WO2022166251A1 - Fully electric scissor-type aerial work platform - Google Patents

Fully electric scissor-type aerial work platform Download PDF

Info

Publication number
WO2022166251A1
WO2022166251A1 PCT/CN2021/124060 CN2021124060W WO2022166251A1 WO 2022166251 A1 WO2022166251 A1 WO 2022166251A1 CN 2021124060 W CN2021124060 W CN 2021124060W WO 2022166251 A1 WO2022166251 A1 WO 2022166251A1
Authority
WO
WIPO (PCT)
Prior art keywords
electric
steering
scissor
work platform
chassis
Prior art date
Application number
PCT/CN2021/124060
Other languages
French (fr)
Chinese (zh)
Inventor
刘吉超
詹东安
徐小东
王馨宇
罗森博格·沃尔克
Original Assignee
江苏汇智高端工程机械创新中心有限公司
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by 江苏汇智高端工程机械创新中心有限公司 filed Critical 江苏汇智高端工程机械创新中心有限公司
Publication of WO2022166251A1 publication Critical patent/WO2022166251A1/en

Links

Images

Classifications

    • 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
    • B66F11/042—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 actuated by lazy-tongs mechanisms or articulated levers
    • 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
    • B66F17/00—Safety devices, e.g. for limiting or indicating lifting force
    • B66F17/006—Safety devices, e.g. for limiting or indicating lifting force for working platforms

