CN216403768U - A hybrid boom aerial work vehicle - Google Patents

Abstract

The utility model discloses a hybrid arm overhead working truck which comprises a truck body, a chassis arranged on the truck body, an overhead working unit and a control system, wherein the control system comprises a first detection control unit, a rotary table rotation angle sensor and a lower arm lifting inclinometer, the rotary table rotation angle sensor is arranged on a rotary table rotation mechanism, a signal output end of the table rotation angle sensor is connected with a rotary table rotation angle signal input end of the first detection control unit, a rotary table control signal output end of the first detection control unit is connected with a control end of the rotary table rotation mechanism, the lower arm lifting inclinometer is arranged on a lower arm, a signal output end of the lower arm lifting inclinometer is connected with a lower arm lifting inclination angle signal input end of the first detection control unit, and a lower arm lifting control signal output end of the first detection control unit is connected with a control end of a lower arm lifting oil cylinder. The utility model can adapt to various complex high-altitude operation environments.

Description

A hybrid boom aerial work vehicle

technical field

The utility model relates to the technical field of engineering equipment, in particular to a hybrid boom aerial work vehicle.

Background technique

Aerial work vehicles are special vehicles for installation, maintenance and cleaning of aerial equipment. Compared with traditional work methods such as scaffolding and ladders, they have the advantages of good work performance, high work efficiency, and work safety.

In order to be suitable for different heights and environments, the existing aerial work vehicles will increase the number of working arm sections as much as possible, but more working arm sections will not only affect the height and width of the vehicle, but the structure is not compact enough. Achieving high-speed crossing obstacles, it is inconvenient for vehicles to travel to relatively narrow areas, and the existing telescopic arms of aerial work vehicles cannot perform negative height operations well, and the existing aerial work vehicles have relatively simple functions, only providing a single aerial work platform. In addition, the traditional vehicle uses a mechanical speed control valve to operate the mechanism on the turntable, and the precise action performance is poor. The turntable operator must control the working position of the aerial worker based on experience. Aerial workers who work in a closer environment have no control over the vehicle.

SUMMARY OF THE INVENTION

The purpose of the utility model is to provide a hybrid boom aerial work vehicle, and the utility model can adapt to a variety of complex aerial work environments.

In order to achieve this purpose, the hybrid boom aerial work vehicle designed by the utility model includes a car body and a chassis arranged on the car body, and is characterized in that: it also includes an aerial work unit and a control system, and the aerial work unit includes a turntable rotating mechanism , Lower arm, lower arm lifting cylinder, tie rod, rotating shaft, upper arm, upper arm lifting cylinder, working bucket leveling mechanism, working bucket rotating mechanism, working bucket lifting mechanism and working bucket;

The piston rod of the lower arm lift cylinder is hinged with the turntable rotation mechanism, the cylinder body of the lower arm lift cylinder is hinged with the lower arm, one end of the lower arm is hinged with the turntable rotation mechanism, the other end of the lower arm is hinged with the rotating shaft, and one end of the pull rod is rotated with the turntable The mechanism is hinged, the other end of the pull rod is hinged with the rotating shaft, one end of the lower arm is located between the piston rod of the lower arm lifting cylinder and one end of the pull rod, the upper arm is a telescopic arm, the fixed part of the telescopic arm is hinged with the rotating shaft, and the telescopic part of the telescopic arm is installed The working bucket leveling mechanism, the cylinder body of the upper arm lifting cylinder is hinged with the upper arm, the piston rod of the upper arm lifting cylinder is hinged with the rotating shaft, the working bucket rotating mechanism is hinged on the platform of the working bucket leveling mechanism, and the working bucket lifting mechanism is installed on the working bucket rotating mechanism. A working bucket is installed on the bucket lifting mechanism;

The control system includes a first detection control unit, a turntable rotation angle sensor and a lower arm lift inclinometer, the turntable rotation angle sensor is arranged on the turntable rotation mechanism, and is used for sensing the rotation angle of the turntable, and the signal output end of the table rotation angle sensor is connected to The turntable rotation angle signal input end of the first detection control unit, the turntable control signal output end of the first detection control unit is connected to the control end of the turntable rotation mechanism, the lower arm lifting inclinometer is installed on the lower arm, and is used for sensing the lower arm lifting inclination angle, The signal output end of the lower arm lift inclinometer is connected to the lower arm lift inclination signal input end of the first detection control unit, and the lower arm lift control signal output end of the first detection control unit is connected to the control end of the lower arm lift cylinder.

