CN106144978A - A kind of mixing arm high-altitude operation vehicle - Google Patents
A kind of mixing arm high-altitude operation vehicle Download PDFInfo
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- CN106144978A CN106144978A CN201610678270.7A CN201610678270A CN106144978A CN 106144978 A CN106144978 A CN 106144978A CN 201610678270 A CN201610678270 A CN 201610678270A CN 106144978 A CN106144978 A CN 106144978A
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- arm
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66F—HOISTING, LIFTING, HAULING OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD
- B66F11/00—Lifting devices specially adapted for particular uses not otherwise provided for
- B66F11/04—Lifting devices specially adapted for particular uses not otherwise provided for for movable platforms or cabins, e.g. on vehicles, permitting workmen to place themselves in any desired position for carrying out required operations
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66F—HOISTING, LIFTING, HAULING OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD
- B66F13/00—Common constructional features or accessories
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- Structural Engineering (AREA)
- Life Sciences & Earth Sciences (AREA)
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- Forklifts And Lifting Vehicles (AREA)
- Body Structure For Vehicles (AREA)
Abstract
The invention discloses a kind of mixing arm high-altitude operation vehicle, including car body assembly, link-type basis arm, transition linking arm, telescopic arm, working platform leveling device and work platforms；The link-type basis arm of four-bar linkage structure includes support post, basis jib, basis arm link and basis arm amplitude oil cylinder；Working platform leveling device include link-type crank arm, bracket, amplitude oil cylinder of cranking arm, one-level leveling hydraulic cylinder and two grades of leveling hydraulic cylinders, the link-type of double four-bar linkage structures is cranked arm and is included the first link, the first pull bar, the second pull bar and the second link, and double four-bar linkage structures can cross dead point the opposite direction expansion of quadric chain under the drive of two grades of leveling hydraulic cylinders.This mixing arm high-altitude operation vehicle can when effectively reducing operation the stress of basis arm amplitude oil cylinder, eliminate basis arm amplitude oil cylinder tension and compression conversion bad working environments, improve basis arm amplitude oil cylinder service life while realize improving motility and reliability, the reduction production cost of leveling.
Description
Technical field
The present invention relates to a kind of high-altitude operation vehicle, specifically a kind of mixing arm high-altitude operation vehicle, belong to special vehicle technology
Field.
Background technology
Along with developing rapidly of China's economy, the high speed of vehicular traffic flow increases, and incity, city viaduct, belt are overhead
The quantity in bridge and mountain tunnel, river-crossing tunnel or Chuan Hu tunnel is increasing, the greasy dirt in a large amount of tail gas that vehicle is discharged and height
A large amount of airborne dusts that the driving vehicle that speed is passed through is rolled mix be eventually adhering to viaduct, overpass and tunnel metope,
On gobo and guardrail, accumulating over a long period and be formed for obvious spot, spot not only can affect attractive in appearance, and can affect illumination effect
Really, serious even affect pilot's line of vision and then affect traffic safety, it usually needs it is fixed to carry out metope, gobo and guardrail
Phase clean and maintenance, removes spot.
High-altitude operation vehicle be altitude plant install, safeguard, clean special vehicle, with the tradition such as scaffolding, ladder
Operating type compare the advantages such as there is transaction capabilities good, working performance is high, job safety, current high-altitude operation vehicle presses arm support
Type is generally divided into three classes: aerial work platform truck with foldable arm, telescopic boom high-altitude operation vehicle and be made up of two-stage telescopic arm and cranking arm
Mixing arm form high-altitude operation vehicle.
Existing high-altitude operation vehicle there is also following defect:
1. aerial work platform truck with foldable arm folding arm jib length is fixed, it is impossible to realize reclaiming the compact products that size is less,
And the most only arm rest frame angle change arrive target, during exist underarm action on upper arm action affect relatively
Greatly, it is impossible to arriving target job point rapidly, working performance is low, folding arm form high-altitude operation vehicle underarm derricking cylinder there is also and is subject to
The problem of power tension and compression conversion, affects reliability and the service life of oil cylinder；
2. telescopic boom high-altitude operation vehicle telescopic arm Existential Space is under-utilized, and obstacle crossing ability is poor, operating mechanism during operation
The shortcoming that not can overcome the disadvantages that tilting moment；
3. common mixing arm structure there is also the problem that underarm action is bigger on upper arm action impact, simultaneously because commonly mix
Arm-type high-altitude Operation Van jib form is complicated, is generally not capable of directly using machinery levelling gear and fluid pressure linkage levelling gear, and
Being the levelling gear using sensor+hydraulic cylinder, this traditional mixing arm leveling form is relatively costly；
4. the common general mechanism form of high-altitude operation vehicle is that oil cylinder directly drives derricking cylinder luffing action, the moment of flexure above jib
Acting on above oil cylinder, and oil cylinder is affected by moment of flexure, stress changes greatly, and even can produce and draw-buckling situation about changing.This
The intensity of oil cylinder, stability, the quality etc. of local are required higher by mode, and can be to improving abrasion, unstability, tired mistake in running
The danger of effect, the biggest stress too increases the size of hydraulic jack, affects the compactedness of car load.
Summary of the invention
For the problems referred to above, the present invention provides a kind of mixing arm high-altitude operation vehicle, it is possible to the basis when effectively reducing operation
The stress of arm amplitude oil cylinder, eliminate basis arm amplitude oil cylinder draw-buckling change bad working environments, improve basis arm amplitude oil cylinder and use
Realize improving motility and reliability, the reduction production cost of leveling while life-span.
