CN220647608U - Working target positioning device of overhead working truck - Google Patents
Working target positioning device of overhead working truck Download PDFInfo
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- CN220647608U CN220647608U CN202322435647.4U CN202322435647U CN220647608U CN 220647608 U CN220647608 U CN 220647608U CN 202322435647 U CN202322435647 U CN 202322435647U CN 220647608 U CN220647608 U CN 220647608U
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- 229910000831 Steel Inorganic materials 0.000 description 2
- 230000009471 action Effects 0.000 description 2
- 230000005540 biological transmission Effects 0.000 description 2
- 239000010959 steel Substances 0.000 description 2
- 238000004140 cleaning Methods 0.000 description 1
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Abstract
The utility model discloses an operation target positioning device of an overhead working truck, which comprises: the support shaft is vertically arranged on the axis and is positioned on the fixed base in an angle adjusting and locking way through the adjusting component, the ear seat is arranged at the upper end of the support shaft, and the fixed base is detached and positioned on the overhead working truck; the lower end of the inclination bracket rotates at an upward inclination angle in a horizontal plane and is locked and positioned on the ear seat, and the rotation axis of the inclination bracket is mutually perpendicular to and intersected with the axis of the supporting shaft; the positioning assembly is provided with a laser range finder and an inclination sensor which are positioned on the inclination bracket, and an angle sensor which is positioned at the lower part of the supporting shaft; the laser range finder, the inclination angle sensor and the angle sensor are connected with the upper computer through buses. The utility model has simple and compact structure, measures the distance, the inclination angle and the circumferential angle of the target point, is quickly assembled and disassembled on the overhead working truck according to the use requirement, can be matched with the working arm, realizes independent assembly and disassembly, and ensures higher measurement accuracy by considering the assembly size.
Description
Technical Field
The utility model relates to target positioning, belongs to the technical field of operation vehicles, and particularly relates to an operation target positioning device of an overhead operation vehicle.
Background
The overhead working truck is a special vehicle for transporting workers or using equipment to the high altitude, performing operations such as installation, maintenance, cleaning and the like on equipment positioned at the high altitude, for example, a transport truck for transporting goods to a high-rise building, and has the advantages of good working performance, high working efficiency, safe operation and the like compared with the traditional working modes such as a scaffold, a ladder and the like;
the main structure of the overhead working truck is a working arm positioned on the moving vehicle, and the extension and the swing of the working arm enable a platform or a supporting point at the end to move to a high target position; most of the existing overhead working trucks rely on manual operation during operation, namely operators firstly observe the azimuth from a working platform to a target point, operate all movable joints to gradually approach the target point, finally reach a designated position, the safety, reliability and efficiency of the manual operation are completely dependent on experience and level of the operators, and certain positioning errors exist, especially unskilled operators;
the manual positioning cannot meet the requirement of intelligent operation of the aerial working vehicle, before the operation is carried out, the coordinates of a target point of the aerial working vehicle are determined, then working arm path planning and obstacle avoidance are carried out based on the coordinates of the target point, and finally the target point is reached; some existing positioning mechanisms have the following drawbacks when positioning the target of the work arm: 1. the positioning mechanism is arranged in the working arm, and can not be independently and quickly assembled and disassembled when the positioning mechanism is maintained or parts are replaced by detecting the rotation shaft and the telescopic distance of the working arm; 2. when the positioning mechanism is used for ranging, the installation size of the self part is not considered, namely, a certain position of the positioning mechanism is often regarded as a base point, and the deviation of the installation base point caused by the assembly size of the positioning mechanism is not considered, so that the positioning is inaccurate.