Definitions

  • the invention relates to the field of aerial work equipment, in particular to an all-electric scissor type aerial work platform.
  • the scissor-type aerial work platform is mainly used for aerial work and has been widely used in modern production and life.
  • the whole system mainly includes a lifting system, a walking system, a steering system and a power source system.
  • the commonly used power source system is the electro-hydraulic drive system, which drives the hydraulic pump to work through the motor, and realizes the operation of the hydraulic oil-driven lifting system, the steering system and the walking system through the control valve group.
  • the walking systems of some scissor-type aerial work platforms have been driven by electric motors, but the lifting system and steering system are still driven by hydraulics.
  • the Chinese patent with the application number of 201620379808.X discloses an intelligent leveling electric aerial work platform for construction. It can solve the problems of hydraulic oil leakage and low energy utilization caused by the hydraulic lifting system, but the overall system can only be adapted to the boom type non-self-propelled aerial work platform, and cannot solve the multi-system of the scissor type aerial work platform. electrification issues.
  • the Chinese patents with application numbers CN201720489203.0 and CN201710878796.4 propose the use of electric motors in the drive system, the whole system still uses the hydraulic system as the power source, which does not fundamentally solve the drawbacks of the hydraulic system.
  • the Chinese patent with the application number CN201822063258.2 the proposed hybrid drive system not only cannot completely achieve zero emission of the whole machine, but also the volume of the hybrid system cannot adapt to the limited installation space of the scissor-type aerial work platform.
  • the Chinese patent with the application number CN201911004534.0 although the driving structure of the hydraulic system has been optimized, it still cannot completely make up for the shortcomings brought by the hydraulic system.
  • the present invention provides an all-electric scissor-type aerial work platform, in which the lifting unit, steering unit and walking unit are all driven by all-electricity without the intervention of a hydraulic system, which not only solves the problem of existing
  • the electro-hydraulic drive system of the scissor aerial work platform has the problems of low power utilization rate, the risk of hydraulic oil leakage and high maintenance cost, and the efficient power utilization rate of the motor can reduce the installed battery capacity of the whole machine and reduce the whole machine manufacturing. and maintenance costs.
  • An all-electric scissor-type aerial work platform provided by the present invention includes a lifting unit, a walking unit, a steering unit and a control unit.
  • the lifting unit includes a chassis, a working platform, and a platform arranged on the chassis and the working platform.
  • a lift adjustment assembly between the two, the lift adjustment assembly includes a scissor mechanism capable of extending or shortening and an electric lift control component for controlling the elongation or shortening of the scissor mechanism;
  • the traveling unit includes a a wheel assembly under the chassis and an electric drive part for driving the wheel assembly to drive the aerial work platform to move;
  • the steering unit includes a steering mechanism arranged in linkage with the wheel assembly and a steering mechanism for controlling the aerial work platform through the steering mechanism
  • the control unit includes a complete machine controller, a lifting unit sensor for collecting the height information and speed information of the working platform, and a steering angle for collecting the working platform
  • the steering unit sensor for information, the lift unit sensor and the steering unit sensor are all connected to the complete machine controller, the electric lift control part, the electric steering control part and the electric drive part are all connected to the machine controller.
  • the scissor mechanism includes a plurality of scissor units hingedly installed in sequence, the scissor unit includes at least two scissor frames arranged in parallel, and the scissor frame includes two scissors hinged in an X-shape.
  • the electric lift control part is installed between one of the scissor arms and the other of the scissor arms on the same side of the aerial work platform, or the electric lift control part is installed in a between the scissor arm and the chassis, or the electric lift control component is installed between one of the scissor arms and the working platform.
  • the number of the electric lift control components is one, two or more, and the electric lift control components are arranged horizontally, vertically and/or inclinedly.
  • the electric lift control component is an electric linear drive.
  • the steering mechanism includes a steering link
  • the electric steering control component is mounted between the steering link and the chassis
  • the steering link is mounted between the wheel assembly and the chassis
  • the steering link is mounted inside the wheel assembly.
  • the wheel assembly includes two front wheel supports rotatably mounted on the chassis, two front wheels correspondingly mounted on the two front wheel supports, and rotatably mounted on the chassis.
  • the two ends of the two rear wheel supports are hingedly mounted on the two rear wheel supports respectively.
  • the wheel assembly includes two front wheel supports rotatably mounted on the chassis, two front wheels correspondingly mounted on the two front wheel supports, and rotatably mounted on the chassis.
  • the wheel assembly includes two front wheel supports rotatably mounted on the chassis, two front wheels correspondingly mounted on the two front wheel supports, and rotatably mounted on the chassis.
  • the electric steering control component is an electric linear drive.
  • the wheel assembly includes two front wheels and two rear wheels, and the electric drive components are two drive motors respectively corresponding to driving the two front wheels, or the electric drive components are The two driving motors corresponding to the two rear wheels respectively, or the motor driving components are four driving motors respectively corresponding to the driving the two front wheels and the two rear wheels.
  • the lower part of the chassis is provided with a power supply module, and the electric lift control part, the electric steering control part, the electric drive part and the control unit are all electrically connected to the power supply module.
  • control unit further includes a control handle connected to the complete machine controller and a fault early warning detection module.
  • the technical solution of the present invention has the following beneficial effects: in the all-electric scissor-type aerial work platform of the present invention, the lifting unit, the steering unit, and the walking unit are all driven by all-electricity, and no hydraulic system is involved. , which not only solves the problems of low power utilization rate, hydraulic oil leakage risk and high maintenance cost of the existing electro-hydraulic drive system of scissor type aerial work platform, but also can reduce the battery installed capacity of the whole machine through the efficient power utilization rate of the motor.
  • FIGS. 1 to 4 are schematic diagrams of the arrangement of the electric lift control components in the all-electric scissor-type aerial work platform of the present invention in four different embodiments;
  • 5 to 10 are schematic diagrams of the layout of the electric steering control components in the all-electric scissor-type aerial work platform of the present invention in three different embodiments;
  • 11 to 13 are schematic diagrams of the arrangement of the electric drive components in the all-electric scissor-type aerial work platform of the present invention in three different embodiments;
  • FIG. 14 is a schematic structural diagram of a lifting unit selected in a specific embodiment of the all-electric scissor-type aerial work platform of the present invention.
  • 15 is a schematic structural diagram of a steering unit, a traveling unit and a control unit selected in a specific embodiment of the all-electric scissor-type aerial work platform of the present invention
  • Fig. 16 is the structural representation of the electric lead screw selected in a specific embodiment of the all-electric scissor type aerial work platform of the present invention.
  • 17 is a block diagram of the whole machine structure of a specific embodiment of the all-electric scissor-type aerial work platform of the present invention.
  • FIG. 18 is a block diagram of the whole electromechanical drive control of a specific embodiment of the all-electric scissor-type aerial work platform of the present invention.
  • 21- Electric steering control part (steering electric screw), 22- Front wheel, 23- Electric drive part (drive motor), 24- Steering link; 25- Rear wheel, 26- Machine controller, 27- Power supply module ;
  • the arrow line represents the signal transmission direction
  • the thick solid line represents the mechanical connection
  • the all-electric scissor-type aerial work platform of the present invention includes a lifting unit 31, a walking unit 33, a steering unit 32 and a control unit.
  • the lifting adjustment assembly in between, the lifting adjustment assembly includes a scissor mechanism 3 that can be extended or shortened and an electric lift control part 4 used to control the extension or shortening of the scissor mechanism 3;
  • the walking unit 33 includes a The wheel assembly and the electric driving part 23 for driving the wheel assembly to move the aerial work platform;
  • the steering unit 32 includes a steering mechanism arranged in linkage with the wheel assembly and an electric steering control part for controlling the steering of the aerial work platform through the steering mechanism 21;
