassis and can stretch.
Through the above technical solutions, Mecanum wheel, which is able to drive chassis, carries out left and right transverse shifting, oblique straight trip, 0 half
Diameter pivot stud and the all-around mobile advanced along arbitrary curve track, greatly improve the travelling performance of aerial lift device
And range, enable adaptation to various handling situations.In addition, the travelling performance that cooperation is promoted, connects pressure-bearing type by setting
The damper unit of swing arm and vehicle frame can correspondingly increase the stability of aerial lift device.
Detailed description of the invention
Fig. 1 is a kind of schematic diagram of embodiment of aerial lift device according to the present invention；
Fig. 2 is the schematic diagram of Fig. 1 high and medium operating equipment lower part main component；
Fig. 3 is the left view of Fig. 2；
Fig. 4 is the block diagram of the control unit for illustrating aerial lift device of the invention and the relationship of associated components.
Description of symbols
The chassis 100-, 110- vehicle frame, 120- pressure-bearing type swing arm, 200- running gear, 210- Mecanum wheel, 220- vibration damping
Unit, 221- hydraulic damper, 222- shock-absorbing spring, 230- travel driving motor, 300- lifting device, 310- pump motor,
320- scissor arms, 400- workbench, 500- laser radar, 600- ultrasound obstacle avoidance sensor, 710- chassis controller, 720- are flat
Platform control device, 800- camera, 900- supporting leg, B- battery.
Specific embodiment
Below in conjunction with attached drawing, detailed description of the preferred embodiments.It should be understood that this place is retouched
The specific embodiment stated is merely to illustrate and explain the present invention, and is not intended to restrict the invention.
In the present invention, in the absence of explanation to the contrary, the noun of locality used such as " upper and lower, left and right " typically refers to
With reference to upper and lower, left and right shown in the drawings；" inside and outside " refers to the inside and outside of the profile relative to each component itself.Below with reference to
Attached drawing and in conjunction with embodiment come the present invention will be described in detail.
The present invention provides a kind of aerial lift device, wherein the aerial lift device includes chassis 100, lifting device
300 and workbench 400, the lifting device 300 be installed on the chassis 100, with drive be arranged in the lifting device 300
On workbench 400 go up and down, the chassis 100 include vehicle frame 110, pressure-bearing type swing arm 120 and running gear 200, the row
Walking apparatus 200 includes Mecanum wheel 210 and damper unit 220, and the Mecanum wheel 210 is for driving the chassis 100
All-around mobile, one end of the damper unit 220 and the vehicle frame 110 are hinged, and the other end and the pressure-bearing type swing arm 120 are cut with scissors
It connects.
Wherein, Mecanum wheel 210 is able to drive chassis and carries out left and right transverse shifting, oblique straight trip, no-radius pirouette
To and along arbitrary curve track advance all-around mobile, greatly improve the travelling performance and range of aerial lift device,
Various handling situations are enabled adaptation to, enable adaptation to various handling situations, such as can be in respective road (including soil
The non-urban roads such as ground, sand ground, sandstone beach).
The roller of Mecanum wheel 210 including wheel and the multiple deflections being circumferentially arranged along wheel, when walking, pass through rolling
Son contact ground, to be moved by roller along different directions in the case where the direction of wheel itself is constant.
Wherein, be drive chassis 100 carry out all-around mobile, the running gear 200 include the first Mecanum wheel and
The roller of second Mecanum wheel, the orientation of the roller of first Mecanum wheel and second Mecanum wheel
Orientation it is opposite (for example, if the front end of the roller of the first Mecanum wheel relative to rear end along the clockwise of wheel
Direction offset setting, then counter clockwise direction offset of the front end of the roller of the second Mecanum wheel relative to rear end along wheel are set
Set), the same side on the chassis 100 is arranged alternately first Mecanum wheel and the second Mecanum wheel, the chassis 100
The quantity of Mecanum wheel of the same side be even number, the not ipsilateral corresponding position on the chassis 100 is respectively set described the
One Mecanum wheel and the second Mecanum wheel.Specifically, as shown in figure 3, roller R1 and the second wheat of the first Mecanum wheel
The axis of the roller R2 of the corresponding position of Ke Namu wheel is substantially vertical.
