CN216584026U - Ground control type aerial work platform - Google Patents
Ground control type aerial work platform Download PDFInfo
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- CN216584026U CN216584026U CN202220007028.8U CN202220007028U CN216584026U CN 216584026 U CN216584026 U CN 216584026U CN 202220007028 U CN202220007028 U CN 202220007028U CN 216584026 U CN216584026 U CN 216584026U
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Abstract
The utility model discloses a ground control type aerial work platform, which comprises an aerial work platform assembly, wherein the aerial work platform assembly comprises a chassis, a lifting mechanism and a work platform, and the work platform is arranged on the chassis through the lifting mechanism; the multi-degree-of-freedom manipulator assembly is mounted on the operation platform, a replaceable operation tool is arranged at the operation end of the manipulator assembly, and the multi-degree-of-freedom manipulator assembly further comprises a ground control operation terminal which respectively controls the aerial operation platform assembly, the manipulator assembly and the operation tool. Has the advantages that: the utility model discloses a ground accuse operation terminal controls aerial working platform assembly, manipulator assembly and operation instrument respectively can realize that operating personnel accomplishes aerial working on ground, can avoid operating personnel aerial working's risk to can last the operation, improve the operating efficiency.
Description
Technical Field
The utility model relates to an aerial working platform, in particular to ground accuse formula unmanned aerial working platform in high altitude belongs to engineering machine tool technical field.
Background
With the increasing requirements of people on the safety of high-altitude operation, countries and places continuously make relevant regulations for limiting the use of traditional scaffolds, and on the basis of referring to foreign relevant technologies, China starts to research and develop high-altitude operation machinery in the end of the 20 th century in the 70 th year.
An aerial work machine is a dedicated aerial work apparatus for lifting workers, tools, materials, and the like to a designated position in the air through a work platform to perform various operations such as installation, maintenance, and the like.
Under the environment that the automation and intelligence of equipment are increased day by day, the traditional mode that people stand on a working platform to complete various operations cannot meet the requirements of some special working conditions, such as the requirement of automatic high-efficiency operation independent of people and the requirement of larger area operation exceeding the original operation range of the equipment.
Operating personnel have certain potential safety hazard in high altitude construction to personnel can't carry out the continuation operation in the high altitude for a long time, consequently can influence operating efficiency to a certain extent.
Disclosure of Invention
The purpose of the invention is as follows: the utility model aims at the problem that exists among the prior art, provide an unmanned operation platform in ground accuse formula high altitude, the utility model discloses a manipulator replaces artificial method to realize operating personnel and at ground remote control operation, has improved operating efficiency and personnel's security.
The technical scheme is as follows: a ground control type aerial unmanned operation platform comprises an aerial operation platform assembly, wherein the aerial operation platform assembly comprises a chassis, a lifting mechanism and an operation platform, and the operation platform is arranged on the chassis through the lifting mechanism; the multi-degree-of-freedom manipulator assembly is mounted on the operation platform, a replaceable operation tool is arranged at the operation end of the manipulator assembly, and the multi-degree-of-freedom manipulator assembly further comprises a ground control operation terminal which respectively controls the aerial operation platform assembly, the manipulator assembly and the operation tool.
The utility model discloses a ground accuse operation terminal controls aerial working platform assembly, manipulator assembly and operation instrument respectively can realize that operating personnel accomplishes aerial working on ground, can avoid operating personnel aerial working's risk to can last the operation, improve the operating efficiency.
Preferably, in order to realize accurate control, a camera device is arranged at the operation end of the manipulator assembly, a lens of the camera device is over against an operation area, an image display module is arranged on the ground control operation terminal, and image information of the camera device is displayed on the ground control operation terminal through the image display module. The operation image is transmitted to an image display module on the ground control operation terminal through the camera device, so that an operator can accurately know the operation condition of the operation tool in real time and adjust the operation tool in real time; the working precision and the working efficiency are improved.
Preferably, in order to further improve the operation efficiency, a distance measuring sensor is arranged on the operation platform, and a distance signal measured by the distance measuring sensor is transmitted to the ground control operation terminal. When the aerial work platform assembly runs to the operation range of the manipulator assembly, the distance measuring sensor sends a prompt signal to the ground control operation terminal, an operator can stop controlling the chassis of the aerial work platform assembly, the aerial work platform assembly is kept in a parking state, and the phenomenon that the distance between the aerial work platform assembly and an operation area is too close to influence the operation of the manipulator assembly and even a collision accident is avoided.