  • the control unit includes a complete machine controller 26, a lifting unit 31 sensor for collecting the height information and speed information of the working platform 1 and a steering unit 32 sensor for collecting the steering angle information of the working platform 1, the lifting unit 31
  • the sensors and the steering unit 32 sensors are all connected to the complete machine controller 26 , and the electric lift control part 4 , the electric steering control part 21
  • the electric lift control component 4 can also be installed between the working platform 1 and the scissor mechanism 3, wherein the scissor mechanism 3 It includes a plurality of scissor units that are hingedly installed in sequence.
  • the specific number of scissor units can be selected and designed according to the height that the working platform 1 needs to be lifted.
  • a stable structure is formed by limiting the connection between the long crossbar and the short crossbar.
  • the scissor frame includes two scissor arms (ie rod AD, rod CF, etc. in Fig. 1 to Fig.
  • the electric lift control component 4 is installed between one scissor arm and another scissor arm on the same side of the aerial work platform, or, in other embodiments, the electric lift The lift control part 4 is installed between a scissor arm and the chassis 2, or, in other embodiments, the electric lift control part 4 is installed between a scissor arm and the working platform 1, as shown in Figs.
  • two points O and P are attachment points of both ends of the electric lift control member 4 .
  • the number of the above-mentioned electric lift control parts 4 is one, two or more.
  • Figures 1 to 4 are all taking one electric lift control part 4 as an example, and if two electric lift control parts 4 are provided, according to For work needs, the two electric lift control components 4 can be radically arranged in series or in parallel. If more than two electric lift control components 4 are provided, a combination of series and parallel can be used;
  • the lift control part 4 is arranged horizontally, vertically and/or obliquely; in the embodiment of the present invention, the electric lift control part 4 is an electric linear drive, and an electric lead screw, an electric cylinder or an electric push rod can be selected.
  • the structure mainly includes a motor, a cylinder block and a drive rod, and commercially available products can be selected. The specific structure will not be repeated.
  • Fig. 5 to Fig. 10 there are six modes as shown in Fig. 5 to Fig. 10 , namely, the two front wheels 22 are synchronously linked steering, the two front wheels 22 are independently controlled steering, the two rear wheels 25 are synchronized linked steering, and the two The rear wheels 25 independently control the steering, the four wheels are linked in pairs, and the four wheels independently control the steering, which will be described in detail below.
  • the steering mechanism includes a steering link 24, the electric steering control part 21 is installed between the steering link 24 and the chassis 2, the steering link 24 is installed between the wheel assembly and the chassis 2, or the steering link 24 is installed inside the wheel assembly .
  • the wheel assembly includes two front wheel supports rotatably mounted on the chassis 2 , two front wheels 22 correspondingly mounted on the two front wheel supports, and two front wheels 22 rotatably mounted on the chassis 2
  • the rear wheel support and the two rear wheels 25 correspondingly installed on the two rear wheel supports: the first mode: the number of the steering link 24 is one, and its two ends are hingedly installed on the two front wheel supports respectively Or, its two ends are hingedly installed on the two rear wheel supports; the second mode: the number of steering links 24 is two, and the two are hingedly installed between the two front wheel supports and the chassis 2.
  • the two are correspondingly hingedly installed between the two rear wheel supports and the chassis 2;
  • the electric steering control part 21 is an electric linear drive, and an electric lead screw, an electric cylinder or an electric pusher can be selected.
  • the structure of the rod mainly includes a motor, a cylinder block and a driving rod. Commercially available products can be selected. The specific structure will not be repeated.
  • the electric driving components 23 are two driving motors 23 corresponding to driving the two front wheels 22 respectively, or the electric driving components 23 are two driving motors 23 corresponding to driving the two rear wheels 25 respectively
  • the motor 23, or the motor driving components are four driving motors 23 respectively corresponding to driving the two front wheels 22 and the two rear wheels 25, namely the three modes shown in FIGS. 11 to 13 .
  • control unit in the aerial work platform of the present invention also includes a control handle 5 connected to the complete machine controller 26 and a fault early warning detection module.
  • the lower part of the chassis 2 is provided with a power supply module 27 , and the electric lift control part 4 , the electric steering control part 21 , the electric drive part 23 and the control unit are all electrically connected to the power supply module 27 .
  • the complete machine controller 26 After receiving the status information from the lifting unit 31 sensor, the steering unit 32 sensor, the control handle 5 and the fault early warning monitoring module, the complete machine controller 26 will adjust the motor according to the motor of the lifting electric screw 4 and the steering electric screw 21.
  • the corresponding motor target speed signal is output to the motor system of the lifting electric screw 4, the motor system of the steering electric screw 21 and the traveling motor system according to the control logic.
  • the motor system of the lifting electric screw 4, the motor system of the steering electric screw 21 and the traveling motor system immediately update the control of the lifting electric screw 4, the steering electric screw 21 and the wheels, so as to realize the scissor mechanism 3 , steering mechanism and state control of vehicle driving. Since the scissor mechanism 3 and the steering mechanism are mechanically hinged with the working platform and the wheels of the whole machine, the movement changes of the scissor mechanism 3 and the steering mechanism will be linked to the lifting of the working platform 1 and the steering of the wheels.
  • the all-electric scissor-type aerial work platform of the present invention will be described in detail below with reference to the specific embodiments shown in FIGS. 14 to 18 .
  • the whole machine includes a lifting unit 31, a steering unit 32, a steering unit 32 and a control unit.
  • the lifting unit 31 includes a working platform 1, a chassis 2 and a lifting adjustment assembly arranged between the two.
  • the shortened scissor mechanism 3 and the lifting electric screw 4 for controlling the elongation or shortening of the scissors mechanism 3 are arranged in an inclined manner;
  • the steering unit 32 includes The steering mechanism arranged in linkage with the wheel assembly and the steering electric lead screw 21 for controlling the steering of the aerial work platform through the steering mechanism, the steering link 24 in the steering mechanism here is hinged to the two front wheels 22 at both ends.
  • the installation form on the mounting seat that is, the two front wheels 22 are linked for steering;
  • the whole machine controller 26 is installed under the chassis 2,
  • the control handle 5 is connected to the controller 26 of the whole machine,
  • the power supply module 27 is installed under the chassis 2, including the battery pack and the battery management module;
  • the control handle 5 and the signal of the fault warning monitoring module are connected to the whole machine controller 26.
  • the lifting electric screw 4 is mechanically connected with the scissor mechanism 3, the steering electric screw 21 and the steering connecting rod 24 are mechanically connected, and the drive motor 23 with the deceleration device is mechanically connected with the wheels; the whole machine controller 26 through the signal
  • the connection method exchanges information with the power supply module 27, the lifting electric screw 4, the steering electric screw 21 and the drive motor 23; the power supply module 27 is electrically connected to the whole machine controller 26, the lifting electric screw 4, the steering The electric screw 21 and the drive motor 23 supply power.
  • control handle 5 sends instructions to the whole machine controller 26, and the whole machine controller 26 controls the corresponding lifting electric screw 4, steering electric screw 21 and/or driving motor 23 to perform actions, and at the same time, the lifting unit 31
  • the sensor and the steering unit 32 sensor transmit the height, speed, steering angle and other related information of the working platform 1 to the complete machine controller 26 in real time.
  • the motor of the bar 21 and/or the drive motor 23 adjust the rotational speed, so as to complete the control of the position, steering angle and traveling speed of the working platform 1 .
  • the advantage of the all-electric scissor-type aerial work platform in this embodiment is that the lifting unit, steering unit, and walking unit in the aerial work platform are all driven by all-electricity, without the intervention of the hydraulic system, not only It solves the problems of low power utilization, hydraulic oil leakage risk and high maintenance cost of the existing scissor-type aerial work platform electro-hydraulic drive system, and can reduce the installed battery capacity of the whole machine through the efficient power utilization of the motor, For the purpose of reducing the manufacturing and maintenance costs of the whole machine, at the same time, the arrangement of the scissor mechanism, the lifting electric screw, the steering link, the steering electric screw and the travel drive motor can be flexibly selected, and the scope of application is wider.

