CN216945794U - Sucker adjusting device, sucker accessory and overhead working truck - Google Patents

Abstract

The utility model relates to a sucker adjusting device, a sucker accessory and an aerial working truck, wherein the sucker adjusting device comprises: a boom assembly; the first rotating mechanism is used for enabling the arm support assembly to rotate around the Z axis by taking the first original point as a circle center; the arm support assembly comprises an amplitude variation mechanism, wherein the amplitude variation mechanism comprises an amplitude variation arm, the amplitude variation arm is hinged with the driving connection assembly, and the amplitude variation arm rotates around an X axis; the telescopic mechanism comprises a telescopic arm, and the telescopic arm reciprocates along the Y axis; and the second rotating mechanism comprises a second swinging frame, the tail end of the second swinging frame is provided with a main frame component of a sucker, the second swinging frame is hinged with the telescopic arm, and the second swinging frame rotates around the Z axis by taking the second origin as the circle center. The application provides a sucking disc adjusting device can be to the object position adjustment on sucking disc and the sucking disc snatched on a large scale for glass can go into the frame with the gesture that is most suitable with the installing frame, prevents because of the accident that glass gesture adjustment appears in the high altitude.

Description

Sucker adjusting device, sucker accessory and overhead working truck

Technical Field

The utility model belongs to the field of high-altitude cleaning equipment, and particularly relates to a suction cup adjusting device, a suction cup accessory and a high-altitude operation vehicle.

Background

Along with the development of society, modernized high-rise building's glass curtain wall also more and more extensively uses, directly through glass replaced the wall, but present building outer wall or curtain wall glass are than thicker, breakable and carry the high problem of the degree of difficulty height, to the installation of large-scale glass at present generally the manual work install a plurality of vacuum chuck on an installation bracket, then adsorb glass behind vacuum chuck, hoist installation bracket and glass together through the loop wheel machine, the rethread is artifical manual to carry out the regulation of gradient and left right sides position to the glass position, thereby realize the installation.

In the traditional installation process, after the glass is moved to the installation cavity, the installation angle and the left and right positions of the glass are basically manually adjusted, on one hand, the requirement on the operation of workers is high, the labor intensity of the workers is high, on the other hand, when the glass is installed in a frame, the glass is easily dislocated with the installation frame, and the glass needs to be repeatedly adjusted when the glass is placed in the frame.

SUMMERY OF THE UTILITY MODEL

The utility model aims to solve the technical problems and provide a sucker adjusting device which can adjust the position of a sucker and a target object grabbed on the sucker in a large range, so that glass can enter a frame in a posture most suitable for an installation frame, and accidents caused by posture adjustment of the glass in high altitude are prevented. The utility model also provides a sucker accessory and an overhead working truck which both comprise the sucker adjusting device and also have the technical effects.

The technical scheme of the utility model is as follows:

a suction cup adjustment device comprising:

a first rotation mechanism including a drive connection assembly;

the arm support assembly is connected with the driving connection assembly to rotate around a Z axis by taking a first origin as a circle center, and comprises:

the amplitude variation mechanism comprises an amplitude variation arm rotating around an X axis, and the amplitude variation arm is hinged with the driving connecting assembly;

the telescopic mechanism comprises a telescopic arm which reciprocates along the Y axis, and the telescopic arm is connected with the amplitude variation arm;

the second rotating mechanism comprises a second swing frame, the tail end of the second swing frame is provided with a main frame assembly of a sucker, the second swing frame is hinged to the telescopic arm, the second swing frame rotates around a Z axis by taking a second original point as a circle center, and the second original point and the first original point are spaced at a preset distance.

Preferably, the boom assembly further comprises a translation mechanism, the translation mechanism comprises a translation structure and a translation frame, and the translation structure is used for enabling the translation frame to be connected in a sliding manner along the X-axis direction.

Preferably, the translation structure comprises a translation guide shaft, the translation guide shaft is arranged on the translation frame, the axis of the translation guide shaft is parallel to the X axis, and the second swing frame is connected with the translation guide shaft in a sliding manner;

one end of the first driving piece is hinged to the second swing frame, and the extending end of the first driving piece is hinged to the translation frame.

Preferably, the arm support assembly further comprises a lifting mechanism, the lifting mechanism is positioned between the translation frame and the main frame component,

the lifting mechanism comprises a lifting frame;

the lifting structure is connected with the lifting frame and the translation frame and enables the lifting frame to move along the Z-axis direction.

Preferably, the lifting structure comprises a lifting guide shaft, the lifting guide shaft is mounted on the translation frame, the lifting frame is connected with the lifting guide shaft in a sliding manner, and the axis of the lifting guide shaft is parallel to the Z axis;

the lifting driving piece is installed on the lifting frame, and the telescopic end of the lifting driving piece is used for driving the lifting frame to move along the axis of the lifting guide shaft so as to provide driving force.

Preferably, the boom assembly further comprises a first rotating mechanism, the first rotating mechanism comprises a rotating component, one end of the rotating component is connected with the lifting frame, the other end of the rotating component is connected with the main frame component, and the rotating component is used for driving the main frame component to rotate around the Y axis.