Disclosure of Invention
The utility model aims to provide a working target positioning device of an overhead working truck, which has a simple and compact structure, realizes the measurement of the distance, the inclination angle and the circumferential angle of a target point, is quickly assembled and disassembled on the overhead working truck according to the use requirement, can be matched with a working arm, and realizes independent assembly and disassembly;
to achieve the above object, the present utility model provides an overhead working truck work target positioning device comprising:
the support shaft is vertically arranged on the axis and is positioned on the fixed base in an angle adjusting and locking way through the adjusting component, the ear seat is arranged at the upper end of the support shaft, and the fixed base is detached and positioned on the overhead working truck;
the lower end of the inclination bracket rotates at an upward inclination angle in a horizontal plane and is locked and positioned on the ear seat, and the rotation axis of the inclination bracket is mutually perpendicular to and intersected with the axis of the supporting shaft;
the positioning assembly is provided with a laser range finder and an inclination sensor which are positioned on the inclination bracket, and an angle sensor which is positioned at the lower part of the supporting shaft;
the laser range finder, the inclination angle sensor and the angle sensor are connected with the upper computer through buses.
Preferably, the adjusting assembly comprises:
the worm wheel is fixedly arranged in the middle of the supporting shaft, the supporting shaft is rotatably arranged on the supporting cover arranged at the fixed base through a bearing,
the worm is rotatably arranged on the supporting cover and meshed with the worm wheel.
Further, an arc-shaped groove is formed in the supporting cover;
the locking screw rod passes through the arc-shaped groove and is arranged on the fixed base in a threaded manner.
Furthermore, one end of the inclination bracket is rotatably arranged on the ear seat, and the lower side of the opposite end is an inclined surface;
the lug seat is provided with a wedge-shaped block which is contacted with the inclined surface and matched with the inclined surface, the middle part of the adjusting rod is in threaded connection with the fixed block on the lug seat, and the end head is connected with the wedge-shaped block and drives the wedge-shaped block to transversely slide.
Further, the fixed base is provided with scales circumferentially arranged by taking the axis of the supporting shaft as the center;
the support shaft is provided with a marking line.
Preferably, the supporting shaft is provided with a through hole along the axial direction, and a bus of the laser range finder and the inclination sensor passes through the through hole to be connected with an electric slip ring at the lower end of the supporting shaft;
one end of the electric slip ring is connected with the upper computer.
Furthermore, the lower end of the fixed base is provided with a plurality of lifting leveling struts.
The utility model also aims to provide a method for positioning the working target of the overhead working truck, which considers the installation size of the self parts, so that the measurement precision is higher, and the influence of the assembly size of the positioning device on the measurement deviation is reduced.
The method for positioning the working target of the overhead working truck specifically comprises the following steps:
a. the working target positioning device of the high-altitude working vehicle is placed on the high-altitude working vehicle, and the bottom center of the fixed base is established to be used as an origin O 1 Coordinate system x of (2) 1 y 1 z 1 The coordinate system xyz of the working arm on the overhead working truck;
initially, the angle sensor and the inclination sensor are cleared and corrected first, and the coordinate system x 1 y 1 z 1 The method comprises the steps of (1) measuring the distance between two coordinates along the same direction as the xyz direction of a coordinate system where a working arm on the overhead working truck is located;
b. and rotating the supporting shaft and the inclination angle bracket, so that the distance l from the current position to the target point is measured by the ranging end of the laser range finder, the corresponding horizontal upward inclination angle theta and the corresponding circumferential angle alpha are measured by the inclination angle sensor and the angle sensor, a corresponding cylindrical coordinate system is established, the corresponding cylindrical coordinate system is converted into a rectangular coordinate system, and then the coordinate value of the target point in the coordinate system xyz of the working arm of the overhead working truck is calculated and obtained, so that the target is positioned.
Further, in the step b, the coordinate value of the target point in the coordinate system xyz where the working arm of the aerial working vehicle is located is
x＝[(l+s)·cosθ-b·sinθ]·cosα+Δx
y＝[(l+s)·cosθ-b·sinθ]·sinα+Δy
B is the vertical line distance from the rotation position of the inclination angle bracket to the laser range finder;
s is the distance from the ranging end of the laser range finder to the vertical line;
h is the rotation position of the inclination angle bracket to the original point O 1 Height of the steel plate.