Landscapes

  • Engineering & Computer Science (AREA)
  • Structural Engineering (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Geology (AREA)
  • Mechanical Engineering (AREA)
  • Forklifts And Lifting Vehicles (AREA)

Abstract

A fully electric scissor-type aerial work platform, comprising a lifting unit (31), a walking unit (33), a steering unit (32) and a control unit. The lifting unit (31) comprises a lifting adjusting assembly. The walking unit (33) comprises an electric driving component (23). The steering unit (32) comprises an electric steering control component (21). The control unit comprises a whole machine controller (26), a lifting unit sensor used for collecting height and speed information of a work platform (1), and a steering unit sensor used for collecting steering angle information of the work platform (1). The lifting unit sensor, the steering unit sensor, an electric lifting control component (4), the electric steering control component (21) and the electric driving component (23) are all connected to the whole machine controller (26). The whole machine is fully electrically driven, and there is no hydraulic system involved, thereby solving the problems that an electro-hydraulic driving system of an existing scissor-type aerial work platform has a low electric energy utilization rate, the risk of hydraulic oil leakage and high maintenance costs, and achieving, by means of an efficient electric energy utilization rate of an electric motor, the aims of reducing the installed capacity of a whole machine battery and reducing the manufacturing and maintenance costs for the whole machine.