The control system further includes a second detection control unit, an upper arm lift inclinometer and a telescopic arm displacement sensor, which are arranged on the upper arm. The signal output end of the upper arm lift inclinometer is connected to the upper arm lift inclination signal input end of the second detection control unit. , the signal output end of the telescopic arm displacement sensor is connected to the telescopic arm displacement signal input end of the second detection control unit, the upper arm control signal output end of the second detection control unit is connected to the control end of the upper arm lift cylinder, and the telescopic arm of the second detection control unit The control signal output end is connected to the telescopic arm control end of the upper arm.

The control system also includes a third detection control unit provided on the work bucket, a work bucket rotation angle sensor provided on the work bucket rotating mechanism, and a work bucket lift displacement sensor provided on the work bucket lifting mechanism. The signal output end of the rotation angle sensor is connected to the working bucket rotation angle signal input end of the third detection control unit; The signal output end of the sensor is connected to the working bucket lifting displacement signal input end of the third detection control unit, and the working bucket lifting control signal output end of the third detection control unit is connected to the control signal input end of the working bucket lifting mechanism.

The chassis is also provided with outriggers, and the control system also includes outrigger sensors and outrigger solenoid valves. The outrigger sensors are installed on the telescopic part of the outriggers to sense the telescopic state of the outriggers, and the outrigger solenoid valves Installed in the telescopic oil cylinder control pipeline of the outrigger, it is used to control the telescopic state of the outrigger. The signal output end of the outrigger sensor is connected to the outrigger state signal input end of the first detection control unit. The outrigger state control signal output end is connected to the control signal input end of the outrigger solenoid valve.

The control system also includes a chassis inclination sensor, which is installed on the chassis and used to sense the inclination angle of the chassis. The signal output end of the chassis inclination sensor is connected to the chassis inclination angle signal input end of the first detection control unit. The wheel steering angle control signal output end of the control unit is used to connect to the control signal input end of the wheel steering angle controller.

The beneficial effects of the present utility model:

(1) The hybrid boom aerial work vehicle of the present utility model is coaxially hinged on the rotating shaft by coaxially connecting the bottom of the upper arm and the top of the lower arm, so that the upper arm rotates with the hinge point as the axis, and when an obstacle is encountered above the lower arm, The deployment space and rotation angle of the upper arm are less limited, and it can work around obstacles and adapt to a variety of complex high-altitude working environments.

(2) The hybrid boom aerial work vehicle of the present utility model is provided with a working bucket rotating mechanism, a working bucket lifting mechanism and a third detection control unit, so that the working bucket can be displaced in a small range at the aerial work point, improving the performance of the working bucket. the efficiency of working at heights;

(3) The control system of the present utility model is provided with a first detection control unit, a second detection control unit, and a third detection control unit to communicate with the sensors on each functional structure of the hybrid boom aerial work vehicle, so as to realize the various functions of the vehicle body. The automatic control of the parts enables operators to operate the hybrid boom aerial work vehicle of the utility model safely and stably after simple training.

(4) In the present invention, a body-mounted solenoid valve is provided on the vehicle body, which is connected in communication with the first detection control unit. When the car body is tilted, a command is sent back to the bodywork solenoid valve, and the bodywork solenoid valve is replaced to cut off the hydraulic system of the bodywork. Danger.

Description of drawings

Fig. 1 is the overall structure schematic diagram of the present utility model;

Fig. 2 is the structural schematic diagram of the utility model aerial work vehicle in the unfolded state;

Fig. 3 is the structural representation of each detection control unit in the control system of the present invention;

Fig. 4 is the control principle diagram of the first detection control unit in the utility model;

Fig. 5 is the control principle diagram of the second detection control unit in the utility model;

Fig. 6 is the control principle diagram of the third detection control unit in the utility model;

FIG. 7 is a schematic diagram of the connection relationship of each detection control unit in the present invention.