For achieving the above object, this mixing arm high-altitude operation vehicle includes car body assembly, link-type basis arm, transition even
Connect arm, telescopic arm, working platform leveling device and work platforms；
Described car body assembly includes driver's cabin, chassis, subframe and running gear, and subframe is fixedly connected on chassis
On；
Described link-type basis arm is arranged at the rear of driver's cabin, including support post, basis jib, basis arm link and base
Plinth arm amplitude oil cylinder；Support post bottom is connected with subframe by column revolving supporting device, column revolving supporting device bag
Include pivoting support to drive；Basis jib is identical with basis arm link length and basic jib is set in parallel in basic arm link
Top, one end of basis jib and basis arm link is hingedly connected and is articulated and connected in described in support post, the other end
Transition linking arm, between basis jib, basis arm link, basis jib and basis arm link pin joint on support post
Virtual link between virtual link, basis jib and basis arm link pin joint on transition linking arm collectively constitutes four even
Linkage；Arm amplitude oil cylinder one end, basis is articulated and connected and is articulated and connected in basis jib in support post, the other end；
The position of described telescopic arm respective link formula basis arm is arranged on the surface of link-type basis arm, including base section
Arm, telescopic arm amplitude oil cylinder and at least one telescopic joint arm；Base section arm bottom is articulated and connected in the top of transition linking arm, base
Telescopic joint arm passage hydraulic cylinder it is provided with inside plinth joint arm；Telescopic arm amplitude oil cylinder one end be articulated and connected in transition linking arm, another
End is articulated and connected in base section arm, and telescopic arm amplitude oil cylinder is positioned at basic jib with transition even with the pin joint of transition linking arm
Connect the homonymy of arm pin joint, be positioned at the base section arm lower section with transition linking arm pin joint；Telescopic joint arm is sleeved on base section arm
In；
Described working platform leveling device include link-type crank arm, bracket, amplitude oil cylinder of cranking arm, one-level leveling hydraulic cylinder and two
Level leveling hydraulic cylinder；
It is frame structure or the box-structure of hollow that link-type is cranked arm, and includes first inside the frame structure of hollow or box-structure
Link, the first pull bar, the second pull bar and the second link；First link is provided with tetra-pin joints of B, C, D, E, pin joint
B, D, E are arranged at around pin joint C around pin joint C, and link-type is cranked arm and is articulated and connected in telescopic joint entirely through pin joint C
The minor details of arm；Second link is provided with tri-pin joints of F, G, H, and pin joint F, H are arranged at pin joint G's around pin joint G
Around；First pull bar and the second pull bar length are identical, and pin joint B and the hinged company of the first link are passed through in one end of the first pull bar
Connect, the other end is articulated and connected by pin joint F and the second link, and one end of the second pull bar is connected by pin joint D and first
Frame is articulated and connected, the other end is articulated and connected by pin joint H and the second link, and pin joint B, C, G, F surround first jointly
Quadric chain, pin joint C, D, H, G surround second quadric chain jointly, and two quadric chains share pin joint C and G
It is monolithically fabricated double parallel four-bar linkage, and the first pull bar and the second pull bar parallel misalignment are arranged in the lateral direction, each hinged
The axis of point be arranged in parallel the most in left-right direction；
Bracket is connected by the rotary motor being vertically arranged and the second link, and body and second link of rotary motor are fixed
Connecting, the pivoting part of rotary motor is fixing with bracket to be connected；
Amplitude oil cylinder of cranking arm one end and the minor details of telescopic joint arm are articulated and connected, the other end is cranked arm with link-type and is articulated and connected；
One-level leveling hydraulic cylinder one end is articulated and connected with transition linking arm, the other end is articulated and connected with base section arm；Two grades of leveling
Hydraulic cylinder is arranged on the inside of the minor details of telescopic joint arm, and two grades of leveling hydraulic cylinder one end are by pin joint A and the end of telescopic joint arm
Joint be articulated and connected, the other end is articulated and connected by pin joint E and the first link, pin joint E respectively with pin joint B, pin joint D
It is connected；One-level leveling hydraulic cylinder and two grades of leveling hydraulic cylinders are connected by fluid pressure line and control valve group.
The bottom of described work platforms is fixing with bracket to be connected.
As the preferred version of the present invention, described support post is arranged on the rear portion of subframe.
As the preferred version of the present invention, described support post is the structure tilting backwards setting.
Scheme as a further improvement on the present invention, described transition linking arm is arranged to trapezium structure, and pin joint is all provided with
Put two waist locations at trapezium structure.
Scheme as a further improvement on the present invention, described basic jib stands with articulated position, the support of support post
Being equipped with angular transducer in the Slewing Support Mechanism of post bottom, angular transducer electrically connects with controlling device.
Scheme as a further improvement on the present invention, the position of corresponding base section arm or basis on described basic jib
On joint arm, the position of corresponding basis jib is provided with load bearing seat.
Scheme as a further improvement on the present invention, described car body assembly also includes assisting supporting leg, auxiliary
Support leg is set to four, is respectively symmetrically the surrounding being arranged on subframe, and auxiliary supporting leg includes retractable support hydraulic cylinder and support
Footing.
Scheme as a further improvement on the present invention, described control device includes gravity's center control loop, and described is flexible
Arranging pressure transducer on supporting cylinder, pressure transducer electrically connects with controlling device.