Description

一种全电动剪叉式高空作业平台An all-electric scissor-type aerial work platform 技术领域technical field
本发明涉及高空作业设备领域，特别是涉及一种全电动剪叉式高空作业平台。The invention relates to the field of aerial work equipment, in particular to an all-electric scissor type aerial work platform.
背景技术Background technique
剪叉式高空作业平台主要用于高空作业，已广泛应用于现代生产生活中，其整机***主要包括举升***、行走***、转向***和动力源***。目前常用的动力源***为电液驱动***，该***通过电机带动液压泵工作，通过控制阀组实现液压油驱动举升***、转向***以及行走***工作。近年来，部分剪叉式高空作业平台的行走***陆续采用电机驱动，但举升***和转向***仍旧采用液压方式驱动。The scissor-type aerial work platform is mainly used for aerial work and has been widely used in modern production and life. The whole system mainly includes a lifting system, a walking system, a steering system and a power source system. At present, the commonly used power source system is the electro-hydraulic drive system, which drives the hydraulic pump to work through the motor, and realizes the operation of the hydraulic oil-driven lifting system, the steering system and the walking system through the control valve group. In recent years, the walking systems of some scissor-type aerial work platforms have been driven by electric motors, but the lifting system and steering system are still driven by hydraulics.
尽管现有剪叉式高空作业平台用液压***的功率密度高、负载抗冲击性强，但是其能量利用率远低于纯电动***。随着数据中心、大型电子工厂、大型商店、博物馆等场合的用户对无液压油泄漏风险要求的提高，使得现有电液驱动剪叉式高空作业平台很难满足整机无液压油化、全电动化的需求。Although the hydraulic system for the existing scissor aerial work platform has high power density and strong load impact resistance, its energy utilization rate is much lower than that of the pure electric system. With the increasing requirements of users in data centers, large electronic factories, large stores, museums and other occasions for the risk of no hydraulic oil leakage, it is difficult for the existing electro-hydraulic driven scissor-type aerial work platforms to meet the requirements of the whole machine without hydraulic oil, fully demand for electrification.
以下对现有专利文献中公开的相关技术进行简要分析，如：申请号为201620379808.X的中国专利，公开了一种建筑用智能调平电动高空作业平台，其中提出的电驱动举升机构虽然可以解决液压举升***带来的液压油泄漏及能源利用率低的问题，但是其整体***只能适应于臂式非自行走高空作业平台，无法解决剪叉式高空作业平台所具有的多***电动化问题。申请号为CN201720489203.0和CN201710878796.4的中国专利，虽然提出了驱动***中使用电机的方案，但是整机***仍然采用液压***作为动力源，未从根本上解决液压***的弊端。申请号为CN201822063258.2的中国专利，提出的混合动力驱动***不仅无法完全实现整机零排放，同时混合动力***的体积无法适应剪叉式高空作业平台有限的安装空间。申请号为CN201911004534.0的中国专利，虽然对液压***的驱动结构进行了优化，但是仍然无法彻底弥补液压***所带来的短板。The following briefly analyzes the related technologies disclosed in the existing patent documents. For example, the Chinese patent with the application number of 201620379808.X discloses an intelligent leveling electric aerial work platform for construction. It can solve the problems of hydraulic oil leakage and low energy utilization caused by the hydraulic lifting system, but the overall system can only be adapted to the boom type non-self-propelled aerial work platform, and cannot solve the multi-system of the scissor type aerial work platform. electrification issues. Although the Chinese patents with application numbers CN201720489203.0 and CN201710878796.4 propose the use of electric motors in the drive system, the whole system still uses the hydraulic system as the power source, which does not fundamentally solve the drawbacks of the hydraulic system. The Chinese patent with the application number CN201822063258.2, the proposed hybrid drive system not only cannot completely achieve zero emission of the whole machine, but also the volume of the hybrid system cannot adapt to the limited installation space of the scissor-type aerial work platform. The Chinese patent with the application number CN201911004534.0, although the driving structure of the hydraulic system has been optimized, it still cannot completely make up for the shortcomings brought by the hydraulic system.
发明内容SUMMARY OF THE INVENTION
针对现有技术中存在的不足，本发明提供一种全电动剪叉式高空作业平台，其中的举升单元、转向单元、行走单元均采用全电驱动，无液压***介入，不仅解决了现有剪叉式高空作业平台电液驱动***的电能利用率低、存在液压油泄漏风险及维护成本高的问题，而且可以通过电机高效的电能利用率，实现降低整机电池装机容量、削减整机制造和维护成本的目 的。In view of the deficiencies in the prior art, the present invention provides an all-electric scissor-type aerial work platform, in which the lifting unit, steering unit and walking unit are all driven by all-electricity without the intervention of a hydraulic system, which not only solves the problem of existing The electro-hydraulic drive system of the scissor aerial work platform has the problems of low power utilization rate, the risk of hydraulic oil leakage and high maintenance cost, and the efficient power utilization rate of the motor can reduce the installed battery capacity of the whole machine and reduce the whole machine manufacturing. and maintenance costs.
本发明提供的一种全电动剪叉式高空作业平台，包括举升单元、行走单元、转向单元及控制单元，所述举升单元包括底盘、工作平台及设置在所述底盘与所述工作平台之间的升降调节组件，所述升降调节组件包括能够伸长或缩短的剪叉机构和用于控制所述剪叉机构伸长或缩短的电动举升控制部件；所述行走单元包括设置在所述底盘下方的轮组件以及用于驱动所述轮组件带动该高空作业平台移动的电动驱动部件；所述转向单元包括与所述轮组件联动设置的转向机构以及用于通过所述转向机构控制该高空作业平台进行转向的电动转向控制部件；所述控制单元包括整机控制器、用于采集所述工作平台的高度信息和速度信息的举升单元传感器以及用于采集所述工作平台的转向角度信息的转向单元传感器，所述举升单元传感器及所述转向单元传感器均连接至所述整机控制器，所述电动举升控制部件、所述电动转向控制部件以及所述电动驱动部件均连接至所述整机控制器。An all-electric scissor-type aerial work platform provided by the present invention includes a lifting unit, a walking unit, a steering unit and a control unit. The lifting unit includes a chassis, a working platform, and a platform arranged on the chassis and the working platform. A lift adjustment assembly between the two, the lift adjustment assembly includes a scissor mechanism capable of extending or shortening and an electric lift control component for controlling the elongation or shortening of the scissor mechanism; the traveling unit includes a a wheel assembly under the chassis and an electric drive part for driving the wheel assembly to drive the aerial work platform to move; the steering unit includes a steering mechanism arranged in linkage with the wheel assembly and a steering mechanism for controlling the aerial work platform through the steering mechanism An electric steering control component for steering the aerial work platform; the control unit includes a complete machine controller, a lifting unit sensor for collecting the height information and speed information of the working platform, and a steering angle for collecting the working platform The steering unit sensor for information, the lift unit sensor and the steering unit sensor are all connected to the complete machine controller, the electric lift control part, the electric steering control part and the electric drive part are all connected to the machine controller.