Among them, 1-chassis, 2-base, 201-slewing bearing assembly, 3-turntable, 301-turntable rotation angle sensor, 302-first detection control unit, 4-lower arm, 401-lower arm lifting cylinder, 402 - Lower arm lift inclinometer, 5-draw rod, 6-rotating shaft, 7-upper arm, 701-upper arm lift cylinder, 702-upper arm lift inclinometer, 703-second detection control unit, 8- telescopic part, 801- telescopic arm displacement Sensor, 9-leveling mechanism of work bucket, 10-work bucket rotation mechanism, 101-work bucket rotation angle sensor, 11-work bucket lifting mechanism, 111-first work bucket lifting mechanism, 112-second work bucket lifting mechanism, 113 - Working bucket lifting displacement sensor, 12- Working bucket, 121- First working bucket, 122- Second working bucket, 123- Third detection control unit, 13- Outrigger, 131- Outrigger sensor, 132- Outrigger electromagnetic Valve, 14-tool box, 15-chassis inclination sensor, 16-get-off controller, 17-body loading solenoid valve.

Detailed ways

Below in conjunction with accompanying drawing and specific embodiment, the utility model is described in further detail:

The hybrid boom aerial work vehicle shown in Figures 1 to 7 includes a car body, a chassis 1 arranged on the car body, an aerial work unit and a control system. The aerial work unit includes a turntable rotating mechanism, a lower arm 4, and a lower arm lift cylinder 401, tie rod 5, rotating shaft 6, upper arm 7, upper arm lifting cylinder 701, working bucket leveling mechanism 9, working bucket rotating mechanism 10, working bucket lifting mechanism 11 and working bucket 12;

The piston rod of the lower arm lift cylinder 401 is hinged with the turntable rotation mechanism, the cylinder body of the lower arm lift cylinder 401 is hinged with the lower arm 4, one end of the lower arm 4 is hinged with the turntable rotation mechanism, and the turntable rotation mechanism is used to control the overall operation of the aerial work unit. Rotation, the other end of the lower arm 4 is hinged with the rotating shaft 6, one end of the pull rod 5 is hinged with the turntable rotating mechanism, and the other end of the pull rod 5 is hinged with the rotating shaft 6, and the lower arm 4 can be adjusted through the extension and contraction of the lower arm lifting cylinder 401 and the pull rod 5 One end of the lower arm 4 is located between the piston rod of the lower arm lifting cylinder 401 and one end of the pull rod 5, the upper arm 7 is a telescopic arm, which is used to increase the working radius of the aerial work unit, and the fixed part of the telescopic arm and the rotating shaft 6 Articulated, the telescopic part 8 of the telescopic arm is equipped with a working bucket leveling mechanism 9, and the working bucket 12 is always kept in a horizontal state through the automatic leveling function. It is hinged with the rotating shaft 6, and the working bucket rotating mechanism 10 is hinged on the platform of the working bucket leveling mechanism 9, which can fine-tune the working bucket 12 in the horizontal direction at the high-altitude working point position. The working bucket rotating mechanism 10 is installed on the working bucket lifting mechanism 11 , it can fine-tune the height of the working bucket 12 in the vertical direction, and the working bucket 12 is installed on the working bucket lifting mechanism 11, which can provide a high-altitude working platform for operators or robots;