Compared with prior art, this mixing arm high-altitude operation vehicle uses link-type to fold the structure shape of arm+telescopic arm+crank arm
Formula, can make full use of driver's cabin space below, reduces the overall dimensions after storage completely little；Owing to using four-bar linkage structure
Link-type basis arm, the stress of basis arm amplitude oil cylinder when therefore can effectively reduce operation, eliminate basis arm amplitude oil cylinder
Draw, bad working environments that buckling is changed, the reduction of cylinder sizes can be realized simultaneously, improve the service life of basis arm amplitude oil cylinder；
Telescopic arm, owing to being arranged on the surface of link-type basis arm by transition linking arm, is therefore stretched when the arm action of link-type basis
Contracting arm can move in the same direction, it is simple to judges and operates, and targeting capability is preferable, and has preferable obstacle leap energy
Power and various ways are close to the ability of target job point；The working platform leveling device of this mixing arm high-altitude operation vehicle uses machinery
The version of connecting rod+fluid pressure linkage leveling, compared with the version of traditional sensor+hydraulic cylinder leveling, it is possible to increase
Leveling reliability, reduction production cost；Owing to using the link-type of double four-bar linkage structure to crank arm, double four-bar linkage structures are at two grades of tune
The drive lower dead point that can cross quadric chain the opposite direction of flat hydraulic cylinder are launched, and the most there is not dead angle, it is possible to achieve
Link-type is cranked arm and is made rotating without dead point more than 180 °, and then realizes increasing job area, the raising leveling that link-type is cranked arm
Motility.
Accompanying drawing explanation
Fig. 1 is structural representation during the normal transport condition of the present invention；
Fig. 2 is the top view of Fig. 1；
Fig. 3 is the structural representation during present invention half deployed condition；
Structural representation when Fig. 4 is its fully unfolded position of the present invention；
Fig. 5 is the structural representation of telescopic arm of the present invention and working platform leveling device；
Fig. 6 be working platform leveling device of the present invention turnover in axis with the structural representation during dead in line of telescopic arm；
Fig. 7 is structural representation during working platform leveling device its fully unfolded position of the present invention.
In figure: 1, car body assembly, 11, chassis, 12, subframe, 13, auxiliary supporting leg, 2, link-type basis arm,
21, support post, 22, basis jib, 23, basis arm link, 24, basis arm amplitude oil cylinder, 3, transition linking arm, 4, flexible
Arm, 41, base section arm, 42, telescopic arm amplitude oil cylinder, 43, telescopic joint arm, 5, working platform leveling device, 51, link-type bent
Arm, the 511, first link, the 512, first pull bar, the 513, second pull bar, the 514, second link, 52, bracket, 53, change of cranking arm
Width oil cylinder, 54, one-level leveling hydraulic cylinder, 55, two grades of leveling hydraulic cylinders, 6, work platforms.
Detailed description of the invention
The present invention will be further described below in conjunction with the accompanying drawings.
As it is shown in figure 1, this mixing arm high-altitude operation vehicle includes that car body assembly 1, link-type basis arm 2, transition connect
(following description is with the direction at driver's cabin place for arm 3, telescopic arm 4, working platform leveling device 5, work platforms 6 and control device
For front).
Described car body assembly 1 includes that driver's cabin, chassis 11, subframe 12 and running gear, subframe 12 are fixed
It is connected on chassis 11.
Described link-type basis arm 2 is arranged at the rear of driver's cabin, including support post 21, basis jib 22, basis
Arm link 23 and basis arm amplitude oil cylinder 24；Support post 21 bottom is connected with subframe 12 by column revolving supporting device,
Column revolving supporting device includes that pivoting support drives, and support post 21 can pass through column revolving supporting device drivening rod formula
Basis arm 2 is along the axial 360 ° of rotations of Slewing Support Mechanism center of rotation；Basis jib 22 identical with basic arm link 23 length and
Basis jib 22 is set in parallel in the top of basis arm link 23, and one end of basis jib 22 and basis arm link 23 is respectively articulated with
Be connected to support post 21, the other end is articulated and connected in described transition linking arm 3, basis jib 22, basis arm link 23, base
Virtual link, basis jib 22 and basis arm between plinth jib 22 and the basis arm link 23 pin joint on support post 21
Virtual link between the connecting rod 23 pin joint on transition linking arm 3 collectively constitutes quadric chain；Basis arm amplitude oil cylinder
24 one end are articulated and connected and are articulated and connected in basis jib 22, by controlling basis arm amplitude oil cylinder in support post 21, the other end
24 stretch can realize the quadric chain translation transformation of link-type basis arm 2 and then realize the overall change of link-type basis arm 2
Width.
As in figure 2 it is shown, the position of described telescopic arm 4 respective link formula basis arm 2 is just being arranged on link-type basis arm 2
Top, including base section arm 41, telescopic arm amplitude oil cylinder 42 and at least one telescopic joint arm 43；The hinged company in base section arm 41 bottom
Being connected to the top of transition linking arm 3, base section arm 41 is internal is provided with telescopic joint arm passage hydraulic cylinder；Telescopic arm amplitude oil cylinder 42 1
End is articulated and connected and is articulated and connected in base section arm 41 in transition linking arm 3, the other end, and telescopic arm amplitude oil cylinder 42 is with transition even
Connect the pin joint of arm 3 to be positioned at the homonymy of basis jib 22 and transition linking arm 3 pin joint, be positioned at base section arm 41 and be connected with transition
The lower section of arm 3 pin joint；Telescopic joint arm 43 is sleeved in base section arm 41, by controlling the flexible of telescopic joint arm passage hydraulic cylinder
Telescopic joint arm 43 stretching out or retraction in base section arm 41 can be realized.