可选地，所述剪叉机构包括多个依次铰接安装的剪叉子单元，所述剪叉子单元包括至少两个并列设置的剪叉架，所述剪叉架包括呈X型铰接的两个剪叉臂，所述电动举升控制部件安装在位于该高空作业平台同一侧的一个所述剪叉臂与另一个所述剪叉臂之间，或者，所述电动举升控制部件安装在一个所述剪叉臂与所述底盘之间，或者，所述电动举升控制部件安装在一个所述剪叉臂与所述工作平台之间。Optionally, the scissor mechanism includes a plurality of scissor units hingedly installed in sequence, the scissor unit includes at least two scissor frames arranged in parallel, and the scissor frame includes two scissors hinged in an X-shape. Fork arm, the electric lift control part is installed between one of the scissor arms and the other of the scissor arms on the same side of the aerial work platform, or the electric lift control part is installed in a between the scissor arm and the chassis, or the electric lift control component is installed between one of the scissor arms and the working platform.
可选地，所述电动举升控制部件的数量为一个、两个或多个，所述电动举升控制部件呈水平布置、竖直布置和/或倾斜布置。Optionally, the number of the electric lift control components is one, two or more, and the electric lift control components are arranged horizontally, vertically and/or inclinedly.
可选地，所述电动举升控制部件为电动直线驱动器。Optionally, the electric lift control component is an electric linear drive.
可选地，所述转向机构包括转向连杆，所述电动转向控制部件安装在所述转向连杆与所述底盘之间，所述转向连杆安装在轮组件与所述底盘之间，或者，所述转向连杆安装在所述轮组件内部。Optionally, the steering mechanism includes a steering link, the electric steering control component is mounted between the steering link and the chassis, the steering link is mounted between the wheel assembly and the chassis, or , the steering link is mounted inside the wheel assembly.
可选地，所述轮组件包括能够转动地安装在所述底盘上的两个前轮支座、对应安装在两个所述前轮支座上的两个前轮、能够转动地安装在所述底盘上的两个后轮支座以及对应安装在两个所述后轮支座上的两个后轮，所述转向连杆的数量为一根，其两端分别铰接安装在两个所述前轮支座上，或者，其两端分别铰接安装在两个所述后轮支座上。Optionally, the wheel assembly includes two front wheel supports rotatably mounted on the chassis, two front wheels correspondingly mounted on the two front wheel supports, and rotatably mounted on the chassis. The two rear wheel supports on the chassis and the two rear wheels correspondingly installed on the two rear wheel supports, the number of the steering connecting rod is one, and its two ends are hingedly installed on the two rear wheels. On the front wheel supports, or, the two ends of the two rear wheel supports are hingedly mounted on the two rear wheel supports respectively.
可选地，所述轮组件包括能够转动地安装在所述底盘上的两个前轮支座、对应安装在两个所述前轮支座上的两个前轮、能够转动地安装在所述底盘上的两个后轮支座以及对应安装在两个所述后轮支座上的两个后轮，所述转向连杆的数量为两根，二者对应铰接安装在两个所述前轮支座与所述底盘之间，或者，二者对应铰接安装在两个所述后轮支座与所述底盘之间。Optionally, the wheel assembly includes two front wheel supports rotatably mounted on the chassis, two front wheels correspondingly mounted on the two front wheel supports, and rotatably mounted on the chassis. The two rear wheel supports on the chassis and the two rear wheels correspondingly installed on the two rear wheel supports, the number of the steering connecting rods is two, and the two are hingedly installed on the two The front wheel supports and the chassis, or, the two are hingedly installed between the two rear wheel supports and the chassis.
可选地，所述轮组件包括能够转动地安装在所述底盘上的两个前轮支座、对应安装在两个所述前轮支座上的两个前轮、能够转动地安装在所述底盘上的两个后轮支座以及对应安装在两个所述后轮支座上的两个后轮，所述转向连杆的数量为四根，这四根所述转向连杆对应铰接在两个所述前轮支座与所述底盘之间、两个所述后轮支座与所述底盘之间。Optionally, the wheel assembly includes two front wheel supports rotatably mounted on the chassis, two front wheels correspondingly mounted on the two front wheel supports, and rotatably mounted on the chassis. The two rear wheel supports on the chassis and the two rear wheels correspondingly installed on the two rear wheel supports, the number of the steering connecting rods is four, and the four steering connecting rods are correspondingly hinged between the two front wheel mounts and the chassis, and between the two rear wheel mounts and the chassis.
可选地，所述电动转向控制部件为电动直线驱动器。Optionally, the electric steering control component is an electric linear drive.
可选地，所述轮组件包括两个前轮和两个后轮，所述电动驱动部件为分别对应用于驱动两个所述前轮的两个驱动电机，或者，所述电动驱动部件为分别对应用于驱动两个所述后轮的两个驱动电机，或者，所述电机驱动部件为分别对应用于驱动两个所述前轮和两个所述后轮的四个驱动电机。Optionally, the wheel assembly includes two front wheels and two rear wheels, and the electric drive components are two drive motors respectively corresponding to driving the two front wheels, or the electric drive components are The two driving motors corresponding to the two rear wheels respectively, or the motor driving components are four driving motors respectively corresponding to the driving the two front wheels and the two rear wheels.
可选地，所述底盘的下部设置有供电模块，所述电动举升控制部件、所述电动转向控制部件、所述电动驱动部件以及所述控制单元均电连接至所述供电模块。Optionally, the lower part of the chassis is provided with a power supply module, and the electric lift control part, the electric steering control part, the electric drive part and the control unit are all electrically connected to the power supply module.
可选地，所述控制单元还包括连接至所述整机控制器的操控手柄以及故障预警检测模块。Optionally, the control unit further includes a control handle connected to the complete machine controller and a fault early warning detection module.
与现有技术相比，本发明的技术方案具有以下有益效果：本发明的全电动剪叉式高空作业平台，其中的举升单元、转向单元、行走单元均采用全电驱动，无液压***介入，不仅解决了现有剪叉式高空作业平台电液驱动***的电能利用率低、存在液压油泄漏风险及维护成本高的问题，而且可以通过电机高效的电能利用率，实现降低整机电池装机容量、削减整机制造和维护成本的目的，同时，对于剪叉机构、举升电动丝杠、转向连杆、转向电动丝杠以及行走驱动电机的布置形式，均可以灵活选择，适用范围更广。Compared with the prior art, the technical solution of the present invention has the following beneficial effects: in the all-electric scissor-type aerial work platform of the present invention, the lifting unit, the steering unit, and the walking unit are all driven by all-electricity, and no hydraulic system is involved. , which not only solves the problems of low power utilization rate, hydraulic oil leakage risk and high maintenance cost of the existing electro-hydraulic drive system of scissor type aerial work platform, but also can reduce the battery installed capacity of the whole machine through the efficient power utilization rate of the motor. Capacity, the purpose of reducing the manufacturing and maintenance costs of the whole machine, and at the same time, the arrangement of the scissor mechanism, the lifting electric screw, the steering link, the steering electric screw and the travel drive motor can be flexibly selected, and the scope of application is wider. .
附图说明Description of drawings
图1至图4为本发明的全电动剪叉式高空作业平台中电动举升控制部件在四种不同实施例中的布置形式示意图；1 to 4 are schematic diagrams of the arrangement of the electric lift control components in the all-electric scissor-type aerial work platform of the present invention in four different embodiments;
图5至图10为本发明的全电动剪叉式高空作业平台中电动转向控制部件在三种不同实施例中的布置形式示意图；5 to 10 are schematic diagrams of the layout of the electric steering control components in the all-electric scissor-type aerial work platform of the present invention in three different embodiments;
图11至图13为本发明的全电动剪叉式高空作业平台中电动驱动部件在三种不同实施例中的布置形式示意图；11 to 13 are schematic diagrams of the arrangement of the electric drive components in the all-electric scissor-type aerial work platform of the present invention in three different embodiments;