Preferably, in order to improve the control precision, a pressure sensor is arranged between the working end of the manipulator assembly and the working tool, and a pressure signal of the pressure sensor is transmitted to the ground control operation terminal. According to different working conditions, a corresponding working tool needs to be selected, and the working tool needs to be in close contact with a target workpiece and has certain pretightening force during working, for example, a welding gun needs to be in contact with the workpiece and only needs smaller pretightening force during welding working conditions; a larger pre-tightening force is needed in the polishing working condition; the pre-tightening force of the drilling working condition also needs larger pre-tightening force; in order to meet the operation requirements of various working conditions, the magnitude of the pretightening force needs to be monitored in real time. Whether the operation tool is in contact with the target workpiece or not and the pre-tightening force can be obtained through the pressure sensor, so that the action of the manipulator assembly is accurately controlled, and the control precision is improved. The positioning time can be reduced by matching with the camera device, and the working efficiency is further improved.
Preferably, for improving the utility model discloses an suitability, operation platform is equipped with the automatically controlled cabinet of manipulator assembly, the manipulator assembly passes through automatically controlled cabinet and is connected with operation platform's power supply system and ground accuse operation terminal simultaneously. Can realize the quick repacking to current aerial working platform assembly through automatically controlled cabinet, can realize simultaneously the control to aerial working platform assembly and manipulator assembly and operation tool through unified ground accuse operation terminal, improved the utility model discloses an suitability.
Preferably, in order to reduce the difficulty of ground control operation and the complexity of a control system, the aerial work platform assembly is a scissor-type aerial work platform. The scissor-type aerial work platform is a vertical lifting system, the lifting height can be accurately controlled, the control difficulty and the complexity of the control system can be reduced, and the requirement on the control skill of an operator is reduced.
A control method of a ground control type high-altitude unmanned operation platform comprises the following steps:
step one, debugging equipment, namely selecting and matching operation tools according to operation working conditions, setting a prompt distance of a distance measuring sensor, and setting a pressure prompt value of a pressure sensor and working pressure of a manipulator assembly;
secondly, moving the aerial work platform assembly, and controlling a chassis of the aerial work platform assembly to move to a working area through a ground control operation terminal;
step three, lifting the operation platform, controlling a lifting mechanism to lift the operation platform to be within the operation range of the manipulator assembly through a ground control operation terminal;
positioning an operation area, tracking and positioning the operation tool by means of the camera device and the image display module, and controlling the manipulator assembly to move the operation tool to the designated operation area through the ground control operation terminal;
step five, starting the operation tool, and starting the operation tool through the ground control operation terminal to realize operation;
and step six, resetting the equipment, closing the operation tool after the specified operation is finished, retracting the mechanical arm assembly to an initial state, falling the operation platform back to an initial state, and controlling the chassis to run to a next operation site or a storage site or a charging site.
Preferably, in order to further improve the automation degree, in the step one, the working track and the area range are preset through a program in the debugging of the device.
Preferably, in order to improve the working efficiency, in the working process of the five-step working tool, the chassis, the lifting mechanism or the manipulator assembly is controlled by the ground control operation terminal respectively or simultaneously to realize the switching between the working areas. The connection operation of the operation tools is realized through the switching between the operation areas, and the operation efficiency is improved.
Has the advantages that: the utility model discloses a ground accuse operation terminal controls aerial working platform assembly, manipulator assembly and operation instrument respectively can realize that operating personnel accomplishes aerial working on ground, can avoid operating personnel aerial working's risk to can last the operation, improve the operating efficiency.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the embodiments or the prior art descriptions will be briefly described below, it is obvious that the drawings in the following description are only embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to the provided drawings without creative efforts.
FIG. 1 is a schematic view of the present invention during operation;
fig. 2 is an initial state diagram of the present invention.
Detailed Description
The technical solutions in the embodiments of the present invention will be described clearly and completely with reference to the accompanying drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only some embodiments of the present invention, not all embodiments. Based on the embodiments in the present invention, all other embodiments obtained by a person skilled in the art without creative work belong to the protection scope of the present invention.
In the description of the present invention, it is to be understood that the terms "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, and are only for convenience of description and simplicity of description, and do not indicate or imply that the device or element referred to must have a particular orientation, be constructed and operated in a particular orientation, and therefore, should not be construed as limiting the present invention.