For example, running gear 200 may include four Mecanum wheels 210, wherein two Mecanum wheels 210
For the first Mecanum wheel, other two Mecanum wheel 210 is the second Mecanum wheel, the side on chassis 100 (such as it is left
Side) for one the first Mecanum wheel of setting as front-wheel and second Mecanum wheel as rear-wheel, the other side on chassis is (right
Side) second Mecanum wheel is set as front-wheel and first Mecanum wheel as rear-wheel；For another example running gear
200 may include eight Mecanum wheels 210, wherein four Mecanum wheels 210 are the first Mecanum wheel, four additional
Mecanum wheel 210 is the second Mecanum wheel, and along vertical sequence, the left side on chassis 100 can be arranged alternately first
The right side of Mecanum wheel, the second Mecanum wheel, the first Mecanum wheel and the second Mecanum wheel, chassis 100 can hand over
For the second Mecanum wheel of setting, the first Mecanum wheel, the second Mecanum wheel and the first Mecanum wheel.
In addition, the travelling performance that cooperation is promoted, passes through the vibration damping list of setting connection pressure-bearing type swing arm 120 and vehicle frame 110
Member 220, can correspondingly increase the stability of aerial lift device.Specifically, Mecanum wheel 210 has certain cross-country ability
It can, it is thus possible to need to be arranged independent suspension structure (i.e. damper unit 220) come pulsatile impact load when reducing cross-country.Pass through
So that damper unit 220 is articulated with pressure-bearing type swing arm 120, can be further improved the obstacle climbing ability of aerial lift device.In addition, can
With understanding, the damper unit 220 of corresponding number is can be set in corresponding each Mecanum wheel 210.
Wherein, damper unit 220 can use various appropriate forms, for example, as shown in figure 3, the damper unit 220 can
With the shock-absorbing spring 222 for including hydraulic damper 221 and being set on the outside of the hydraulic damper 221, the hydraulic damper
221 one end and the vehicle frame 110 are hinged, and the other end and the pressure-bearing type swing arm 120 are hinged.By making 222 sets of shock-absorbing spring
It is located at 221 outside of hydraulic damper, the structure of damper unit 220 can be made more compact.
In the present invention, the running gear 200 may include the hoofing part electricity for driving the Mecanum wheel 210
Machine 230, the aerial lift device may include the control unit for controlling the travel driving motor 230.Thus, it is possible to
The operation of travel driving motor 230 is controlled by control unit, the movement of Mecanum wheel 210 is then controlled, to control row
The movement of walking apparatus 200.
Preferably, as shown in Fig. 2, the aerial lift device can also include the laser being electrically connected with the control unit
Radar 500.By be arranged laser radar 500, can scan aerial lift device will by above ground portion and thus construct
Map.For the accuracy for improving map, multiple laser radars can be set along the height and width direction of aerial lift device
500, or laser radar 500 is set can along height and width direction movably.By laser radar 500 construct map for
Indoor environment is especially advantageous, specifically, map can be constructed, indoor environment is presented by map, indicates barrier
Shape (such as width), to be avoided when aerial lift device enters.Wherein, the map of building can be transmitted to control
Unit processed, so that control unit is arrived at the destination according to specified destination automatic cruising.In addition, aerial lift device (example
On workbench 400) display can be set, the map of building can be shown by display, so as to workbench 400
On personnel voluntarily driven according to map.
In addition, as shown in Fig. 2, the aerial lift device can also include that the ultrasound being electrically connected with the control unit is kept away
Hinder sensor 600.Ultrasonic obstacle avoidance sensor 600 can incude barrier by the ultrasonic obstacle avoidance sensor 600 of detection reflection,
By the way that ultrasonic obstacle avoidance sensor 600 is arranged, control unit can control running gear according to the signal of ultrasonic obstacle avoidance sensor 600
200 movement, to avoid barrier.Due to aerial lift device of the invention can all-around mobile, preferably in high altitude operation
At least one ultrasonic obstacle avoidance sensor 600 is all arranged in each side of the periphery of equipment, to cooperate all-around mobile to realize full side
The automatic evacuation in position.