As it is shown in figure 5, described working platform leveling device 5 include link-type crank arm 51, bracket 52, amplitude oil cylinder of cranking arm
53, one-level leveling hydraulic cylinder 54 and two grades of leveling hydraulic cylinders 55；
It 51 is frame structure or the box-structure of hollow that link-type is cranked arm, and includes inside the frame structure of hollow or box-structure
One link the 511, first pull bar the 512, second pull bar 513 and the second link 514；First link 511 is provided with B, C, D, E
Four pin joints, pin joint B, D, E be arranged at around pin joint C around pin joint C, and link-type cranks arm 51 entirely through hinged
Point C is articulated and connected in the minor details of telescopic joint arm 43；Second link 514 is provided with tri-pin joints of F, G, H, and pin joint F, H enclose
It is arranged at around pin joint G around pin joint G；First pull bar 512 is identical with the second pull bar 513 length, the one of the first pull bar 512
End is articulated and connected by pin joint B and the first link 511, the other end passes through pin joint F and the second hinged company of link 514
Connect, one end of the second pull bar 513 by pin joint D with the first link 511 is articulated and connected, the other end passes through pin joint H and the
Two links 514 are articulated and connected, and pin joint B, C, G, F surround first quadric chain jointly, and pin joint C, D, H, G enclose jointly
Becoming second quadric chain, two quadric chains share pin joint C and G and are monolithically fabricated double parallel four-bar linkage, and
On left and right directions, the first pull bar 512 and the second pull bar 513 parallel misalignment are arranged, and the axis of each pin joint is the most parallel
Arrange；
Bracket 52 is connected by rotary motor and the second link 514 being vertically arranged, and the body of rotary motor and second connects
Frame 514 is fixing to be connected, and the pivoting part of rotary motor is fixing with bracket 52 to be connected, by controlling the forward and reverse of rotary motor
The bracket 52 gyroaxis rotary motion along rotary motor can be realized；
The minor details of amplitude oil cylinder of cranking arm 53 one end and telescopic joint arm 43 are articulated and connected, the other end and link-type crank arm 51 hinged companies
Connect, by control crank arm amplitude oil cylinder 53 flexible can realize link-type crank arm 51 luffing；
One-level leveling hydraulic cylinder 54 one end is articulated and connected with transition linking arm 3, the other end is articulated and connected with base section arm 41；Two grades
Leveling hydraulic cylinder 55 is arranged on the inside of the minor details of telescopic joint arm 43, and two grades of leveling hydraulic cylinder 55 one end are passed through pin joint A and stretched
The minor details of casing coupling arm 43 are articulated and connected, the other end is articulated and connected by pin joint E and the first link 511, pin joint E respectively with
Pin joint B, pin joint D are connected；One-level leveling hydraulic cylinder 54 and two grades of leveling hydraulic cylinders 55 are by fluid pressure line and control
Valve group is connected.
The bottom of described work platforms 6 is fixing with bracket 52 to be connected.
This mixing arm high-altitude operation vehicle is when normal driving states, as it is shown in figure 1, its basis arm amplitude oil cylinder 24, flexible
The passage of arm amplitude oil cylinder 42, telescopic joint arm hydraulic cylinder, amplitude oil cylinder of cranking arm 53 be in retraction state, i.e. transition linking arm 3 in
Bottom acts against the vertical state on subframe 12, telescopic arm 4 is the level of state is positioned at the top of link-type basis arm 2, connecting rod
Formula is cranked arm 51 L-shaped with bracket 52, and now the pin joint E of the first link 511 is positioned at the lower section of pin joint B, C and D, link-type
Basis arm 2, telescopic arm 4 and working platform leveling device 5 are in complete receiving state, do not interfere with normal driving.
When needs work high above the ground, first this mixing arm high-altitude operation vehicle is rested in appropriate location on track, then control
Basis arm amplitude oil cylinder 24 is stretched out, and the quadric chain action of link-type basis arm 2 makes link-type basis arm 2 lift to the highest
Degree, as shown in Figure 3, Figure 4, controls telescopic arm amplitude oil cylinder 42, telescopic joint arm passage hydraulic cylinder and luffing of cranking arm further according to needs
Oil cylinder 53 stretches out and makes telescopic joint arm 43 extend out to suitable distance while luffing in base section arm 41, along with telescopic arm 4
Elongation i.e. luffing, telescopic arm 4 extends the angle of axis relative level, link-type is cranked arm 51 relative to telescopic joint arm 43 minor details
Angle and link-type crank arm 51 extend axis relative level angle be all continually changing, the process of telescopic arm 4 luffing
Middle one-level leveling hydraulic cylinder 54 is followed the luffing action of telescopic arm 4 and is stretched out, and two grades of leveling hydraulic cylinders 55 are by hydraulic pressure control simultaneously
System self-adaption processed is followed stretching out of one-level leveling hydraulic cylinder 54 and is stretched out and make double-four link mechanism deformation make work platforms 6 relative
In link-type crank arm 51 angle be continually changing and angle with respect to the horizontal plane is constant, it is achieved work platforms 6 remains water
The automatic leveling of level state.