The control system includes a first detection control unit 302, a turntable rotation angle sensor 301 and a lower arm lift inclinometer 402. The turntable rotation angle sensor 301 is arranged on the turntable rotation mechanism and is used to sense the rotation angle of the turntable. The table rotation angle sensor 301 The signal output end of the first detection control unit 302 is connected to the turntable rotation angle signal input end of the first detection control unit 302, the turntable control signal output end of the first detection control unit 302 is connected to the control end of the turntable rotation mechanism, and the lower arm lift inclinometer 402 is installed on the lower arm 4 , is used to sense the lower arm lift inclination angle, the signal output end of the lower arm lift inclinometer 402 is connected to the lower arm lift angle signal input end of the first detection control unit 302, and the lower arm lift control signal output end of the first detection control unit 302 is connected to The control end of the lower arm lift cylinder 401 . The lower arm lift inclinometer 402 can measure its position and speed according to the lifting angle of the lower arm 4. The first detection control unit 302 collects data through the lower arm lift inclinometer 402 to control the extension and retraction of the lower arm lift cylinder 401 and the pull rod 5 to achieve Precise control of the lift angle of the lower arm 4.

In the hybrid boom aerial work vehicle of the present invention, the bottom of the upper arm 7 and the top of the lower arm 4 are juxtaposed and coaxially hinged on the rotating shaft 6. Compared with the conventional hybrid boom work vehicle, the upper arm 7 can only use the lower arm 4 as the reference line. For upward rotation and lifting, in the embodiment of the present invention, the arm 7 rotates with the hinge point as the axis, and its rotation angle range is larger. When an obstacle is encountered above the lower arm 4, the deployment space and rotation angle of the upper arm 7 are limited. The utility model is relatively small, it can bypass obstacles and operate in a variety of complex aerial work environments; the hybrid boom aerial work vehicle of the present utility model controls the work bucket 12 by being provided with a third detection control unit 123 on the work bucket 12. Small-scale displacement is carried out at the aerial work point, which improves the efficiency of aerial work.

In the above technical solution, the control system further includes a second detection control unit 703 provided on the upper arm 7, an upper arm lift inclinometer 702 and a telescopic arm displacement sensor 801, and the signal output end of the upper arm lift inclinometer 702 is connected to the second The upper arm lift tilt angle signal input end of the detection control unit 703, the signal output end of the telescopic arm displacement sensor 801 is connected to the telescopic arm displacement signal input end of the second detection control unit 703, and the upper arm control signal output end of the second detection control unit 703 is connected to the upper arm The control end of the lift cylinder 701 and the telescopic arm control signal output end of the second detection control unit 703 are connected to the telescopic arm control end of the upper arm 7 . The upper arm lift inclinometer 702 can measure its position and speed according to the lift angle of the upper arm 7, and the second detection control unit 703 collects data through the upper arm lift inclinometer 702 to control the extension and retraction of the lift cylinder 701, so as to realize the adjustment of the lift angle of the upper arm 7. Precise control. The telescopic arm displacement sensor 801 can measure the position and speed of the telescopic arm 8 according to the displacement distance of the telescopic arm 8 , and the second detection control unit 703 collects data through the telescopic arm displacement sensor 801 to accurately control the displacement distance of the telescopic arm 8 .

In the above technical solution, the control system further includes a third detection control unit 123 provided on the work bucket 12 , a work bucket rotation angle sensor 101 provided on the work bucket rotating mechanism 10 , and a work bucket lift mechanism 11 . The working bucket lifting displacement sensor 113 on the upper part of the working bucket, the signal output end of the working bucket rotation angle sensor 101 is connected to the working bucket rotation angle signal input end of the third detection control unit 123, and the working bucket rotation control signal output end of the third detection control unit 123 is connected to The control signal input end of the work bucket rotating mechanism 10, the signal output end of the work bucket lift displacement sensor 113 is connected to the work bucket lift displacement signal input end of the third detection control unit 123, and the work bucket lift control signal output end of the third detection control unit 123 Connect to the control signal input end of the bucket lifting mechanism 11 .