In the present disclosure, unless expressly stated or limited otherwise, the first feature "on" or "under" the second feature may comprise direct contact between the first and second features, or may comprise contact between the first and second features not directly. Also, the first feature being "on," "above" and "over" the second feature includes the first feature being directly on and obliquely above the second feature, or merely indicating that the first feature is at a higher level than the second feature. A first feature being "under," "below," and "beneath" a second feature includes the first feature being directly under and obliquely below the second feature, or simply meaning that the first feature is at a lesser elevation than the second feature.
As shown in fig. 1 and 2, a ground control type aerial unmanned platform comprises an aerial platform assembly 1, wherein the aerial platform assembly 1 comprises a chassis 11, a lifting mechanism 12 and a working platform 13, and the working platform 13 is mounted on the chassis 11 through the lifting mechanism 12; the operation platform 13 is provided with a multi-degree-of-freedom manipulator assembly 2, a replaceable operation tool 3 is arranged at the operation end of the manipulator assembly 2, and the operation platform further comprises a ground control operation terminal 4, and the ground control operation terminal 4 respectively controls the aerial operation platform assembly 1, the manipulator assembly 2 and the operation tool 3.
The utility model discloses a ground accuse operation terminal 4 controls aerial working platform assembly 1, manipulator assembly 2 and operation tool 3 respectively can realize that operating personnel accomplishes aerial working on ground, can avoid operating personnel aerial working's risk to can the continuous operation, improved the operating efficiency.
In order to realize accurate control, the working end of the manipulator assembly 2 is provided with a camera device 5, the lens of the camera device 5 is over against the working area, the ground control operation terminal 4 is provided with an image display module 41, and the image information of the camera device 5 is displayed on the ground control operation terminal 4 through the image display module 41. The image pickup device 5 transmits the operation image to the image display module 41 on the ground control operation terminal 4, so that an operator can accurately know the operation condition of the operation tool in real time and adjust the operation condition in real time; the working precision and the working efficiency are improved.
In order to further improve the working efficiency, a distance measuring sensor 6 is arranged on the working platform 13, and a distance signal measured by the distance measuring sensor 6 is transmitted to the ground control operation terminal 4. When the aerial work platform assembly 1 runs to the operation range of the manipulator assembly 2, the distance measuring sensor 6 sends a prompt signal to the ground control operation terminal 4, an operator can stop controlling the chassis 11 of the aerial work platform assembly 1, the aerial work platform assembly 1 is kept in a parking state, and the phenomenon that the distance between the aerial work platform assembly 1 and an operation area is too close to influence the operation of the manipulator assembly 2 and even a collision accident occurs is avoided.
In order to improve the control accuracy, a pressure sensor is arranged between the working end of the manipulator assembly 2 and the working tool 3, and a pressure signal of the pressure sensor is transmitted to a ground control operation terminal 4. According to different working conditions, a corresponding working tool 3 needs to be selected, and the working tool 3 needs to be in close contact with a target workpiece and has certain pretightening force during working, for example, a welding gun needs to be in contact with the workpiece and only needs smaller pretightening force during welding working conditions; a larger pre-tightening force is needed in the polishing working condition; the pre-tightening force of the drilling working condition also needs larger pre-tightening force; in order to meet the operation requirements of various working conditions, the magnitude of the pretightening force needs to be monitored in real time. Whether the operation tool 3 is in contact with a target workpiece or not and the pre-tightening force can be obtained through the pressure sensor, so that the action of the manipulator assembly is accurately controlled, and the control precision is improved. The positioning time can be reduced by matching with the camera device 5, and the working efficiency is further improved.
In order to improve the utility model discloses a suitability, operation platform 13 is equipped with automatically controlled cabinet 7 of manipulator assembly 2, manipulator assembly 2 is connected with operation platform 13's power supply system and ground accuse operation terminal 4 simultaneously through automatically controlled cabinet 7. Can realize the quick repacking to current aerial working platform assembly through automatically controlled cabinet 7, can realize simultaneously to aerial working platform assembly 4 and manipulator assembly 2 and the control of operation tool 3 through unified ground accuse operation terminal 4, improved the utility model discloses an adaptability.
In order to reduce the difficulty of ground control operation and the complexity of a control system, the aerial work platform assembly 1 is a scissor-type aerial work platform. The scissor-type aerial work platform is a vertical lifting system, the lifting height can be accurately controlled, the control difficulty and the complexity of the control system can be reduced, and the requirement on the control skill of an operator is reduced.