Compared with the prior art, the working target positioning device of the overhead working truck is characterized in that the laser range finder, the dip angle sensor and the angle sensor are positioned on the support shaft, the support shaft is arranged on the fixed base, the measurement of the distance, dip angle and circumferential angle of a target point is realized, the fixed base is quickly assembled and disassembled on the overhead working truck according to the use requirement, the fixed base can be matched with the working arm, the independent assembly and disassembly of the positioning device are realized, and the influence on the action of the working arm is reduced;
the adjusting component comprises a worm and gear structure, and the locking screw rod passes through the arc groove threads on the supporting cover and is arranged on the fixed base, so that the supporting cover is directly rotated, the locking screw rod can slide in the arc groove, the locking screw rod is rotated, the locking screw rod passes through the arc groove threads and is arranged on the fixed base, rough adjustment of a large angle in the circumferential direction is realized, and then the worm and gear is rotated, so that accurate adjustment of a small angle in the circumferential direction is realized;
according to the method for positioning the working target of the aerial working vehicle, the distance, the dip angle and the circumferential angle of the target point are measured correspondingly through the laser range finder, the dip angle sensor and the angle sensor, the vertical line distance from the rotation point of the dip angle bracket to the laser range finder, the distance from the ranging end of the laser range finder to the vertical line and the rotation position to the original point of the positioning device are introduced into the calculated parameters, the installation size of the self part is considered, the measurement precision is higher, and the influence of the assembly size of the positioning device on the measured deviation is reduced.
Drawings
FIG. 1 is an overall front view of the present utility model;
FIG. 2 is a schematic view of the assembly of the support shaft and the support housing of the present utility model;
FIG. 3 is a schematic view of a support shaft of the present utility model;
FIG. 4 is a coordinate system x of the present utility model 1 y 1 z 1 X in the middle 1 O 1 z 1 A schematic plan view;
FIG. 5 is a coordinate system x of the present utility model 1 y 1 z 1 X in the middle 1 O 1 z 1 A simplified plan view;
FIG. 6 is a coordinate system x of the present utility model 1 y 1 z 1 X in the middle 1 O 1 y 1 A schematic plan view;
in the figure: 10. a fixed base;
20. a support shaft 21, a through hole;
30. ear mount, 40, tilt angle bracket;
50. the supporting cover 51, the locking screw rod 52, the worm wheel 53, the worm, 54 and the arc-shaped groove;
61. laser range finder 62, inclination angle sensor, 63, angle sensor, 64, electric slip ring.
Detailed Description
The following description of the embodiments of the present utility model will be made clearly and completely with reference to the accompanying drawings, in which it is apparent that the embodiments described are only some embodiments of the present utility model, but not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the utility model without making any inventive effort, are intended to be within the scope of the utility model.
As shown in fig. 1 to 3, the working object positioning device for an overhead working truck comprises:
the support shaft 20 is vertically arranged on the axis and is positioned on the fixed base 10 in an angle adjusting and locking way through the adjusting component, the ear seat 30 is arranged at the upper end of the support shaft 20, and the fixed base 10 is detached and positioned on the overhead working truck;
the lower end of the dip bracket 40 rotates upwards at a dip angle in a horizontal plane and is locked on the ear seat 30, and the rotation axis of the dip bracket 40 is mutually perpendicular to and intersected with the axis of the support shaft 20;
a positioning assembly having a laser rangefinder 61 and an inclination sensor 62 on the inclination bracket 40, and an angle sensor 63 on the lower portion of the support shaft 20;
the laser range finder 61, the inclination angle sensor 62 and the angle sensor 63 are connected with an upper computer through buses;
specifically, the fixed base 10 is installed on the overhead working truck and is adjacent to the corresponding working arm, preferably, the fixed base 10 is detached and installed, and the overhead working truck working object positioning device can be integrally positioned on the fixed base 10, and a corresponding bus is reserved for connection with an upper computer;
the supporting shaft 20 is vertically arranged and is used for driving the inclination angle bracket 40 on the ear seat 30 to rotate circumferentially, and the circumferential angle is adjusted and locked through the adjusting component, and the supporting shaft 20 can also be of an upper disc structure and a lower shaft structure, so that the supporting surface of the disc structure is larger, and the installation of the ear seat 30 and the inclination angle bracket 40 is convenient;