Preferably, the rotary component comprises a rotary driving component which is used for driving the main frame component to rotate;

the first connecting flange is used for installing the rotary driving piece on the lifting frame;

and the second connecting flange is connected with the other end of the rotary driving piece, and is connected with the main frame assembly.

Preferably, the drive connection assembly comprises a connection frame;

the third connecting flange is arranged on the connecting frame;

the second driving piece is connected with the third connecting flange;

the fourth connecting flange is connected with the other end of the second driving piece;

the first swinging frame is connected with the fourth connecting flange and the amplitude variation arm;

the second driving piece drives the fourth connecting flange, the first swing frame and the amplitude variation arm to rotate.

Preferably, the amplitude variation mechanism comprises an amplitude variation pin shaft, and the amplitude variation arm is hinged with the first swing frame through the amplitude variation pin shaft;

and the fixed end of the third driving piece is hinged with the first swing frame through a first pin shaft, and the telescopic end of the third driving piece is hinged with the amplitude-variable arm through a second pin shaft.

Preferably, the telescopic mechanism comprises a fourth driving part, the fixed end of the fourth driving part is connected with the luffing jib, and the telescopic end of the fourth driving part is hinged to the telescopic jib through a third pin shaft.

Preferably, the second rotating mechanism comprises a swing driving piece, at least part of the swing driving piece is located on the side portion of the telescopic arm, the fixed end of the swing driving piece is hinged to the side portion of the telescopic arm through a fourth pin shaft, and the telescopic end of the swing driving piece is hinged to the second swing frame through a fifth pin shaft; and the second swinging frame is hinged with the telescopic arm through the swinging pin shaft.

A suction cup accessory comprises the suction cup adjusting device.

An overhead working truck comprises the sucker adjusting device or the sucker accessory.

Compared with the prior art, the utility model provides a sucker adjusting device which is used for adjusting the posture of a sucker for grabbing glass, a boom assembly is rotated around a Z axis at a first original point through a first rotating mechanism, the rough adjustment of a main frame assembly provided with the sucker on the boom assembly is realized, on the other hand, an amplitude-changing mechanism on the boom assembly is hinged with a driving connecting assembly to realize the rotation of an amplitude-changing arm around an X axis, namely the adjustment of the pitching angle of the sucker, and meanwhile, the telescopic arm is connected with the amplitude-changing arm and moves back and forth along a Y axis, so that the sucker is close to or far away from a mounting frame; and a second swing frame telescopic arm on the second rotating mechanism is hinged, the second swing frame can rotate around the Z axis by taking the second original point as a circle center, and a preset distance is arranged between the second original point and the first original point at intervals. Through the structure, the first rotating mechanism can realize that the arm support assembly and the main frame component as well as the sucking disc arranged on the main frame component rotate around the Z axis by taking the first original point as the circle center, the initial posture adjustment of the main frame component and the sucking disc is realized on the first rotating mechanism, the pitching angle of the main frame component and the sucking disc is adjusted through the amplitude varying mechanism, and the first rotating mechanism and the amplitude varying mechanism work in a combined manner, so that the posture of the installation working surface parallel to the target surface (namely the frame entering working surface entering the installation frame) can be adjusted out of the glass on the sucking disc at the initial working stage, and the posture adjustment of the glass in high altitude can be prevented. On the other hand, when a proper frame-entering inclined surface is obtained, the suction cup sucks the glass or other target objects to directly convey the glass or other target objects to the target installation surface through the movement of the telescopic mechanism along the Y axis. In addition, the second rotating mechanism rotates the circle center, namely the second origin is closer to the tail end of the sucker, so that the second rotating mechanism is suitable for rotating and adjusting the posture of the sucker within a small range, the swinging of the sucker on the main frame assembly and the glass can be reduced, and the installation performance of the glass in a frame is improved. Therefore, the sucker adjusting device provided by the utility model can realize that the posture of the glass is well adjusted at a position far away from the mounting frame, so that the glass can be put into the frame in the most suitable posture with the mounting frame, and accidents caused by the posture adjustment of the glass in high altitude are prevented. Meanwhile, the device can adjust the position of the sucker and a target object grabbed on the sucker in a large range, and coarsely and finely adjust the adjusting atmosphere of the sucker, so that the sucker and the glass posture are prevented from shaking, and the safety of glass installation is improved.

The utility model provides a sucker accessory which comprises the sucker adjusting device and also has the technical effects.

The utility model provides an overhead working truck, which comprises the sucker adjusting device or the sucker accessory and also has the technical effects.