In the present invention, described control unit may include chassis controller 710, and the chassis controller 710 is for controlling
The travel driving motor 230.Preferably, described to manipulate aerial lift device convenient for the operator on workbench 400
Control unit includes the platform control device 720 being arranged on the workbench 400, and the platform control device 720 can receive
The signal of the chassis controller 710 and the behaviour that the travel driving motor 230 can be controlled by the chassis controller 710
Make.More specifically, operation panel has can be set in platform control device 720, can be set on operation panel various operation buttons and/
Or steering wheel, so that the operator on workbench 400 operates.
Wherein, control block diagram of the invention can be as shown in figure 4, aerial lift device of the invention can be set and wheat
The corresponding travel driving motor 230 of quantity of Ke Namu wheel 210, chassis controller 710 can be controlled separately each.
Moreover it is preferred that the aerial lift device includes the display being arranged on workbench 400 and shows with described
The case where showing the camera 800 of device electrical connection, being observed so as to operator according to camera 800 operates aerial lift device.Its
In, camera 800, which can be, can operate mobile, be to operate camera 800 and to be moved to the position for being not easy to observe and check
No there are barriers, to monitor the surrounding enviroment of aerial lift device in real time.
In addition, for the map convenient for showing building to operator, the laser radar 500 can be manipulated with the platform
Device 720 is electrically connected.For convenient for making evacuation reaction in time according to the signal of ultrasonic obstacle avoidance sensor 600, the ultrasound avoidance is passed
Sensor 600 can be electrically connected with the chassis controller 710.
In addition, control unit of the invention can also control other electric devices of aerial lift device.For example, the liter
Falling unit 300 includes pump motor 310, and the chassis controller 710 is also used to control the pump motor 310.In addition, of the invention
Aerial lift device can have the battery for powering to electric device (such as travel driving motor 230 and pump motor 310)
B。
Since aerial lift device of the invention has more flexible mobility and cross-country ability, for the peace for ensuring high altitude operation
Quan Xing, it is preferable that the aerial lift device includes the supporting leg 900 that is installed on the chassis 100 and can stretch.Exist as a result,
When aerial lift device is mobile, supporting leg 900 pack up without with ground face contact；When aerial lift device is mobile in place, pass through lifting
300 lift operation platform 400 of device, can for the stabilization for ensuring workbench 400 when operator is ready for high altitude operation
It is supported in ground first to stretch out supporting leg 900, so that Mecanum wheel 210 is detached from ground, preferably to ensure that chassis 100 being capable of phase
Ground will not be moved.Thereby, it is possible to improve stability and operator that aerial lift device enters to cheat operation in operation
The safety of movement on platform 400.
Aerial lift device of the invention can be the various specific equipment for being suitable for movement with workbench 400.Example
It such as, can be masts type aerial lift device or scissor-type aerial lift device according to the concrete form of lifting device 300.Fig. 1
Shown is scissor-type aerial lift device, and lifting device 300 further includes the scissor arms 320 driven by pump motor 310, work
The top of scissor arms 320 is arranged in platform 400.
It is described the prefered embodiments of the present invention in detail above in conjunction with attached drawing, still, the present invention is not limited thereto.At this
It, can be with various simple variants of the technical solution of the present invention are made in the range of the technology design of invention.The present invention includes each tool
Body technique feature is combined in any suitable manner.In order to avoid unnecessary repetition, the present invention is to various possible groups
No further explanation will be given for conjunction mode.But it should also be regarded as the disclosure of the present invention for these simple variants and combination, belongs to
Protection scope of the present invention.