In the above technical solution, the chassis 1 is further provided with legs 13, and the control system further includes a leg sensor 131 and a leg solenoid valve 132. The outrigger sensor 131 is installed on the telescopic part of the leg 13 for To sense the telescopic state of the outrigger 13, the outrigger solenoid valve 132 is installed in the telescopic oil cylinder control pipeline of the outrigger 13 to control the telescopic state of the outrigger 13, and the signal output end of the outrigger sensor 131 is connected to the first detection The outrigger state signal input end of the control unit 302, the outrigger state control signal output end of the first detection control unit 302 is connected to the control signal input end of the outrigger solenoid valve 132, and the outrigger 13 is controlled to adjust the ground support according to the data collected by the sensor The size of the force is used to stabilize the center of gravity and achieve the effect of anti-overturning and maintaining stability. Before high-altitude work, the outriggers 13 synchronously extend downward and are supported on the ground, which improves the stability of the hybrid boom aerial work vehicle during fixed-point work. The outriggers 13 are provided with four pieces, which are respectively installed symmetrically around the chassis 1. When the hybrid boom aerial work vehicle is in a normal driving state, the outriggers 13 are in a retracted state and are separated from the ground to ensure normal driving. , the outriggers 13 synchronously extend downward and are stably supported on the ground, so as to realize the stability of the hybrid boom aerial work vehicle during fixed-point operation.

In the above technical solution, the control system further includes a chassis inclination sensor 15, the chassis inclination sensor 15 is installed on the chassis 1 and used to sense the inclination angle of the chassis, and the signal output end of the chassis inclination sensor 15 is connected to the first detection control unit 302. The chassis inclination angle signal input end, the wheel steering angle control signal output end of the first detection control unit 302 is used to connect to the control signal input end of the wheel steering angle controller. By detecting the inclination angle signal of the chassis when the vehicle is turning, the first detection control unit 302 automatically controls the steering angles of the inner wheel and the outer wheel, so that the vehicle turns smoothly. The chassis 1 is also provided with a tool box 14 .

In the above technical solution, the first detection control unit 302 is arranged on the turntable rotating mechanism, the chassis 1 is also provided with a get-off controller 16, and the get-off control signal output end of the first detection control unit 302 is connected to the get-off controller. The signal input terminal of 16, the getting-off controller 16 is used to control the switching switch of getting off the vehicle (ie, the vehicle part).

In the above technical solution, the working bucket leveling mechanism 9 is arranged at the front end of the telescopic arm 8, and an adaptive hydraulic control device is provided on it. Through the adaptive hydraulic control device, the working bucket leveling mechanism 9 adjusts the working bucket 12 according to the lifting angle of the upper arm 7. The angle relative to the horizontal plane is kept constant, so that the automatic leveling of the working bucket 12 is always kept in a horizontal state.

The working bucket rotating mechanism 10 is provided on the working bucket leveling mechanism 9 , and the working bucket 12 is driven to rotate by the provided driving device to adjust the angle of the working bucket 12 in the horizontal direction. Further, the bucket rotation mechanism 10 is also provided with a bucket rotation angle sensor 101, the bucket rotation angle sensor 101 is connected in communication with the control system, and the rotation angle of the bucket rotation mechanism 10 is precisely controlled by the control system.

The working bucket lifting mechanism 11 is connected with the working bucket rotating mechanism 9 through an "I"-shaped frame, and includes a first working bucket lifting mechanism 111 and a second working bucket lifting mechanism 112, which can operate independently to complement each other. Further, by providing a bucket lifting displacement sensor 113 in the bucket lifting mechanism 11, the bucket lifting displacement sensor 113 is connected to the control system for communication, and the control system precisely controls the bucket lifting mechanism 11 to raise the height of the working bucket 12.

In the above technical solution, the working bucket lifting mechanism 11 includes a first working bucket lifting mechanism 111 and a second working bucket lifting mechanism 112, and the working bucket 12 includes a first working bucket 121 and a second working bucket 122, wherein the The first working bucket 121 is set on the lifting part of the first working bucket lifting mechanism 111, the second working bucket 122 is set on the lifting part of the second working bucket lifting mechanism 112, the first working bucket lifting mechanism 111 and the second working bucket lifting mechanism The fixed parts of the working bucket lifting mechanism 112 are all installed on the rotary table of the working bucket rotating mechanism 10. There are two working bucket lifting displacement sensors 113, which are respectively used to sense the first working bucket lifting mechanism 111 and the second working bucket lifting mechanism 112. The third detection control unit 123 controls the lifting and lowering displacement of the first working bucket lifting mechanism 111 and the second working bucket lifting mechanism 112 respectively; the first working bucket 121 and the second working bucket 122 can operate independently of each other, or The lifting and lowering work is carried out synchronously, which makes the working bucket 12 more flexible and flexible, and also increases the working range at high altitudes.