It is positioned at as a example by the rear of telescopic arm 4 by work platforms 6, two grades of leveling hydraulic cylinders during telescopic arm 4 luffing
While 55 follow one-level leveling hydraulic cylinder 54 gradually self-adaptative adjustment, as shown in Figures 5 to 7, two grades of leveling hydraulic cylinders 55 can
To make Small-angle Rotation along pin joint A for center of rotation and to stretch, i.e. the piston end of two grades of leveling hydraulic cylinders 55 stretches out and passes through
Pin joint E drives the first link 511 to rotate counterclockwise with pin joint C for center of rotation, and the first link 511 passes through simultaneously
Pin joint B is driven the first pull bar 512 to move, is driven by pin joint D the second pull bar 513 to move, and then the first pull bar 512 passes through
Pin joint F, the second pull bar 513 simultaneously drive the second link 514 by pin joint H and synchronize to turn counterclockwise for axle with pin joint G
Dynamic, now the first pull bar 512 is positioned at the rear of the second pull bar 513, two grades of leveling hydraulic cylinders 55 extend out to after extreme position again by
Gradually bouncing back, two grades of leveling hydraulic cylinders 55 stretch out extreme position its pin joint E and are i.e. positioned at the dead-centre position of quadric chain, and i.e. first
Link 511 and the second link 514 rotate during the first pull bar 512 under the drive of two grades of leveling hydraulic cylinders 55 gradually
Cross the dead point of quadric chain and opposite direction launch to realize link-type crank arm 51 works more than 180 ° without dead point rotation, link-type
Crank arm 51 axis during telescopic arm 4 luffing, gradually form state as shown in Figure 6 with the dead in line of telescopic arm 4,
Now the first link 511 has passed past the dead point of quadric chain and is positioned at the top of the second pull bar 513, two grades of leveling hydraulic cylinders
55 continue retraction to the gradually opposite direction expansion formation under the drive of two grades of leveling hydraulic cylinders 55 of the first pull bar 512 during setting position
Fully deployed limit state as shown in Figure 7.
Described support post 21 can be arranged on the front portion of subframe 12, it is also possible to is arranged on the rear portion of subframe 12,
During owing to being arranged on the rear portion of subframe 12 when support post 21, telescopic arm 4 is erected at link-type basis arm through transition linking arm 3
In time directly over 2, work platforms 6 can be located at the marginal space at support post 21 rear, the placement space of work platforms 6 can not be subject to
The impact of driver's cabin, therefore preferred the latter, i.e. as the preferred version of the present invention, described support post 21 is arranged on secondary car
The rear portion of frame 12.
Described support post 21 can be to be vertically arranged, it is also possible to is to be obliquely installed, owing to the support being obliquely installed is stood
Post 21 can relatively increase the entire length of link-type basis arm 2 and then realize bigger working range, therefore preferred the latter,
That is, as the preferred version of the present invention, as it is shown in figure 1, described support post 21 is the structure tilting backwards setting.
In order to make transition linking arm 3 reduce overall dimensions on the premise of ensureing enough support strengths, as the present invention
Further improvement project, described transition linking arm 3 is arranged to trapezium structure, and pin joint is arranged at two of trapezium structure
Waist location.
During arm 2 lift and swing of link-type basis, in order to realize accurately controlling lifting angle and angle of revolution,
Scheme as a further improvement on the present invention, described basic jib 22 and the articulated position of support post 21, support post 21
Being equipped with angular transducer in the Slewing Support Mechanism of bottom, angular transducer electrically connects with controlling device.
When this mixing arm high-altitude operation vehicle is at normal driving states in order to prevent because telescopic arm 4 reason of conducting oneself with dignity causes flexible
Arm amplitude oil cylinder 42 is in heavy burden pressured state, as a further improvement on the present invention scheme, described basic jib 22 all the time
On the position of upper corresponding base section arm 41 or base section arm 41, the position of corresponding basis jib 22 is provided with load bearing seat；Normal driving
During state, telescopic arm 4 can be overlapped on the jib 22 of basis by load bearing seat, and then realize protection telescopic arm amplitude oil cylinder 42, prevent
It is in heavy burden pressured state all the time.
In order to prevent this mixing arm high-altitude operation vehicle during work high above the ground due to the column revolving supporting device anglec of rotation
Spend when big, telescopic joint arm 43 stretches out long, working platform leveling device 5 its fully unfolded position and cause car load centre-of gravity shift, car
Stability deficiency, as the improvement project of the present invention, as shown in Figure 1, Figure 3, described car body assembly 1 also includes auxiliary
Supporting leg 13, auxiliary supporting leg 13 is set to four, is respectively symmetrically the surrounding being arranged on subframe 12, and auxiliary supporting leg 13 includes
Retractable support hydraulic cylinder and support footing；This mixing arm high-altitude operation vehicle is when normal transport condition, at retractable support hydraulic cylinder
In retraction state, support footing and depart from ground, it is ensured that normally travel, before work high above the ground, control retractable support hydraulic cylinder synchronous
Extend downwardly from making that support footing is firm supports on the ground, it is achieved this mixing arm high-altitude operation vehicle vehicle steady when Fixed Point Operation
Qualitative.