the inclination bracket 40 is used for adjusting an inclination angle and can be locked, and as a preferential scheme, one end of the inclination bracket 40 is rotatably arranged on the ear seat 30, and the lower side of the opposite end is an inclined surface; the lug seat 30 is provided with a wedge-shaped block which is contacted with the inclined surface and matched with the inclined surface, the middle part of the adjusting rod is in threaded connection with a fixed block on the lug seat 30, and the end head is connected with the wedge-shaped block and drives the wedge-shaped block to transversely slide; therefore, the adjusting rod is rotated to drive the wedge block to contact with the inclination bracket 40 and slide transversely, so that the inclination bracket 40 rotates at an inclination angle based on the horizontal plane;
the laser range finder 61 is used for measuring the distance l from the current position to the target point, the inclination sensor 62 is used for measuring the rotation inclination of the inclination bracket 40, the angle sensor 63 is of a hollow structure and is arranged on the outer side of the support shaft 20 and used for measuring the circumferential rotation angle of the support shaft 40, and the inclination sensor 62 and the angle sensor 63 are provided with zero calibration positions;
the upper computer can be a computer and is used for receiving the data of the distance, the inclination angle and the circumferential angle measured by the positioning component and analyzing the data to obtain the coordinates of the target point in a coordinate system of the working arm of the overhead working truck;
as shown in fig. 4 to 6, in the initial state, the positioning device is placed on the overhead working truck and matched with the working arm, i.e. the coordinate system of the positioning device is assumed to be x 1 y 1 z 1 The coordinate system xyz of the working arm on the aerial working vehicle, and the coordinate system x of the positioning device is the initial time 1 y 1 z 1 The method comprises the steps of measuring the distance (delta x, delta y and delta z) between two coordinates in the same direction as the xyz direction of a coordinate system where a working arm on the aerial working vehicle is located; the angle sensor 63 and the inclination angle sensor 62 are cleared and corrected firstly, then the supporting shaft 20 and the inclination angle bracket 40 are adjusted, so that the distance l from the current position to the target point is measured by the ranging end of the laser range finder 61, the corresponding horizontal upward inclination angle theta and the corresponding circumferential angle alpha are measured by the inclination angle sensor 62 and the angle sensor 63, a corresponding cylindrical coordinate system is established, the corresponding cylindrical coordinate system is converted into a rectangular coordinate system, and then coordinate values of the target point in a coordinate system xyz of a working arm of the overhead working truck are calculated and obtained, so that the target positioning is realized;
as shown in fig. 4 and 5, the center position of the fixed base 10 is the coordinate system x of the positioning device 1 y 1 z 1 Origin O of (2) 1 The distance from the rotating point of the inclination bracket 40 to the perpendicular line of the laser distance meter 61 is b, and the distance from the distance measuring end of the laser distance meter 61 to the perpendicular line is s, so that the target point is in the coordinate system x of the positioning device 1 y 1 z 1 Cylindrical coordinates in (a)The method comprises the following steps:
ρ＝(l+s)·cosθ-b·sinθ
wherein h is the rotational position of the tilt bracket 40 to the origin O 1 Height of the steel plate;
converting the coordinate of the target point in the cylindrical coordinate system of the positioning device into a rectangular coordinate system x 1 y 1 z 1 The coordinates of (a) are
x 1 ＝[(l+s)·cosθ-b·sinθ]·cosα
y 1 ＝[(l+s)·cosθ-b·sinθ]·sinα
Further, the coordinate value of the target point in the coordinate system xyz of the working arm of the aerial working vehicle is
x＝[(l+s)·cosθ-b·sinθ]·cosα+Δx
y＝[(l+s)·cosθ-b·sinθ]·sinα+Δy
The working target positioning device of the aerial working vehicle is characterized in that the laser range finder 61, the dip angle sensor 62 and the angle sensor 63 are positioned on the support shaft 20, the support shaft 20 is arranged on the fixed base 10, the measurement of the distance, dip angle and circumferential angle of a target point is realized, the fixed base 10 is quickly assembled and disassembled on the aerial working vehicle according to the use requirement, the device can be matched with a working arm, the independent assembly and disassembly of the positioning device are realized, and the influence on the action of the working arm is avoided;
according to the method for positioning the working target of the aerial working vehicle, the distance, the inclination angle and the circumferential angle of the target point are correspondingly measured through the laser range finder 61, the inclination angle sensor 62 and the angle sensor 63, the vertical line distance from the rotating point of the inclination angle bracket 40 to the laser range finder 61, the distance from the ranging end of the laser range finder 61 to the vertical line and the rotating position to the original point height of the positioning device are introduced into calculation parameters, the installation size of the self part is considered, the measurement precision is higher, and the influence of the assembly size of the positioning device on the measurement deviation is avoided.