In the above technical solution, the turntable rotation mechanism includes a base 2 arranged on the chassis 1, a slewing bearing assembly 201 arranged on the top of the base 2, and a turntable 3 arranged on the slewing bearing assembly 201, and a turntable rotation angle sensor. 301 is arranged on the slewing bearing assembly 201 , and the turntable 3 is rotated relative to the base 2 through the slewing bearing assembly 201 . The turntable 3 can rotate 360° with the base 2 as the central axis under the drive of the slewing bearing assembly 201 . The turntable rotation angle sensor 301 sends a signal obtained by measuring the rotation angle of the turntable 3 to the first detection control unit 302 , and the first detection control unit 302 controls the turntable 3 to rotate according to the measured signal, so that it accurately reaches the designated position.

In the above technical solution, the first detection control unit 302 controls the functional structure to work according to the operator's settings: that is, after receiving the signal collected by the alighting controller 16 arranged on the bottom of the chassis 1, an instruction is issued to control the alighting switch; After receiving the signal collected by the outrigger sensor 131, an instruction is issued to control the on-off of the outrigger solenoid valve 132 provided on the outrigger 13 to adjust the size of the supporting force on the outrigger 13, so as to prevent the center of gravity of the vehicle from shifting when the platform is raised. The vehicle is overturned; the steering angle detection is added through the chassis inclination sensor 15, and the steering angle of the inner wheel and outer wheel is automatically controlled to make the vehicle steering smoothly; after receiving the signal collected by the turntable rotation angle sensor 301, an instruction is issued to control the turntable 3 to rotate to the designated position angle; after receiving the signal collected by the lower arm lift inclinometer 402, an instruction is issued to control the lower arm 4 to be lifted to a specified height.

In the above technical solution, a bodywork solenoid valve 17 is installed on the vehicle body, the control signal output end of the bodywork solenoid valve of the first detection control unit 302 is connected to the control end of the bodywork solenoid valve 17, and the bodywork solenoid valve 17 is used to control the bodywork (that is, the bucket). arm part) hydraulic system.

In the above technical solution, the data communication terminals among the first detection control unit 302 , the second detection control unit 703 , and the third detection control unit 123 are connected through a CAN bus.

In the embodiment of the present invention, the first detection control unit 302 , the second detection control unit 703 , and the third detection control unit 123 in the control system are communicated and connected through a can bus. Wherein, the first detection control unit 302 and the second detection control unit 703 are respectively provided with optical fiber modules, which are connected to the optical fiber modules provided in the third detection control unit 123 through optical fibers. The operation platform on the 12 sends an instruction to control the first detection control unit 302, the second detection control unit 703, and the third detection control unit 123 to cooperate with each other to lift the work bucket 12 to the designated operating point. The first detection control unit 302 is connected with a WIFI transceiver module, which is connected to an external tablet computer through wireless signals. The ground operator can check the working status of the hybrid boom aerial work vehicle during operation according to the data sent by the WIFI transceiver module. Send a command to stop the job when an emergency occurs. The third detection control unit 123 is also provided with a robot Ethernet interface and an Ethernet to CAN conversion module. The aerial work robot communicates with the third detection control unit 123 through the robot Ethernet interface, and passes through the Ethernet-can conversion module. The third detection control unit 123 can send instructions to control the aerial work robot to work.

In the embodiment of the present utility model, the control system is connected to the sensors on the functional structures of the hybrid boom aerial work vehicle by means of a first detection control unit 302, a second detection control unit 703, and a third detection control unit 123. The utility model realizes the automatic control of each part of the vehicle body, and enables the operators to operate safely and stably after simple training. Wherein, compared with the common aerial work vehicles on the market, the control system in the embodiment of the present utility model adds a third detection control unit 123 to fine-tune the work bucket 12 to meet the small-range displacement at high altitude and improve the aerial work efficiency.