Drawings

The accompanying drawings, which are included to provide an understanding of the utility model and are incorporated in and constitute a part of this specification, illustrate embodiments of the utility model and together with the description serve to explain the utility model without limiting the utility model. In the drawings:

fig. 1 is a schematic structural diagram of a suction cup adjustment device according to an embodiment of the present invention;

FIG. 2 is a schematic diagram illustrating the movement of a suction cup adjustment device according to an embodiment of the present invention;

fig. 3 is a schematic structural diagram of a first rotating mechanism according to an embodiment of the present invention;

fig. 4 is a partially enlarged schematic view of a first rotating mechanism according to an embodiment of the present invention;

FIG. 5 is a top view of a first rotating mechanism provided in accordance with an embodiment of the present invention;

FIG. 6 is a schematic structural view of a horn provided in accordance with an embodiment of the present invention;

FIG. 7 is a side view of a horn provided in accordance with an embodiment of the present invention;

FIG. 8 is a schematic view of a horn in the form of a horn as provided by an embodiment of the present invention;

FIG. 9 is a schematic structural diagram of a telescoping mechanism according to an embodiment of the present invention;

FIG. 10 is an enlarged view of a portion of the telescoping mechanism provided in accordance with an embodiment of the present invention;

FIG. 11 is a top view of a telescoping mechanism provided in accordance with an embodiment of the utility model;

FIG. 12 is a schematic structural diagram of a translation mechanism provided in an embodiment of the present invention;

FIG. 13 is an enlarged, fragmentary schematic view of a translation mechanism provided in accordance with an embodiment of the present invention;

FIG. 14 is a top view of a translation mechanism provided by an embodiment of the present invention;

fig. 15 is a schematic structural diagram of a lifting mechanism according to an embodiment of the present invention;

fig. 16 is a partially enlarged schematic view of a lifting mechanism according to an embodiment of the present invention;

FIG. 17 is a side view of a lift mechanism provided in accordance with an embodiment of the present invention;

fig. 18 is a schematic structural diagram of a first rotating mechanism according to an embodiment of the present invention;

fig. 19 is a partially enlarged schematic view of a first rotating mechanism according to an embodiment of the present invention;

FIG. 20 is a top view of a first swing mechanism provided in accordance with an embodiment of the present invention;

fig. 21 is a schematic view of a state of the first rotating mechanism according to the embodiment of the present invention when rotating.

Description of the reference numerals

1. A first rotating mechanism; 11. a first origin; 12. a connecting frame; 13. a third connecting flange; 14. a second driving member; 15. a fourth connecting flange; 16. a first swing frame; 2. a luffing mechanism; 21. a variable amplitude arm; 22. a variable amplitude pin shaft; 23. a third driving member; 24. a first pin shaft; 25. a second pin shaft; 3. a telescoping mechanism; 31. a telescopic arm; 32. a fourth drive; 33. a third pin shaft; 4. a second rotating mechanism; 41. a second swing frame; 42. a second origin; 43. a swing drive; 44. a fourth pin shaft; 45. a fifth pin shaft; 46. swinging the pin shaft; 5. a translation mechanism; 51. a translation frame; 52. a translation guide shaft; 53. a first driving member; 6. a lifting mechanism; 61. a lifting frame; 62. a lifting guide shaft; 63. a lifting drive member; 7. a first swing mechanism; 71. a rotary drive member; 72. a first connecting flange; 73. a second connecting flange; 8. a main frame assembly; 81; and (4) sucking discs.

Detailed Description

In order to make those skilled in the art better understand the technical solutions in the present application, the technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application, and it is obvious that the described embodiments are only a part of the embodiments of the present application, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present application.

In the description of the present invention, it is to be understood that the terms "upper", "lower", and the like, indicate an orientation or positional relationship only for convenience of description and simplicity of description, but do not indicate or imply that the referenced components or elements must have a particular orientation, be constructed and operated in a particular orientation, and thus, are not to be construed as limiting the present invention.

In the embodiment shown in fig. 1 to 21, there is disclosed a suction cup adjusting device including: a boom assembly; the first rotating mechanism 1 comprises a driving connecting assembly, and the driving connecting assembly is connected with the arm support assembly so that the arm support assembly rotates around a Z axis by taking the first original point 11 as a circle center; the arm support assembly comprises an amplitude variation mechanism 2, wherein the amplitude variation mechanism 2 comprises an amplitude variation arm 21, the amplitude variation arm 21 is hinged with the driving connection assembly, and the amplitude variation arm 21 rotates around an X axis; the telescopic mechanism 3 comprises a telescopic arm 31, the telescopic arm 31 is connected with the amplitude variation arm 21, and the telescopic arm 31 reciprocates along the Y axis; and the second rotating mechanism 4, the second rotating mechanism 4 includes a second swing frame 41, the main frame assembly 8 with a suction cup 81 is arranged at the tail end of the second swing frame 41, the second swing frame 41 is hinged to the telescopic arm 31, the second swing frame 41 rotates around the Z axis with the second origin 42 as the center of circle, and the second origin 42 and the first origin 11 are spaced by a preset distance.