A control method of a ground control type high-altitude unmanned operation platform comprises the following steps:
step one, debugging equipment, namely selecting and matching the working tool 3 according to working conditions, setting a prompt distance of a distance measuring sensor 6, and setting a pressure prompt value of a pressure sensor and the working pressure of a manipulator assembly 2;
secondly, moving the aerial work platform assembly 1, and controlling a chassis 11 of the aerial work platform assembly 1 to move to a working area through a ground control operation terminal 4;
step three, lifting the operation platform 13, controlling the lifting mechanism 12 to lift the operation platform 13 to the operation range of the manipulator assembly 2 through the ground control operation terminal 4;
positioning a working area, tracking and positioning the working tool 3 by means of the camera device 5 and the image display module 41, and controlling the manipulator assembly 2 through the ground control operation terminal 4 to move the working tool 3 to the designated working area;
step five, starting the working tool 3, and starting the working tool 3 through the ground control operation terminal 4 to realize operation;
and step six, resetting the equipment, closing the operation tool 4 after finishing the designated operation, retracting the manipulator assembly 2 to the initial state, falling the operation platform 13 back to the initial state, and controlling the chassis 11 to operate to the next operation site or storage site or charging site.
In order to further improve the automation degree, in the first step, the working track and the area range are preset through a program in the debugging of the equipment.
In order to improve the working efficiency, during the working process of the step five working tool 3, the chassis 11, the lifting mechanism 12 or the manipulator assembly 2 are respectively or simultaneously controlled by the ground control operation terminal 4 to realize the switching between the working areas. The connection operation of the operation tools is realized through the switching between the operation areas, and the operation efficiency is improved.
The embodiments in the present description are described in a progressive manner, each embodiment focuses on differences from other embodiments, and the same and similar parts among the embodiments are referred to each other. The device disclosed by the embodiment corresponds to the method disclosed by the embodiment, so that the description is simple, and the relevant points can be referred to the method part for description.
The previous description of the disclosed embodiments is provided to enable any person skilled in the art to make or use the present invention. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the generic principles defined herein may be applied to other embodiments without departing from the spirit or scope of the invention. Thus, the present invention is not intended to be limited to the embodiments shown herein but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.
Claims (6)
1. A ground control type aerial work platform comprises an aerial work platform assembly (1), wherein the aerial work platform assembly (1) comprises a chassis (11), a lifting mechanism (12) and a work platform (13), and the work platform (13) is installed on the chassis (11) through the lifting mechanism (12); the method is characterized in that: the multi-degree-of-freedom manipulator assembly (2) is mounted on the operation platform (13), the replaceable operation tool (3) is arranged at the operation end of the manipulator assembly (2), the multi-degree-of-freedom manipulator assembly further comprises a ground control operation terminal (4), and the ground control operation terminal (4) respectively controls the aerial operation platform assembly (1), the manipulator assembly (2) and the operation tool (3).
2. The ground-operated aerial work platform of claim 1, wherein: the operation end of the manipulator assembly (2) is provided with a camera device (5), a lens of the camera device (5) is over against an operation area, an image display module (41) is arranged on the ground control operation terminal (4), and image information of the camera device (5) is displayed on the ground control operation terminal (4) through the image display module (41).
3. The ground-operated aerial work platform of claim 1, wherein: the operation platform (13) is provided with a distance measuring sensor (6), and a distance signal measured by the distance measuring sensor (6) is transmitted to the ground control operation terminal (4).
4. A ground-operated aerial work platform as claimed in claim 1, 2 or 3, wherein: and a pressure sensor is arranged between the operation end of the manipulator assembly (2) and the operation tool (3), and a pressure signal of the pressure sensor is transmitted to the ground control operation terminal (4).
5. The ground-operated aerial work platform of claim 1, wherein: the operation platform (13) is provided with an electric control cabinet (7) of the manipulator assembly (2), and the manipulator assembly (2) is connected with a power supply system of the operation platform (13) and the ground control operation terminal (4) through the electric control cabinet (7).
6. The ground-operated aerial work platform of claim 1, wherein: the aerial work platform assembly (1) is a scissor-type aerial work platform.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202220007028.8U CN216584026U (en) | 2022-01-05 | 2022-01-05 | Ground control type aerial work platform |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202220007028.8U CN216584026U (en) | 2022-01-05 | 2022-01-05 | Ground control type aerial work platform |
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| Publication Number | Publication Date |
|---|---|
| CN216584026U true CN216584026U (en) | 2022-05-24 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202220007028.8U Active CN216584026U (en) | 2022-01-05 | 2022-01-05 | Ground control type aerial work platform |
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| Country | Link |
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| CN (1) | CN216584026U (en) |
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- 2022-01-05 CN CN202220007028.8U patent/CN216584026U/en active Active
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