In the embodiment of the present invention, in order to prevent the vehicle from tipping over, a body-mounted solenoid valve 17 is provided on the vehicle body, which is connected to the first detection control unit 302 in communication, and the first detection control unit 302 receives the outrigger sensor 131 When the force is abnormal, especially when the outrigger 13 is tilted off the ground, the body will send a command to feedback to the bodywork solenoid valve 17, and the bodywork solenoid valve 17 will be changed to cut off the hydraulic system of the upper body. It is very good to prevent the vehicle from tipping over and avoid the danger caused by the vehicle tipping over.

The content not described in detail in this specification belongs to the prior art known to those skilled in the art.

Claims (10)

1. A hybrid boom aerial work vehicle, comprising a vehicle body and a chassis (1) arranged on the vehicle body, it is characterized in that: it also comprises an aerial work unit and a control system, and the aerial work unit comprises a turntable rotating mechanism, a lower arm ( 4), lower arm lift cylinder (401), tie rod (5), rotating shaft (6), upper arm (7), upper arm lift cylinder (701), work bucket leveling mechanism (9), work bucket rotation mechanism (10), work Bucket lifting mechanism (11) and working bucket (12); The piston rod of the lower arm lift cylinder (401) is hinged with the turntable rotation mechanism, the cylinder body of the lower arm lift cylinder (401) is hinged with the lower arm (4), one end of the lower arm (4) is hinged with the turntable rotation mechanism, and the lower arm ( The other end of 4) is hinged with the rotating shaft (6), one end of the pull rod (5) is hinged with the turntable rotating mechanism, the other end of the pull rod (5) is hinged with the rotating shaft (6), and one end of the lower arm (4) is located in the lower arm lifting cylinder. Between the piston rod of (401) and one end of the pull rod (5), the upper arm (7) is a telescopic arm, the fixed part of the telescopic arm is hinged with the rotating shaft (6), and the telescopic part (8) of the telescopic arm is installed with a working bucket leveling mechanism ( 9), the cylinder body of the upper arm lifting cylinder (701) is hinged with the upper arm (7), the piston rod of the upper arm lifting cylinder (701) is hinged with the rotating shaft (6), and the working bucket rotating mechanism is hinged on the platform of the working bucket leveling mechanism (9). (10), a working bucket lifting mechanism (11) is installed on the working bucket rotating mechanism (10), and a working bucket (12) is installed on the working bucket lifting mechanism (11); The control system includes a first detection control unit (302), a turntable rotation angle sensor (301), and a lower arm lift inclinometer (402). Rotation angle, the signal output end of the table rotation angle sensor (301) is connected to the turntable rotation angle signal input end of the first detection control unit (302), and the turntable control signal output end of the first detection control unit (302) is connected to the turntable rotation mechanism. At the control end, the lower arm lift inclinometer (402) is installed on the lower arm (4) for sensing the lower arm lift inclination, and the signal output end of the lower arm lift inclinometer (402) is connected to the lower part of the first detection control unit (302). The arm lift inclination angle signal input end, the lower arm lift control signal output end of the first detection control unit (302) is connected to the control end of the lower arm lift cylinder (401). 2 . The hybrid boom aerial work vehicle according to claim 1 , wherein the control system further comprises a second detection control unit ( 703 ) arranged on the upper arm ( 7 ), an upper arm lift inclinometer ( 702 ). 3 . ) and the telescopic arm displacement sensor (801), the signal output end of the upper arm lift inclinometer (702) is connected to the upper arm lift inclination angle signal input end of the second detection control unit (703), and the signal output end of the telescopic arm displacement sensor (801) is connected to The telescopic arm displacement signal input end of the second detection control unit (703), the upper arm control signal output end of the second detection control unit (703) is connected to the control end of the upper arm lift cylinder (701), the second detection control unit (703) The telescopic arm control signal output end is connected to the telescopic arm control end of the upper arm (7). 