Compared with the prior art, please refer to fig. 1 to 11, the suction cup adjusting device provided by the present invention is used for adjusting the posture adjustment of a suction cup 81 for grabbing glass, the rotation of the boom assembly around the Z axis with the first origin 11 is realized through the first rotating mechanism 1, the coarse adjustment of the main frame component 8 on which the suction cup 81 is installed on the boom assembly is realized, on the other hand, the rotation of the luffing jib 21 around the X axis, that is, the adjustment of the pitching angle of the suction cup 81, is realized through the articulation of the luffing mechanism 2 on the boom assembly with the driving connecting component, and meanwhile, the telescopic jib 31 is connected with the luffing jib 21 through the telescopic jib 31, and the reciprocating movement of the telescopic jib 31 along the Y axis is realized, so that the suction cup 81 approaches to or leaves away from the mounting frame; and the telescopic arm 31 of the second swing frame 41 on the second rotating mechanism 4 is hinged, the second swing frame 41 can rotate around the Z axis by taking the second origin 42 as a circle center, and a preset distance is reserved between the second origin 42 and the first origin 11. Through the structure, the first rotating mechanism 1 can realize that the arm support assembly and the main frame component 8 are connected, the sucking disc 81 is installed on the main frame component 8, the whole glass adsorbed by the sucking disc 81 rotates around the Z axis by taking the first original point 11 as the circle center, the initial posture adjustment of the main frame component 8 and the sucking disc 81 is realized on the first rotating mechanism 1, the pitching angle of the glass is adjusted through the amplitude varying mechanism 2, the first rotating mechanism 1 and the amplitude varying mechanism 2 work in a combined mode, the posture of the installation working surface parallel to the target surface (namely the frame entering working surface entering the installation frame) can be adjusted by the glass on the sucking disc 81 in the initial working stage, and the posture adjustment of the glass in the high altitude is prevented. On the other hand, when an appropriate frame-entering inclined surface is obtained, the suction of the suction pad 81 and the direct conveyance of the glass or other object to the target mounting surface are completed by the movement of the telescopic mechanism 3 along the Y axis. In addition, the second rotating mechanism 4 rotates the circle center, i.e. the second origin 42 is closer to the end of the suction cup 81, so that the suction cup 81 is suitable for rotating and adjusting the posture within a small range, the shaking of the suction cup 81 and the glass on the main frame assembly 8 can be reduced, and the installation performance of the glass in the frame is improved. Therefore, the sucker adjusting device provided by the utility model can realize that the posture of the glass is well adjusted at a position far away from the mounting frame, so that the glass can be put into the frame in the most suitable posture with the mounting frame, and accidents caused by the posture adjustment of the glass in high altitude are prevented. Meanwhile, the position of the sucking disc 81 and the target object grabbed by the sucking disc 81 can be adjusted in a large range, the atmosphere for adjusting the sucking disc 81 can be coarsely and finely adjusted, the sucking disc 81 and the glass can be prevented from shaking due to posture adjustment, and the safety of glass installation is improved.

It should be noted that, in order to enable the first rotating mechanism 1 and the second rotating mechanism 4 to be matched with each other to adapt to different working conditions or grab target objects of different types, sizes and weights, the arrangement mode of the first origin 11 and the second origin 42 may be further improved, wherein a straight line constructed by the first origin 11 and the second origin 42 coincides with or is parallel to the Y axis, so that the boom assembly obtains good structural rigidity, and the situations of damage and the like caused by excessive local loads of the boom assembly can be reduced. In addition, the straight line constructed by the first origin 11 and the second origin 42 is not parallel to the Y axis, namely the second origin 42 is staggered with the first origin 11 in the projection direction of the Y axis, so that the main frame assembly 8, the suckers 81 and the grabbing target object can obtain a larger grabbing range while obtaining an adjusting scheme of coarse adjustment and fine adjustment, and can realize negative angle swing under certain limit conditions, so that the sucker adjusting device can obtain a more efficient operation mode.

Similarly, in order to improve the structural rigidity of the boom assembly, the telescopic mechanism 3 may be further modified, and the reciprocating direction of the telescopic arm 31 may be based on the first origin 11, that is, the first origin 11 is a point where the Z axis and the Y axis intersect. On the other hand, the first rotating mechanism 1, the luffing mechanism 2, the telescoping mechanism 3 and the second rotating mechanism 4 on the suction cup adjusting device can be moved in a cartesian coordinate system established by the first origin 11. By the design, the motion reference coordinate systems of the mechanisms are the same, the motion errors in the respective motion processes can be reduced, and the adjustment accuracy of the sucker adjusting device can be improved.

Further, the rotation angle ranges of the first rotation mechanism 1 and the second rotation mechanism 4 may be defined, for example, if the rotation angle range of the first rotation mechanism 1 is defined as α 1 and the rotation angle range of the second rotation mechanism 4 is defined as α 2, when α 1 is smaller than α 2, the first rotation mechanism 1 may sacrifice a certain rotation angle range to change the stability of the operation of the suction cup adjusting device. For example, the range of α 1 may be set to ± 30 °, and the angular range of α 2 may be set to ± 45 °. The reason why the first rotating mechanism 1 rotates at a large angle is that a large swing occurs at the end of the suction cup 81, and therefore α 1 is set small, while α 2 is set large, is to make the range of the rotation angle as large as possible without causing an excessive swing of the suction cup 81, and to make the range of the operation of finely adjusting the rotation angle of the suction cup 81 as large as possible.