In order to increase this mixing arm high-altitude operation vehicle intact stability when scrubbing operation further, prevent vehicle from inclining
Turning over, as a further improvement on the present invention scheme, described control device includes gravity's center control loop, described retractable support liquid
Arranging pressure transducer on cylinder pressure, pressure transducer electrically connects with controlling device；When vehicle's center of gravity is offset to side, this side
When the pressure transducer feedback pressure value of retractable support hydraulic cylinder reaches setting value, control valve is opened, and stretching of this side given by hydraulic pump
Contracting supporting cylinder is pumped to setting value opposing centre-of gravity shift；The pressure transducer of the retractable support hydraulic cylinder of opposite side is anti-simultaneously
Feed voltage force value is less than setup pressure value, and control valve is opened, and the retractable support hydraulic cylinder of opposite side is offloaded to setting value；When center of gravity again
During degree change, the pressure of retractable support hydraulic cylinder is readjusted according to the feedback of pressure transducer in gravity's center control loop, it is achieved intelligence
Can control.
This mixing arm high-altitude operation vehicle uses link-type to fold the version of arm+telescopic arm+crank arm, and can make full use of
Driver's cabin space below, reduces the overall dimensions after storage completely little；Owing to using the link-type basis arm of four-bar linkage structure
2, the stress of basis arm amplitude oil cylinder 24 when therefore can effectively reduce operation, arm amplitude oil cylinder 24 is drawn, buckling is changed to eliminate basis
Bad working environments, the reduction of cylinder sizes can be realized simultaneously, improve the service life of basis arm amplitude oil cylinder 24；Telescopic arm 4
Owing to being arranged on the surface of link-type basis arm 2 by transition linking arm 3, therefore flexible when arm 2 action of link-type basis
Arm 4 can move in the same direction, it is simple to judges and operates, and targeting capability is preferable, and has preferable obstacle leap energy
Power and various ways are close to the ability of target job point；The working platform leveling device 5 of this mixing arm high-altitude operation vehicle uses machine
The version of tool connecting rod+fluid pressure linkage leveling, compared with the version of traditional sensor+hydraulic cylinder leveling, it is possible to carry
High leveling reliability, reduction production cost；Owing to using the link-type of double four-bar linkage structure to crank arm 51, double four-bar linkage structures are two
The drive lower dead point that can cross quadric chain the opposite direction of level leveling hydraulic cylinder 55 are launched, and the most there is not dead angle, can
With realize link-type crank arm 51 works more than 180 ° without dead point rotate, and then realize increase link-type crank arm 51 job area,
Improve the motility of leveling.
Claims (8)
1. a mixing arm high-altitude operation vehicle, including car body assembly (1), link-type basis arm (2), transition linking arm (3),
Telescopic arm (4), working platform leveling device (5) and work platforms (6)；Car body assembly (1) includes driver's cabin, chassis
(11), subframe (12) and running gear, subframe (12) is fixedly connected on chassis (11)；Link-type basis arm (2) is arranged
Rear in driver's cabin；Telescopic arm (4) includes base section arm (41), telescopic arm amplitude oil cylinder (42) and at least one telescopic joint arm
(43)；It is characterized in that,
Described link-type basis arm (2) includes support post (21), basis jib (22), basis arm link (23) and basis arm
Amplitude oil cylinder (24)；Support post (21) bottom is connected with subframe (12) by column revolving supporting device, and column revolving props up
Hold mechanism and include that pivoting support drives；Basis jib (22) is identical with basis arm link (23) length and basic jib (22) flat
Row is arranged at the top on basis arm link (23), one end of basis jib (22) and basic arm link (23) be hingedly connected in
Support post (21), the other end are articulated and connected in described transition linking arm (3), basis jib (22), basis arm link (23),
Virtual link between the pin joint on support post (21) of basis jib (22) and basis arm link (23), basis jib
(22) virtual link and between the pin joint on transition linking arm (3) of basis arm link (23) collectively constitutes double leval jib machine
Structure；Arm amplitude oil cylinder (24) one end, basis is articulated and connected and is articulated and connected in basis jib (22) in support post (21), the other end；
The position of described telescopic arm (4) respective link formula basis arm (2) is arranged on the surface on link-type basis arm (2)；Base
Plinth joint arm (41) bottom is articulated and connected in the top of transition linking arm (3), and base section arm (41) is internal is provided with the passage of telescopic joint arm
Hydraulic cylinder；Telescopic arm amplitude oil cylinder (42) one end is articulated and connected and is articulated and connected in base section arm in transition linking arm (3), the other end
, and the pin joint of telescopic arm amplitude oil cylinder (42) and transition linking arm (3) is positioned at basis jib (22) and transition linking arm (41)
(3) pin joint homonymy, be positioned at the lower section of base section arm (41) and transition linking arm (3) pin joint；Telescopic joint arm (43) is set with
In base section arm (41)；
Described working platform leveling device (5) include link-type crank arm (51), bracket (52), amplitude oil cylinder of cranking arm (53), one