图14为本发明的全电动剪叉式高空作业平台的一个具体实施例中选用的举升单元的结构示意图；14 is a schematic structural diagram of a lifting unit selected in a specific embodiment of the all-electric scissor-type aerial work platform of the present invention;
图15为本发明的全电动剪叉式高空作业平台的一个具体实施例中选用的转向单元、行走单元及控制单元的结构示意图；15 is a schematic structural diagram of a steering unit, a traveling unit and a control unit selected in a specific embodiment of the all-electric scissor-type aerial work platform of the present invention;
图16为本发明的全电动剪叉式高空作业平台的一个具体实施例中选用的电动丝杠的结 构示意图；Fig. 16 is the structural representation of the electric lead screw selected in a specific embodiment of the all-electric scissor type aerial work platform of the present invention;
图17为本发明的全电动剪叉式高空作业平台的一个具体实施例的整机结构框图；17 is a block diagram of the whole machine structure of a specific embodiment of the all-electric scissor-type aerial work platform of the present invention;
图18为本发明的全电动剪叉式高空作业平台的一个具体实施例的整机电驱动控制框图。FIG. 18 is a block diagram of the whole electromechanical drive control of a specific embodiment of the all-electric scissor-type aerial work platform of the present invention.
附图中：1-工作平台，2-底盘，3-剪叉机构，4-电动举升控制部件(举升电动丝杠)，5-操控手柄；In the accompanying drawings: 1-working platform, 2-chassis, 3-scissor mechanism, 4-electric lifting control part (lifting electric screw), 5-control handle;
21-电动转向控制部件(转向电动丝杠)，22-前轮，23-电动驱动部件(驱动电机)，24-转向连杆；25-后轮，26-整机控制器，27-供电模块；21- Electric steering control part (steering electric screw), 22- Front wheel, 23- Electric drive part (drive motor), 24- Steering link; 25- Rear wheel, 26- Machine controller, 27- Power supply module ;
31-举升单元，32-转向单元，33-行走单元；31-lifting unit, 32-steering unit, 33-walking unit;
图17中，虚线条代表电气连接，细实线条代表信号连接，粗实线条代表机械连接；In Figure 17, dotted lines represent electrical connections, thin solid lines represent signal connections, and thick solid lines represent mechanical connections;
图18中，箭头线代表信号传输方向，粗实线条代表机械连接。In Fig. 18, the arrow line represents the signal transmission direction, and the thick solid line represents the mechanical connection.
具体实施方式Detailed ways
以下结合附图对本发明的示范性实施例做出说明，其中包括本发明实施例的各种细节以助于理解，应当将它们认为仅仅是示范性的。因此，本领域普通技术人员应当认识到，可以对这里描述的实施例做出各种改变和修改，而不会背离本发明的范围和精神。同样，为了清楚和简明，以下的描述中省略了对公知功能和结构的描述。Exemplary embodiments of the present invention are described below with reference to the accompanying drawings, which include various details of the embodiments of the present invention to facilitate understanding and should be considered as exemplary only. Accordingly, those of ordinary skill in the art will recognize that various changes and modifications of the embodiments described herein can be made without departing from the scope and spirit of the invention. Also, descriptions of well-known functions and constructions are omitted from the following description for clarity and conciseness.
本发明的全电动剪叉式高空作业平台，包括举升单元31、行走单元33、转向单元32及控制单元，举升单元31包括底盘2、工作平台1及设置在底盘2与工作平台1之间的升降调节组件，升降调节组件包括能够伸长或缩短的剪叉机构3和用于控制剪叉机构3伸长或缩短的电动举升控制部件4；行走单元33包括设置在底盘2下方的轮组件以及用于驱动轮组件带动该高空作业平台移动的电动驱动部件23；转向单元32包括与轮组件联动设置的转向机构以及用于通过转向机构控制该高空作业平台进行转向的电动转向控制部件21；控制单元包括整机控制器26、用于采集工作平台1的高度信息和速度信息的举升单元31传感器以及用于采集工作平台1的转向角度信息的转向单元32传感器，举升单元31传感器及转向单元32传感器均连接至整机控制器26，电动举升控制部件4、电动转向控制部件21以及电动驱动部件23均连接至整机控制器26。The all-electric scissor-type aerial work platform of the present invention includes a lifting unit 31, a walking unit 33, a steering unit 32 and a control unit. The lifting adjustment assembly in between, the lifting adjustment assembly includes a scissor mechanism 3 that can be extended or shortened and an electric lift control part 4 used to control the extension or shortening of the scissor mechanism 3; the walking unit 33 includes a The wheel assembly and the electric driving part 23 for driving the wheel assembly to move the aerial work platform; the steering unit 32 includes a steering mechanism arranged in linkage with the wheel assembly and an electric steering control part for controlling the steering of the aerial work platform through the steering mechanism 21; the control unit includes a complete machine controller 26, a lifting unit 31 sensor for collecting the height information and speed information of the working platform 1 and a steering unit 32 sensor for collecting the steering angle information of the working platform 1, the lifting unit 31 The sensors and the steering unit 32 sensors are all connected to the complete machine controller 26 , and the electric lift control part 4 , the electric steering control part 21 and the electric drive part 23 are all connected to the complete machine controller 26 .
针对上述的剪叉机构3，有如图1至图4所示的四种模式，以及也可将电动举升控制部件4安装在工作平台1与剪叉机构3之间，其中的剪叉机构3包括多个依次铰接安装的剪叉子单元，具体的剪叉子单元的数量可根据工作平台1需抬升的高度进行选择设计，剪叉子单元包括至少两个并列设置的剪叉架，剪叉架之间通过长横杆和短横杆进行限位连接，形成稳定的结构，剪叉架包括呈X型铰接的两个剪叉臂(即图1至图4中的杆AD、杆CF等)，限于 以上的结构，在一些实施例中，电动举升控制部件4安装在位于该高空作业平台同一侧的一个剪叉臂与另一个剪叉臂之间，或者，在另外的一些实施例中，电动举升控制部件4安装在一个剪叉臂与底盘2之间，再或者，在另外一些实施例中，电动举升控制部件4安装在一个剪叉臂与工作平台1之间，在图1至图4中，O、P两点为电动举升控制部件4的两端的安装点。上述的电动举升控制部件4的数量为一个、两个或多个，图1至图4均是以一个电动举升控制部件4为例，而如果设置两个电动举升控制部件4，根据工作需要，可选择串联或并联的方式对两个电动举升控制部件4激进型布置，如果设置两个以上的电动举升控制部件4，可以采用串联、并联相结合的方式；上述的电动举升控制部件4呈水平布置、竖直布置和/或倾斜布置；在本发明的实施例中，电动举升控制部件4为电动直线驱动器，可以选择电动丝杠、电动缸或电动推杆，其结构上主要包括电机、缸体和驱动杆，可选用市售产品，具体结构不进行赘述，以下以电动举升控制部件选用电动丝杠为例。For the above-mentioned scissor mechanism 3, there are four modes as shown in FIG. 1 to FIG. 4, and the electric lift control component 4 can also be installed between the working platform 1 and the scissor mechanism 3, wherein the scissor mechanism 3 It includes a plurality of scissor units that are hingedly installed in sequence. The specific number of scissor units can be selected and designed according to the height that the working platform 1 needs to be lifted. A stable structure is formed by limiting the connection between the long crossbar and the short crossbar. The scissor frame includes two scissor arms (ie rod AD, rod CF, etc. in Fig. 1 to Fig. In the above structure, in some embodiments, the electric lift control component 4 is installed between one scissor arm and another scissor arm on the same side of the aerial work platform, or, in other embodiments, the electric lift The lift control part 4 is installed between a scissor arm and the chassis 2, or, in other embodiments, the electric lift control part 4 is installed between a scissor arm and the working platform 1, as shown in Figs. In FIG. 4 , two points O and P are attachment points of both ends of the electric lift control member 4 . The number of the above-mentioned electric lift control parts 4 is one, two or more. Figures 1 to 4 are all taking one electric lift control part 4 as an example, and if two electric lift control parts 4 are provided, according to For work needs, the two electric lift control components 4 can be radically arranged in series or in parallel. If more than two electric lift control components 4 are provided, a combination of series and parallel can be used; The lift control part 4 is arranged horizontally, vertically and/or obliquely; in the embodiment of the present invention, the electric lift control part 4 is an electric linear drive, and an electric lead screw, an electric cylinder or an electric push rod can be selected. The structure mainly includes a motor, a cylinder block and a drive rod, and commercially available products can be selected. The specific structure will not be repeated.