In the above embodiment, in order to complete the overall attitude adjustment of the boom assembly with the main frame component 8, the suction cup 81 and the target object, in order to further improve the larger and more flexible operation range of the main frame component 8 and the suction cup 81, the boom assembly is further improved.

As shown in fig. 12 to 14, the boom assembly further includes a translation mechanism 5, and the translation mechanism 5 includes a translation structure and a translation frame 51, and the translation structure is used for enabling the translation frame 51 to be slidably connected along the X-axis direction. Therefore, the sucking disc 81 can rotate around the Z axis by the first original point 11, rotate around the X axis, move along the Y axis and rotate around the Z axis by the second original point 42, and simultaneously can move along the X axis, so that the working range of the sucking disc 81 is further expanded, the fine adjustment in the X axis direction of the main frame assembly 8 and the sucking disc 81 at the position close to the target object for installation is facilitated, and the target object can be smoothly installed on the target position.

Specifically, the translation mechanism 5 includes a translation guide shaft 52, the translation guide shaft 52 is disposed on the translation frame 51, an axis of the translation guide shaft 52 is parallel to the X axis, and the second swing frame 41 is slidably connected to the translation guide shaft 52; and one end of the first driving piece 53 is hinged with the second swing frame 41, and the extending end of the first driving piece 53 is hinged with the translation frame 51. The translation guide shaft 52 is provided on the translation frame 51 so that the translation guide shaft 52 performs a guiding function during the movement of the second swing frame 41 by the force of the first driving member 53. When the extension end of the first driving member 53 extends, the second swing frame 41 moves along the axial direction (i.e. the X-axis direction) of the translation guide shaft 52, and since the translation mechanism 5 is located at a position close to the suction cup 81, the thrust and structural strength requirements of the first driving member 53 can be lowered, the overall weight of the suction cup adjusting device can be reduced, the rotational loads of the first rotating mechanism 1 and the second rotating mechanism 4 at different positions of the Z-axis can be reduced, and on the other hand, the overall manufacturing cost of the suction cup adjusting device can be reduced.

Furthermore, the two translation guide shafts 52 are arranged in the direction of the Z axis, and the two translation guide shafts 52 are both matched with the sleeves on the second swing frame 41, so that when the first driving member 53 extends, the translation frame 51 is pushed to drive the main frame assembly 8 and the suction cup 81 to move integrally along the X axis.

As shown in fig. 15 to 17, in the embodiment provided by the present invention, the boom assembly further includes a lifting mechanism 6, the lifting mechanism 6 is located between the translation frame 51 and the main frame assembly 8, the lifting mechanism 6 includes a lifting frame 61 and a lifting structure, the lifting structure connects the lifting frame 61 and the translation frame 51, and the lifting frame 61 moves along the Z-axis direction. Thus, the suction cup 81 can rotate around the Z axis with the first origin 11, rotate around the X axis, move along the Y axis, rotate around the Z axis with the second origin 42, move along the X axis, and can also lift up and down along the Z axis direction, thereby further improving the working range of the suction cup 81.

Specifically, the lifting structure comprises a lifting guide shaft 62, the lifting guide shaft 62 is mounted on the translation frame 51, the lifting frame 61 is connected with the lifting guide shaft 62 in a sliding manner, and the axis of the lifting guide shaft 62 is parallel to the Z axis; the lifting driving member 63 is installed on the lifting frame 61, and the telescopic end of the lifting driving member 63 provides driving force for the lifting frame 61 to move along the axis of the lifting guide shaft 62. Wherein the lift driving piece 63 can be selected to be a lift cylinder, the lift cylinder is provided with a flange plate and is connected with the lifting frame 61 through a bolt, the telescopic end of the lift driving piece 63 is matched with the lifting frame 61 through a hole shaft, the lifting frame 61 is connected with the translation frame 51 through the lift guide shaft 62, and the lift guide shaft 62 provides guidance for the lifting of the main frame assembly 8 and the suction cup 81 when ensuring the connection strength. Preferably, there are two elevation guide shafts 62, and the two elevation guide shafts 62 are arranged in the X-axis direction. Wherein, the lift cylinder can be set to be bidirectional telescopic.

As shown in fig. 18 to 21, in the embodiment provided by the present invention, the boom assembly further includes a first rotating mechanism 7, the first rotating mechanism 7 includes a rotating component, one end of the rotating component is connected to the crane 61, the other end of the rotating component is connected to the main frame component 8, and the rotating component is used for driving the main frame component 8 to rotate around the Y axis. Through the arrangement of the first rotating mechanism 7, the main frame assembly 8 can rotate around the Y axis.