Level leveling hydraulic cylinder (54) and two grades of leveling hydraulic cylinders (55)；
Link-type crank arm (51) be frame structure or the box-structure of hollow, include inside the frame structure of hollow or box-structure
First link (511), the first pull bar (512), the second pull bar (513) and the second link (514)；First link (511)
Being provided with tetra-pin joints of B, C, D, E, pin joint B, D, E are arranged at around pin joint C around pin joint C, and link-type is cranked arm
(51) it is articulated and connected in the minor details of telescopic joint arm (43) entirely through pin joint C；Second link (514) is provided with F, G, H tri-
Individual pin joint, pin joint F, H are arranged at around pin joint G around pin joint G；First pull bar (512) and the second pull bar (513)
Length is identical, and one end of the first pull bar (512) is by pin joint B and the first link (511) is articulated and connected, the other end passes through hinge
Contact F and the second link (514) are articulated and connected, and pin joint D and the first link are passed through in one end of the second pull bar (513)
(511) be articulated and connected, the other end is articulated and connected by pin joint H and the second link (514), and pin joint B, C, G, F enclose jointly
Becoming first quadric chain, pin joint C, D, H, G surround second quadric chain jointly, and two quadric chains share hinge
Contact C and G is monolithically fabricated double parallel four-bar linkage, and the first pull bar (512) and the second pull bar (513) are put down in the lateral direction
Line misregistration is arranged, and the axis of each pin joint be arranged in parallel the most in left-right direction；
Bracket (52) is connected by the rotary motor being vertically arranged and the second link (514), the body of rotary motor and second
Link (514) is fixing to be connected, and the pivoting part of rotary motor is fixing with bracket (52) to be connected；
The minor details of amplitude oil cylinder of cranking arm (53) one end and telescopic joint arm (43) are articulated and connected, the other end and link-type crank arm (51) hinge
Connect in succession；
One-level leveling hydraulic cylinder (54) one end and transition linking arm (3) are articulated and connected, the other end and base section arm (41) hinged company
Connect；Two grades of leveling hydraulic cylinders (55) are arranged on the inside of the minor details of telescopic joint arm (43), and two grades of leveling hydraulic cylinder (55) one end lead to
Cross pin joint A be articulated and connected with the minor details of telescopic joint arm (43), the other end by pin joint E and the first link (511) hinged
Connecting, pin joint E is connected with pin joint B, pin joint D respectively；One-level leveling hydraulic cylinder (54) and two grades of leveling hydraulic cylinders
(55) it is connected by fluid pressure line and control valve group；
The bottom of described work platforms (6) is fixing with bracket (52) to be connected.
Mixing arm high-altitude operation vehicle the most according to claim 1, it is characterised in that described support post (21) is arranged on
The rear portion of subframe (12).
Mixing arm high-altitude operation vehicle the most according to claim 2, it is characterised in that described support post (21) is backward
The structure being obliquely installed.
4. according to the mixing arm high-altitude operation vehicle described in claim 1 or 2 or 3, it is characterised in that described transition linking arm
(3) being arranged to trapezium structure, pin joint is arranged at two waist locations of trapezium structure.
5. according to the mixing arm high-altitude operation vehicle described in claim 1 or 2 or 3, it is characterised in that described basic jib (22)
It is equipped with angular transducer, angle with in the articulated position of support post (21), the Slewing Support Mechanism of support post (21) bottom
Degree sensor electrically connects with controlling device.
6. according to the mixing arm high-altitude operation vehicle described in claim 1 or 2 or 3, it is characterised in that described basic jib (22)
The position of the position of upper corresponding base section arm (41) or upper corresponding basis jib (22) of base section arm (41) is provided with load bearing seat.
7. according to the mixing arm high-altitude operation vehicle described in claim 1 or 2 or 3, it is characterised in that described car body assembly
(1) also include assisting supporting leg (13), auxiliary supporting leg (13) to be set to four, be respectively symmetrically and be arranged on the four of subframe (12)
In week, auxiliary supporting leg (13) includes retractable support hydraulic cylinder and supports footing.
Mixing arm high-altitude operation vehicle the most according to claim 8, it is characterised in that described control device includes center of gravity control
Loop processed, described retractable support hydraulic cylinder arranges pressure transducer, and pressure transducer electrically connects with controlling device.
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| CN201610678270.7A CN106144978B (en) | 2016-08-17 | 2016-08-17 | A kind of mixing arm high-altitude operation vehicle |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610678270.7A CN106144978B (en) | 2016-08-17 | 2016-08-17 | A kind of mixing arm high-altitude operation vehicle |
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| Publication Number | Publication Date |
|---|---|
| CN106144978A true CN106144978A (en) | 2016-11-23 |
| CN106144978B CN106144978B (en) | 2018-09-25 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201610678270.7A Active CN106144978B (en) | 2016-08-17 | 2016-08-17 | A kind of mixing arm high-altitude operation vehicle |