As shown in fig. 1, 2 and 3, in a preferred embodiment, the adjusting assembly includes:
a worm wheel 52 fixedly disposed at the middle of the support shaft 20, the support shaft 20 rotatably mounted on a support housing 50 disposed at the fixing base 10 through a bearing,
a worm 53 rotatably mounted on the support housing 50 and engaged with the worm wheel 52;
further, the supporting cover 50 is provided with an arc-shaped groove 54;
the locking screw 51 is threaded on the fixed base 10 through the arc-shaped groove 54;
specifically, the supporting cover 50 performs supporting and sealing functions and can be mounted on the fixed base 10 through a slewing bearing;
when the support shaft 20 is rotated to measure the circumferential angle, the condition that the circumferential angle is positioned inaccurately exists, so that the adjusting component adopts a worm and gear mechanism, namely a rotating worm 53, and the support shaft 20 is driven to rotate through a worm wheel 52 matched with the worm, so that the inclination angle bracket 40 on the support shaft 20 is circumferentially adjusted; the worm gear is large in transmission ratio, so that circumferential positioning is more accurate, self-locking is effectively realized, and the support shaft 20 is prevented from rotating in the use process;
in addition, the worm gear transmission ratio is large, and when large-angle adjustment is needed, such as in an initial state, the coordinate system where the positioning device is required to be positioned is consistent with the direction of the coordinate system of the working arm; the single worm and gear structure causes complicated adjustment, so that the supporting cover 50 is directly rotated, the locking screw 51 can slide in the arc-shaped groove 54, the locking screw 51 is rotated, the locking screw is installed on the fixed base 10 through the arc-shaped groove 54 in a threaded manner, the supporting cover 50 is fixed on the fixed base 10, rough adjustment of a large circumferential angle is realized, the worm and gear is rotated, and precise adjustment of a small circumferential angle is realized.
Further, the fixed base 10 is provided with scales circumferentially arranged with the axis of the support shaft 20 as the center;
the support shaft 20 is provided with a marking line;
when the support shaft 20 rotates, the mark line on the support shaft moves relative to the scale, so that a person can conveniently identify the rotation angle.
As shown in fig. 1, further, the supporting shaft 20 is provided with a through hole 21 along the axial direction, and the buses of the laser range finder 61 and the inclination sensor 62 pass through the through hole 21 and are connected with an electric slip ring 64 at the lower end of the supporting shaft 20;
one end of the electric slip ring 64 is connected with an upper computer;
specifically, when the rotation angle of the support shaft 20 is larger, the buses of the laser rangefinder 61 and the inclination angle sensor 62 are wound, so that the electric slip ring 64 at the lower end of the support shaft 20, namely the electric slip ring 64 can be communicated with the rotating body and is an electric component for transmitting energy and signals, and the buses of the laser rangefinder 61 and the inclination angle sensor 62 penetrate through the through hole 21 to be hidden, so that the appearance is more attractive, and the buses are connected to the electric slip ring 64 to output signals/data;
further, a plurality of lifting leveling struts are arranged at the lower end of the fixed base 10;
the support column adopts a height adjusting structure, and a level gauge and the like can be arranged at the upper end of the fixed base 10 so as to ensure the direction consistent with the direction of the working arm.