Claims (9)
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811513237.4A CN109650302A (en) | 2018-12-11 | 2018-12-11 | Aerial work equipment |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811513237.4A CN109650302A (en) | 2018-12-11 | 2018-12-11 | Aerial work equipment |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN109650302A true CN109650302A (en) | 2019-04-19 |
Family
ID=66113657
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201811513237.4A Pending CN109650302A (en) | 2018-12-11 | 2018-12-11 | Aerial work equipment |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN109650302A (en) |
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111409737A (en) * | 2020-03-27 | 2020-07-14 | 吉林大学 | Electric carrying platform without steering system and capable of moving in all directions and control method thereof |
| CN113044761A (en) * | 2021-04-27 | 2021-06-29 | 北京安达维尔航空设备有限公司 | Lifting device based on Mecanum wheel |
| CN113104743A (en) * | 2021-04-19 | 2021-07-13 | 中国南方电网有限责任公司超高压输电公司贵阳局 | An intelligent disassembly platform for high-voltage bushings inside a DC valve hall |
| CN113942946A (en) * | 2021-11-19 | 2022-01-18 | 上海机动车检测认证技术研究中心有限公司 | Automatically controlled all direction movement formula portal crane device |
| CN114772516A (en) * | 2022-06-20 | 2022-07-22 | 徐州工程学院 | Intelligent climbing vehicle capable of performing anti-collision warning |
| CN116768120A (en) * | 2023-06-25 | 2023-09-19 | 浙江中信检测有限公司 | An intelligent climbing vehicle capable of anti-collision warning and its use method |
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| CN106495056A (en) * | 2016-11-10 | 2017-03-15 | 北京特种机械研究所 | For the omni-directional mobile robots that platen changes the outfit |
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| CN206858070U (en) * | 2017-05-27 | 2018-01-09 | 西安科技大学 | Direction movement fork truck |
| CN107758567A (en) * | 2017-11-10 | 2018-03-06 | 徐州工程学院 | A kind of intelligent mounting-dismounting device for warehouse freezer |
| CN207225176U (en) * | 2017-05-09 | 2018-04-13 | 青岛科技大学 | A kind of drum-type intelligent transport car |
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| CN102040176A (en) * | 2010-12-27 | 2011-05-04 | 中国人民解放军军事交通学院 | Electric omnidirectional mobile lift |
| CN203006842U (en) * | 2012-12-04 | 2013-06-19 | 南京尤马特机械有限公司 | Self-walking scissor fork type lifting platform |
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| CN204821767U (en) * | 2015-08-17 | 2015-12-02 | 马德海 | Qxcomm technology's track based on mecanum wheel |
| CN206217525U (en) * | 2016-08-16 | 2017-06-06 | 中国矿业大学 | The dual-purpose all-around mobile carrying platform of wheel track |
| CN106495056A (en) * | 2016-11-10 | 2017-03-15 | 北京特种机械研究所 | For the omni-directional mobile robots that platen changes the outfit |
| CN206501926U (en) * | 2017-02-21 | 2017-09-19 | 青岛霍博智能设备有限公司 | A kind of all-around mobile formula ladder truck |
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Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111409737A (en) * | 2020-03-27 | 2020-07-14 | 吉林大学 | Electric carrying platform without steering system and capable of moving in all directions and control method thereof |
| CN113104743A (en) * | 2021-04-19 | 2021-07-13 | 中国南方电网有限责任公司超高压输电公司贵阳局 | An intelligent disassembly platform for high-voltage bushings inside a DC valve hall |
| CN113044761A (en) * | 2021-04-27 | 2021-06-29 | 北京安达维尔航空设备有限公司 | Lifting device based on Mecanum wheel |
| CN113942946A (en) * | 2021-11-19 | 2022-01-18 | 上海机动车检测认证技术研究中心有限公司 | Automatically controlled all direction movement formula portal crane device |
| CN114772516A (en) * | 2022-06-20 | 2022-07-22 | 徐州工程学院 | Intelligent climbing vehicle capable of performing anti-collision warning |
| CN116768120A (en) * | 2023-06-25 | 2023-09-19 | 浙江中信检测有限公司 | An intelligent climbing vehicle capable of anti-collision warning and its use method |
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| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| RJ01 | Rejection of invention patent application after publication |
Application publication date: 20190419 |
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| RJ01 | Rejection of invention patent application after publication |