3. The hybrid boom aerial work vehicle according to claim 2, wherein the control system further comprises a third detection control unit (123) arranged on the working bucket (12), and a third detection control unit (123) arranged on the working bucket to rotate The working bucket rotation angle sensor (101) on the mechanism (10) and the working bucket lifting displacement sensor (113) arranged on the working bucket lifting mechanism (11), the signal output end of the working bucket rotating angle sensor (101) is connected to the third The work bucket rotation angle signal input end of the detection control unit (123), the work bucket rotation control signal output end of the third detection control unit (123) is connected to the control signal input end of the work bucket rotation mechanism (10), and the work bucket lift displacement sensor The signal output terminal of (113) is connected to the input terminal of the working bucket lifting displacement signal of the third detection control unit (123), and the working bucket lifting control signal output terminal of the third detection control unit (123) is connected to the control of the working bucket lifting mechanism (11). signal input. 4. The hybrid boom aerial work vehicle according to claim 1, characterized in that: the chassis (1) is further provided with outriggers (13), and the control system further comprises an outrigger sensor (131) and an outrigger solenoid valve (132), the outrigger sensor (131) is installed on the telescopic part of the outrigger (13) to sense the telescopic state of the outrigger (13), and the outrigger solenoid valve (132) is installed on the outrigger (13) In the control pipeline of the telescopic oil cylinder, it is used to control the telescopic state of the outrigger (13), the signal output end of the outrigger sensor (131) is connected to the outrigger state signal input end of the first detection control unit (302), the first An output end of the leg state control signal of the detection control unit (302) is connected to the control signal input end of the leg solenoid valve (132). 5. The hybrid boom aerial work vehicle according to claim 1, characterized in that: the control system further comprises a chassis inclination sensor (15), and the chassis inclination sensor (15) is installed on the chassis (1) for sensing the chassis The signal output end of the chassis inclination sensor (15) is connected to the chassis tilt angle signal input end of the first detection control unit (302), and the wheel steering angle control signal output end of the first detection control unit (302) is used to connect Control signal input terminal of wheel steering angle controller. 6. The hybrid boom aerial work vehicle according to claim 1, wherein the first detection and control unit (302) is arranged on the turntable rotating mechanism, and the chassis (1) is further provided with a dismounting controller (16). ), the get-off control signal output end of the first detection control unit (302) is connected to the signal input end of the get-off controller (16), and the get-off controller (16) is used to control the get-off switch. 7. The hybrid boom aerial work vehicle according to claim 1, wherein the working bucket lifting mechanism (11) comprises a first working bucket lifting mechanism (111) and a second working bucket lifting mechanism (112), wherein the The working bucket (12) includes a first working bucket (121) and a second working bucket (122), wherein the first working bucket (121) is arranged on the lifting part of the first working bucket lifting mechanism (111), so The second working bucket (122) is arranged on the lifting part of the second working bucket lifting mechanism (112), and the fixed parts of the first working bucket lifting mechanism (111) and the second working bucket lifting mechanism (112) are installed on the working bucket lifting mechanism (112). on the rotating table of the bucket rotating mechanism (10). 8 . The hybrid boom aerial work vehicle according to claim 1 , wherein the turntable rotating mechanism comprises a base ( 2 ) arranged on the chassis ( 1 ), and a slewing bearing arranged on the top of the base ( 2 ). 9 . The assembly (201) and the turntable (3) arranged on the slewing bearing assembly (201), the turntable (3) is rotated relative to the base (2) through the slewing bearing assembly (201), and the turntable rotation angle sensor (301) Set on the slewing bearing assembly (201). 9. The hybrid boom aerial work vehicle according to claim 1, characterized in that: a bodywork solenoid valve (17) is installed on the vehicle body, and the bodywork solenoid valve control signal output end of the first detection control unit (302) is connected to the bodywork solenoid valve Control end of valve (17). 10. The hybrid boom aerial work vehicle according to claim 3, characterized in that: a connection between the first detection control unit (302), the second detection control unit (703), and the third detection control unit (123) The data communication end is connected through the CAN bus.

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