Therefore, in the above embodiments, the arrangement of the specific structure of each mechanism realizes the movement of the suction cup 81 on the main frame assembly 8 and the object in a large range, so as to realize the work of grabbing, conveying, installing and the like of the object, and in practical application, the work efficiency is improved, and the work safety is also improved. Thereby allowing the suction cup 81 to perform seven-axis motion with six degrees of freedom of motion. With the first origin 11 as the origin, a Cartesian coordinate system is formed, six degrees of freedom of the sucker adjusting device are respectively that the first rotating mechanism 1 rotates around the Z axis, the lifting mechanism 6 moves along the Z axis direction, the first rotating mechanism 7 rotates around the Y axis, the telescopic mechanism 3 moves along the Y axis, the amplitude varying mechanism 2 rotates around the X axis, and the translation mechanism 5 moves along the X axis. The seven-axis motion is a motion of six degrees of freedom, and the motion is also a rotation around the Z-axis around the second origin 42. It should be understood that, the present application realizes the adjustment of the large-scale movement of the suction cup 81 through the arrangement of each mechanism, and the specific corresponding rotation angle and the moving distance are adjusted in length, number and connection relation according to the actual working condition requirement, and the adaptive improvement made for the present application should be considered to fall into the protection scope of the present application.

In order to make the technical mechanism of the present application clearer, the detailed description will be made for each mechanism;

wherein, the rotating component on the first rotating mechanism 7 comprises a rotating driving component 71, and the rotating driving component 71 is used for driving the main frame component 8 to rotate; a first connecting flange 72 for mounting the rotary driving member 71 on the crane 61 through the first connecting flange 72; and a second connecting flange 73, wherein the second connecting flange 73 is connected with the other end of the rotary driving member 71, and the second connecting flange 73 is connected with the main frame assembly 8. The rotary driving part 71 comprises a rotary speed reducer and a rotary hydraulic motor arranged on the rotary speed reducer, the rotary speed reducer is driven by the rotary hydraulic motor, and the main frame assembly 8 is driven by the second connecting flange 73 to rotate after speed reduction, so that the structure is arranged, and the main frame assembly 8 rotates more stably. The first connecting flange 72 is used to connect the rotary drive 71 and the crane 61.

In the embodiment provided by the utility model, the driving connecting assembly has two functions, namely, the sucker adjusting device is integrally arranged on the overhead working truck, namely the arm support assembly is connected with the overhead working truck; secondly, the driving arm support assembly rotates around the Z axis by taking the first original point 11 as a circle center, and specifically the driving connecting assembly comprises a connecting frame 12; the third connecting flange 13, the third connecting flange 13 locates on link 12; a second driving member 14, wherein the second driving member 14 is connected with the third connecting flange 13; a fourth connecting flange 15, wherein the fourth connecting flange 15 is connected with the other end of the second driving piece 14; the first swing frame 16, the first swing frame 16 is connected with the fourth connecting flange 15 and the amplitude variation arm 21; the second driving element 14 drives the fourth connecting flange 15, the first swing frame 16 and the luffing jib 21 to rotate. The connecting frame 12 is used for providing a mounting position for the arm support assembly, and the specific structure is not limited so as to improve the structural rigidity of the connecting frame 12. The second driving part 14 includes a rotary speed reducer and a hydraulic motor for driving the rotary speed reducer to work, and the hydraulic motor is selected because the whole weight of the boom assembly is large, and the rotation needs to bear a large load, and the hydraulic motor can provide a large driving force. The third connecting flange 13 is connected with the rotary speed reducer through a bolt, and is also fixedly connected with the connecting frame 12, for example, the third connecting flange is connected with the connecting frame 12 in a welding mode and the like, and the connecting structure is required to be firm, so that safety accidents caused by accidents in the rotation process of the arm support assembly are avoided, and therefore the third connecting flange 13 is preferably and fixedly connected with the connecting frame 12. The fourth connecting flange 15 is used for connecting the second driving member 14 and the first swing frame 16, and the fourth connecting flange 15 may be welded to the first swing frame 16 and fastened to the rotary speed reducer by using bolts on the fourth connecting flange 15. The rotary speed reducer is driven by a hydraulic motor to input power, and the rotation of the first swing frame 16 is finally realized through the speed reduction and torque increase of the gear transmission in the rotary speed reducer, so that the rotation of the whole arm support assembly is driven, and therefore the first rotating mechanism 1 can rotate around the Z axis by taking the first original point 11 as the center of a circle.