In the description of the present utility model, it should be understood that the terms "center," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," and the like indicate orientations or positional relationships based on the orientation or positional relationships shown in the drawings, merely to facilitate describing the present utility model and simplify the description, and do not indicate or imply that the devices or elements referred to must have a specific orientation, be configured and operated in a specific orientation, and thus should not be construed as limiting the present utility model.
Claims (7)
1. An aerial work vehicle work target positioning device, comprising:
the support shaft (20) is vertically arranged on the fixed base (10) with the axis adjusted and locked by the angle adjusting component, the ear seat (30) is arranged at the upper end of the support shaft (20), and the fixed base (10) is detached and positioned on the overhead working truck;
the lower end of the inclination bracket (40) rotates at an upward inclination angle in a horizontal plane and is locked and positioned on the ear seat (30), and the rotation axis of the inclination bracket (40) is mutually perpendicular to and intersected with the axis of the supporting shaft (20);
the positioning assembly is provided with a laser range finder (61) and an inclination sensor (62) which are positioned on the inclination bracket (40), and an angle sensor (63) which is positioned at the lower part of the supporting shaft (20);
the laser range finder (61), the inclination angle sensor (62) and the angle sensor (63) are connected with the upper computer through buses.
2. An aerial work vehicle work target positioning device as set forth in claim 1 wherein said adjustment assembly includes:
a worm wheel (52) fixedly arranged in the middle of the support shaft (20), the support shaft (20) is rotatably arranged on a support cover (50) arranged at the fixed base (10) through a bearing,
a worm (53) rotatably mounted on the support housing (50) and engaged with the worm wheel (52).
3. An aerial working vehicle working target positioning device according to claim 2, wherein the supporting cover (50) is provided with an arc-shaped groove (54);
the locking screw rod (51) passes through the arc-shaped groove (54) to be installed on the fixed base (10) in a threaded manner.
4. A working object positioning device for an overhead working truck according to any one of claims 1 to 3, wherein one end of the tilt bracket (40) is rotatably mounted on the ear mount (30), and the underside of the opposite end is an inclined surface;
the lug seat (30) is provided with a wedge-shaped block which is contacted with the inclined surface and matched with the inclined surface, the middle part of the adjusting rod is in threaded connection with a fixed block on the lug seat (30), and the end head is connected with the wedge-shaped block and drives the wedge-shaped block to transversely slide.
5. A working object positioning device for an overhead working truck according to any one of claims 1 to 3, wherein the fixed base (10) is provided with graduations circumferentially arranged centering on the axis of the support shaft (20);
the support shaft (20) is provided with a marking line.
6. A working object positioning device of an overhead working truck according to any one of claims 1 to 3, wherein the supporting shaft (20) is provided with a through hole (21) along the axial direction, and the bus of the laser range finder (61) and the inclination sensor (62) passes through the through hole (21) and is connected with an electric slip ring (64) at the lower end of the supporting shaft (20);
one end of the electric slip ring (64) is connected with the upper computer.
7. A working object positioning device for an overhead working truck according to any one of claims 1 to 3, wherein the lower end of the fixing base (10) is provided with a plurality of lifting and leveling struts.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202322435647.4U CN220647608U (en) | 2023-09-08 | 2023-09-08 | Working target positioning device of overhead working truck |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202322435647.4U CN220647608U (en) | 2023-09-08 | 2023-09-08 | Working target positioning device of overhead working truck |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN220647608U true CN220647608U (en) | 2024-03-22 |
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ID=90269261
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202322435647.4U Active CN220647608U (en) | 2023-09-08 | 2023-09-08 | Working target positioning device of overhead working truck |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN220647608U (en) |
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2023
- 2023-09-08 CN CN202322435647.4U patent/CN220647608U/en active Active
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