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| CN106943698A (en) * | 2017-04-28 | 2017-07-14 | 三汽车制造有限公司 | One kind forcible entry fire fighting truck |
| CN107777627A (en) * | 2017-11-27 | 2018-03-09 | 湖北江威智能汽车股份有限公司 | A kind of integrated forklift truck lifting equipment |
| CN107986206A (en) * | 2017-12-28 | 2018-05-04 | 徐州海伦哲专用车辆股份有限公司 | A kind of mixing arm type high-altitude operation vehicle of multifreedom motion |
| CN108502752A (en) * | 2018-05-23 | 2018-09-07 | 河南卫华特种车辆有限公司 | A kind of multistage luffing and flexible foldable arm support |
| CN109110700A (en) * | 2018-09-11 | 2019-01-01 | 中国铁建重工集团有限公司 | Job platform for tunnel overhaul and the tunnel overhaul operation locomotive including it |
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| CN109650300A (en) * | 2017-10-10 | 2019-04-19 | 北京三兴汽车有限公司 | Interlock type high-altitude operation vehicle |
| CN109789905A (en) * | 2018-05-10 | 2019-05-21 | 深圳蓝胖子机器人有限公司 | A kind of cargo handler, cargo transfer system and its method for automatically leveling |
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| CN109956432A (en) * | 2017-12-26 | 2019-07-02 | 北京三兴汽车有限公司 | It is filled on high-altitude operation vehicle automatic leveling |
| CN110258401A (en) * | 2019-07-18 | 2019-09-20 | 重庆名邦科技有限公司 | Crank arm type tunnel high-pressure cleaning device |
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| CN110668367A (en) * | 2019-09-25 | 2020-01-10 | 骆军辉 | High-altitude operation platform for building outer wall |
| CN111840857A (en) * | 2020-07-21 | 2020-10-30 | 长沙市云智航科技有限公司 | Container type mooring fire-fighting and fire-extinguishing rescue equipment and method |
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Cited By (27)
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| CN106943698A (en) * | 2017-04-28 | 2017-07-14 | 三汽车制造有限公司 | One kind forcible entry fire fighting truck |
| CN109650300A (en) * | 2017-10-10 | 2019-04-19 | 北京三兴汽车有限公司 | Interlock type high-altitude operation vehicle |
| CN107777627A (en) * | 2017-11-27 | 2018-03-09 | 湖北江威智能汽车股份有限公司 | A kind of integrated forklift truck lifting equipment |
| CN109956432A (en) * | 2017-12-26 | 2019-07-02 | 北京三兴汽车有限公司 | It is filled on high-altitude operation vehicle automatic leveling |
| CN107986206A (en) * | 2017-12-28 | 2018-05-04 | 徐州海伦哲专用车辆股份有限公司 | A kind of mixing arm type high-altitude operation vehicle of multifreedom motion |
| CN109789905A (en) * | 2018-05-10 | 2019-05-21 | 深圳蓝胖子机器人有限公司 | A kind of cargo handler, cargo transfer system and its method for automatically leveling |
| CN109789906B (en) * | 2018-05-10 | 2021-08-20 | 深圳蓝胖子机器人有限公司 | Cargo loading and unloading vehicle, cargo transferring system and unloading method thereof |
| CN109789906A (en) * | 2018-05-10 | 2019-05-21 | 深圳蓝胖子机器人有限公司 | Cargo handler, cargo transfer system and its method of unloading |
| CN108502752A (en) * | 2018-05-23 | 2018-09-07 | 河南卫华特种车辆有限公司 | A kind of multistage luffing and flexible foldable arm support |
| CN109110700A (en) * | 2018-09-11 | 2019-01-01 | 中国铁建重工集团有限公司 | Job platform for tunnel overhaul and the tunnel overhaul operation locomotive including it |
| CN109179278A (en) * | 2018-10-23 | 2019-01-11 | 曾剑成 | Construction protection paints support equipment with eminence |
| CN109319703A (en) * | 2018-11-29 | 2019-02-12 | 湖南大学 | A kind of multi-degree-of-freemechanical mechanical arm and engineering truck for engineering truck |
| CN109319703B (en) * | 2018-11-29 | 2023-11-07 | 湖南大学 | Multi-degree-of-freedom mechanical arm for engineering truck and engineering truck |
| CN110258401A (en) * | 2019-07-18 | 2019-09-20 | 重庆名邦科技有限公司 | Crank arm type tunnel high-pressure cleaning device |
| CN110258401B (en) * | 2019-07-18 | 2024-05-17 | 重庆名邦科技有限公司 | Crank arm type tunnel high-pressure cleaning equipment |
| CN110329965A (en) * | 2019-07-22 | 2019-10-15 | 徐州海伦哲特种车辆有限公司 | A kind of low-voltage distribution network insulating overhead operating vehicle |
| CN110668367A (en) * | 2019-09-25 | 2020-01-10 | 骆军辉 | High-altitude operation platform for building outer wall |
| WO2021239027A1 (en) * | 2020-05-28 | 2021-12-02 | 浙江三一装备有限公司 | Folding boom and engineering machinery |
| CN111977576A (en) * | 2020-07-10 | 2020-11-24 | 中铁第四勘察设计院集团有限公司 | Overhead contact system cantilever installation intelligent arm operation vehicle set capable of running in low position and operation method |
| CN111924761A (en) * | 2020-07-10 | 2020-11-13 | 中铁第四勘察设计院集团有限公司 | Overhead contact system cantilever installation power assisting arm work vehicle set capable of running in low position and work method |
| CN111977576B (en) * | 2020-07-10 | 2024-02-23 | 中铁第四勘察设计院集团有限公司 | Overhead line system cantilever installation intelligent arm operation vehicle set capable of operating at low position and operation method |
| CN111840857B (en) * | 2020-07-21 | 2021-10-08 | 长沙市云智航科技有限公司 | Container type mooring fire-fighting and fire-extinguishing rescue equipment and method |
| CN111840857A (en) * | 2020-07-21 | 2020-10-30 | 长沙市云智航科技有限公司 | Container type mooring fire-fighting and fire-extinguishing rescue equipment and method |
| CN112079304A (en) * | 2020-08-26 | 2020-12-15 | 万全重工（常州）机械有限公司 | Chassis of aerial work platform multidirectional moving aerial work vehicle |
| CN112079304B (en) * | 2020-08-26 | 2022-03-11 | 万全重工（常州）机械有限公司 | Chassis of aerial work platform multidirectional moving aerial work vehicle |
| CN112499533A (en) * | 2020-10-30 | 2021-03-16 | 徐州海伦哲特种车辆有限公司 | Dynamic amplitude limiting method for boom type operation vehicle |
| CN112483088A (en) * | 2020-12-15 | 2021-03-12 | 中国矿业大学(北京) | Fluidized unmanned reverse circulation coal mining method |
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