The luffing mechanism 2 provided by the utility model is used for adjusting the pitching angle of the sucking disc 81, and particularly the luffing mechanism 2 comprises a luffing pin shaft 22, and a luffing arm 21 is hinged with the first swinging frame 16 through the luffing pin shaft 22; and the fixed end of the third driving element 23 is hinged with the first swing frame 16 through a first pin shaft 24, and the telescopic end of the third driving element 23 is hinged with the luffing jib 21 through a second pin shaft 25. The third driving element 23 comprises a luffing cylinder, wherein a cylinder barrel of the luffing cylinder (i.e., a fixed end of the third driving element 23) is hinged to the first swing frame 16 through a first pin 24, the hinge point is called a hinge point a, a piston rod of the luffing cylinder (i.e., a telescopic end of the third driving element 23) is hinged to the luffing arm 21 through a second pin 25, the hinge point is called a hinge point B, the luffing arm 21 is hinged to the swing frame through a luffing pin 22, the hinge point is called a hinge point C, and when the piston rod of the luffing cylinder extends, thrust is applied to the luffing arm 21 through the hinge point B, and the direction is along line AB. Because the amplitude-changing arm 21 is hinged on the first swinging frame 16 through the hinge point C, the hinge point C and the hinge point AB are not collinear, so that the thrust of the piston rod forms a torsional moment on the hinge point C to push the amplitude-changing arm 21 to rotate around the hinge point (namely an X axis) of the first swinging frame 16, and finally the main frame assembly 8 is driven to rotate around the X axis, so that amplitude-changing motion is realized, and the angular range of the amplitude-changing mechanism 2 rotating around the X axis can be set to be between 0 and 80 degrees in consideration of the integral structural rigidity, the adaptability universality, the manufacturing cost and the like.

In addition, the telescopic mechanism 3 has a specific structure that the telescopic mechanism 3 includes a fourth driving member 32, a fixed end of the fourth driving member 32 is connected to the luffing jib 21, and a telescopic end of the fourth driving member 32 is hinged to the telescopic jib 31 through a third pin 33. Because the telescopic mechanism 3 needs to push all mechanisms before the luffing jib 21 to move integrally in the Y-axis direction and needs to apply large thrust, the fourth driving part 32 is selected as a telescopic cylinder, the cylinder of the telescopic cylinder is fixed on the luffing jib 21 through a bolt, the piston rod of the telescopic cylinder is hinged with the telescopic jib 31 through a pin shaft, when the piston rod of the telescopic cylinder extends out, the thrust is applied to the telescopic jib 31, the telescopic jib 31 is pushed to slide along the Y-axis, and therefore the main frame assembly 8 is driven to move telescopically in the Y-axis direction, and the sucking discs 81 and the target objects on the sucking discs 81 are conveyed to the installation position.

Second slewing mechanism 4 has realized the fine setting of sucking disc 81, specifically through setting up second original point 42, and first original point 11 is kept away from to second original point 42, and is closer to sucking disc 81, when realizing the fine setting of sucking disc 81, can also reduce the rocking of sucking disc 81 and target. Specifically, the second rotating mechanism 4 includes a swing driving member 43, the swing driving member 43 is at least partially located at a side portion of the telescopic arm 31, a fixed end of the swing driving member 43 is hinged to the side portion of the telescopic arm 31 through a fourth pin shaft 44, and a telescopic end of the swing driving member 43 is hinged to the second swing frame 41 through a fifth pin shaft 45; the second swing frame 41 is hinged to the telescopic arm 31 by a swing pin 46 through the swing pin 46. Preferably, the swing driving member 43 can be a swing cylinder, and two swing cylinders are provided, two swing cylinders are respectively located at the side of the telescopic arm 31, wherein, the cylinder barrel of the swing oil cylinder is hinged on the telescopic arm 31 through a fourth pin shaft 44, the hinged point becomes a hinged point D, the piston rod of the swing oil cylinder is hinged with the second swing frame 41 through a fifth pin shaft 45, which is called the hinge point E, the second swing frame 41 is hinged to the swing frame by a fifth pin 45, this hinge point is called hinge point F, and when the piston rod of the swing cylinder is extended, a pushing force is applied to the second swing frame 41 through the hinge point E, and the direction is along the line DE, because the swing frame is hinged on the telescopic arm 31 through the hinge point F, the hinge point F and the hinge point DE are not collinear, the thrust of the piston rod forms a torsional moment on the hinge point F to push the swing frame to rotate around the hinge point F (namely a Z axis), and finally the main frame assembly 8 is driven to swing around the Z axis.

The utility model provides a sucker accessory which comprises the sucker adjusting device.

The utility model provides an overhead working truck which comprises the sucker adjusting device or the sucker accessory.

Because the suction cup accessory and the overhead working truck directly or indirectly cover the suction cup adjusting device, the technical effects of the suction cup accessory and the overhead working truck can be seen in the suction cup adjusting device, and are not described again.

The embodiments in the present specification are described in a progressive manner, each embodiment focuses on differences from other embodiments, and the same or similar parts in the embodiments are referred to each other.

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 utility model. 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 (13)

1. A suction cup adjustment device, comprising:

a first rotation mechanism (1) comprising a drive connection assembly;

the arm support assembly is connected with the driving connection assembly to rotate around a Z axis by taking a first origin (11) as a circle center, and comprises:

the amplitude variation mechanism (2) comprises an amplitude variation arm (21) rotating around an X axis, and the amplitude variation arm (21) is hinged with the driving connection assembly;

the telescopic mechanism (3) comprises a telescopic arm (31) which moves in a reciprocating manner along the Y axis, and the telescopic arm (31) is connected with the amplitude-variable arm (21);

second slewing mechanism (4), second slewing mechanism (4) include second swing span (41), the end of second swing span (41) is equipped with body frame subassembly (8) of sucking disc (81), second swing span (41) with flexible arm (31) are articulated, second swing span (41) use second initial point (42) to rotate around the Z axle as the centre of a circle, second initial point (42) with the distance is predetermine at the interval between first initial point (11).

2. The suction cup adjustment device according to claim 1, wherein the arm support assembly further comprises a translation mechanism (5), and the translation mechanism (5) comprises a translation structure and a translation frame (51), and the translation structure is used for enabling the translation frame (51) to be connected in a sliding mode along the X-axis direction.

3. The suction cup adjustment device according to claim 2, wherein the translation structure comprises a translation guide shaft (52), the translation guide shaft (52) is arranged on the translation frame (51), the axis of the translation guide shaft (52) is parallel to the X axis, and the second swing frame (41) is connected with the translation guide shaft (52) in a sliding manner;

a first driving piece (53), wherein one end of the first driving piece (53) is hinged with the second swing frame (41), and the extending end of the first driving piece (53) is hinged with the translation frame (51).

4. The suction cup adjustment device according to claim 2, wherein the boom assembly further comprises a lifting mechanism (6), the lifting mechanism (6) being located between the translation frame (51) and the main frame assembly (8),

the lifting mechanism (6) comprises a lifting frame (61);

the lifting structure is connected with the lifting frame (61) and the translation frame (51), and the lifting frame (61) is enabled to move along the Z-axis direction.

5. The suction cup adjusting device as claimed in claim 4, wherein the lifting structure comprises a lifting guide shaft (62), the lifting guide shaft (62) is mounted on the translation frame (51), the lifting frame (61) is connected with the lifting guide shaft (62) in a sliding manner, and the axis of the lifting guide shaft (62) is parallel to the Z axis;

the lifting driving piece (63) is installed on the lifting frame (61), and the telescopic end of the lifting driving piece (63) is used for providing driving force for the lifting frame (61) to move along the axis of the lifting guide shaft (62).

6. The suction cup adjusting device as claimed in claim 4, wherein the boom assembly further comprises a first rotating mechanism (7), the first rotating mechanism (7) comprises a rotating component, one end of the rotating component is connected with the lifting frame (61), the other end of the rotating component is connected with the main frame component (8), and the rotating component is used for driving the main frame component (8) to rotate around the Y axis.

7. Suction cup adjustment device according to claim 6, characterized in that the swivel assembly comprises a swivel drive member (71), the swivel drive member (71) being adapted to drive the main frame assembly (8) in rotation;

a first connecting flange (72) by means of which the swivel drive (71) is mounted on the crane (61);

and the second connecting flange (73), the second connecting flange (73) is connected with the other end of the rotary driving part (71), and the second connecting flange (73) is connected with the main frame assembly (8).

8. Suction cup adjustment device according to claim 1, characterized in that the drive connection assembly comprises a connection frame (12);

the third connecting flange (13) is arranged on the connecting frame (12);

a second drive element (14), wherein the second drive element (14) is connected to the third connecting flange (13);

a fourth connecting flange (15), wherein the fourth connecting flange (15) is connected with the other end of the second driving piece (14);

the first swing frame (16), the first swing frame (16) is connected with the fourth connecting flange (15) and the amplitude variation arm (21);

the second driving piece (14) drives the fourth connecting flange (15), the first swing frame (16) and the amplitude variation arm (21) to rotate.

9. The suction cup adjustment device as claimed in claim 8, characterized in that the luffing mechanism (2) comprises a luffing pin (22), the luffing jib (21) being articulated to the first swing frame (16) via a luffing pin (22);

the fixed end of the third driving piece (23) is hinged to the first swing frame (16) through a first pin shaft (24), and the telescopic end of the third driving piece (23) is hinged to the amplitude-variable arm (21) through a second pin shaft (25).

10. Suction cup adjustment device according to claim 1, characterized in that the telescoping mechanism (3) comprises a fourth driver (32), the fixed end of the fourth driver (32) being connected to the luffing jib (21), the telescoping end of the fourth driver (32) being articulated to the telescoping jib (31) by means of a third pin (33).

11. The suction cup adjustment device according to claim 1, wherein the second rotating mechanism (4) comprises a swing driving member (43), the swing driving member (43) is at least partially located at a side portion of the telescopic arm (31), a fixed end of the swing driving member (43) is hinged with the side portion of the telescopic arm (31) through a fourth pin shaft (44), and a telescopic end of the swing driving member (43) is hinged with the second swing frame (41) through a fifth pin shaft (45);

and the second swinging frame (41) is hinged with the telescopic arm (31) through the swinging pin shaft (46) by the swinging pin shaft (46).

12. A suction cup accessory comprising a suction cup adjustment device as claimed in any one of claims 1 to 11.

13. An aerial lift platform comprising a suction cup adjustment device as claimed in any one of claims 1 to 11, or,

comprising the suction cup attachment of claim 12.

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