针对上述的转向机构，有如图5至图10所示的六种模式，分别为两个前轮22同步联动转向、两个前轮22分别独立控制转向、两个后轮25同步联动转向、两个后轮25分别独立控制转向、四个轮两两联动转向以及四个轮分别独立控制转向，以下详述。For the above-mentioned steering mechanism, there are six modes as shown in Fig. 5 to Fig. 10 , namely, the two front wheels 22 are synchronously linked steering, the two front wheels 22 are independently controlled steering, the two rear wheels 25 are synchronized linked steering, and the two The rear wheels 25 independently control the steering, the four wheels are linked in pairs, and the four wheels independently control the steering, which will be described in detail below.
转向机构包括转向连杆24，电动转向控制部件21安装在转向连杆24与底盘2之间，转向连杆24安装在轮组件与底盘2之间，或者，转向连杆24安装在轮组件内部。具体地，轮组件包括能够转动地安装在底盘2上的两个前轮支座、对应安装在两个前轮支座上的两个前轮22、能够转动地安装在底盘2上的两个后轮支座以及对应安装在两个后轮支座上的两个后轮25：第一种模式：转向连杆24的数量为一根，其两端分别铰接安装在两个前轮支座上，或者，其两端分别铰接安装在两个后轮支座上；第二种模式：转向连杆24的数量为两根，二者对应铰接安装在两个前轮支座与底盘2之间，或者，二者对应铰接安装在两个后轮支座与底盘2之间；第三种模式：转向连杆24的数量为四根，这四根转向连杆24对应铰接在两个前轮支座与底盘2之间、两个后轮支座与底盘2之间；在本发明的实施例中，电动转向控制部件21为电动直线驱动器，可以选择电动丝杠、电动缸或电动推杆，其结构上主要包括电机、缸体和驱动杆，可选用市售产品，具体结构不进行赘述，以下以电动转向控制部件选用电动丝杠为例。The steering mechanism includes a steering link 24, the electric steering control part 21 is installed between the steering link 24 and the chassis 2, the steering link 24 is installed between the wheel assembly and the chassis 2, or the steering link 24 is installed inside the wheel assembly . Specifically, the wheel assembly includes two front wheel supports rotatably mounted on the chassis 2 , two front wheels 22 correspondingly mounted on the two front wheel supports, and two front wheels 22 rotatably mounted on the chassis 2 The rear wheel support and the two rear wheels 25 correspondingly installed on the two rear wheel supports: the first mode: the number of the steering link 24 is one, and its two ends are hingedly installed on the two front wheel supports respectively Or, its two ends are hingedly installed on the two rear wheel supports; the second mode: the number of steering links 24 is two, and the two are hingedly installed between the two front wheel supports and the chassis 2. or, the two are correspondingly hingedly installed between the two rear wheel supports and the chassis 2; the third mode: the number of steering links 24 is four, and the four steering links 24 are hinged on the two front between the wheel support and the chassis 2, between the two rear wheel supports and the chassis 2; in the embodiment of the present invention, the electric steering control part 21 is an electric linear drive, and an electric lead screw, an electric cylinder or an electric pusher can be selected. The structure of the rod mainly includes a motor, a cylinder block and a driving rod. Commercially available products can be selected. The specific structure will not be repeated.
针对上述的行走单元33，电动驱动部件23为分别对应用于驱动两个前轮22的两个驱动电机23，或者，电动驱动部件23为分别对应用于驱动两个后轮25的两个驱动电机23，或者，电机驱动部件为分别对应用于驱动两个前轮22和两个后轮25的四个驱动电机23，即图11至图13所示的三种模式。For the above-mentioned walking unit 33 , the electric driving components 23 are two driving motors 23 corresponding to driving the two front wheels 22 respectively, or the electric driving components 23 are two driving motors 23 corresponding to driving the two rear wheels 25 respectively The motor 23, or the motor driving components are four driving motors 23 respectively corresponding to driving the two front wheels 22 and the two rear wheels 25, namely the three modes shown in FIGS. 11 to 13 .
另外，本发明的高空作业平台中的控制单元还包括连接至整机控制器26的操控手柄5以 及故障预警检测模块。底盘2的下部设置有供电模块27，电动举升控制部件4、电动转向控制部件21、电动驱动部件23以及控制单元均电连接至供电模块27。整机控制器26接收到举升单元31传感器、转向单元32传感器、操控手柄5以及故障预警监测模块发来的状态信息后，会根据举升电动丝杠4的电机、转向电动丝杠21的电机以及行走电机反馈的各电机当前转速信息，根据控制逻辑输出相应的电机目标转速信号给举升电动丝杠4的电机***、转向电动丝杠21的电机***以及行走电机***。举升电动丝杠4的电机***、转向电动丝杠21的电机***以及行走电机***立即更新对举升电动丝杠4、转向电动丝杠21以及车轮的控制，以此实现对剪叉机构3、转向机构以及车辆行驶的状态控制。由于剪叉机构3和转向机构分别和整机作业平台以及车轮之间机械铰接，因此，剪叉机构3和转向机构的动作变化会联动工作平台1的升降以及车轮的转向。In addition, the control unit in the aerial work platform of the present invention also includes a control handle 5 connected to the complete machine controller 26 and a fault early warning detection module. The lower part of the chassis 2 is provided with a power supply module 27 , and the electric lift control part 4 , the electric steering control part 21 , the electric drive part 23 and the control unit are all electrically connected to the power supply module 27 . After receiving the status information from the lifting unit 31 sensor, the steering unit 32 sensor, the control handle 5 and the fault early warning monitoring module, the complete machine controller 26 will adjust the motor according to the motor of the lifting electric screw 4 and the steering electric screw 21. According to the current speed information of each motor fed back by the motor and the traveling motor, the corresponding motor target speed signal is output to the motor system of the lifting electric screw 4, the motor system of the steering electric screw 21 and the traveling motor system according to the control logic. The motor system of the lifting electric screw 4, the motor system of the steering electric screw 21 and the traveling motor system immediately update the control of the lifting electric screw 4, the steering electric screw 21 and the wheels, so as to realize the scissor mechanism 3 , steering mechanism and state control of vehicle driving. Since the scissor mechanism 3 and the steering mechanism are mechanically hinged with the working platform and the wheels of the whole machine, the movement changes of the scissor mechanism 3 and the steering mechanism will be linked to the lifting of the working platform 1 and the steering of the wheels.
下面以图14至图18所示的具体实施例，对本发明的全电动剪叉式高空作业平台进行详细描述。整机包括举升单元31、转向单元32、转向单元32及控制单元，举升单元31包括工作平台1、底盘2及设置在二者之间的升降调节组件，升降调节组件包括能够伸长或缩短的剪叉机构3和用于控制剪叉机构3伸长或缩短的举升电动丝杠4，该举升电动丝杠4采用倾斜布置的方式；行走单元33包括设置在底盘2下方的轮组件以及用于驱动轮组件带动该高空作业平台移动的驱动电机23，其采用两个前轮22分别电驱动的方式，即通过两个驱动电机23分别驱动两个前轮22；转向单元32包括与轮组件联动设置的转向机构以及用于通过转向机构控制该高空作业平台进行转向的转向电动丝杠21，此处的转向机构中的转向连杆24采用两端分别铰接在两个前轮22安装座上的安装形式，即两个前轮22联动转向；举升电动丝杠4和转向电动丝杠21结构上均包括电机、缸体和能够相对缸体伸缩的驱动杆；整机控制器26安装在底盘2的下方，操控手柄5连接至整机控制器26，供电模块27安装在底盘2的下方，包括电池包和电池管理模块；操控手柄5和故障预警监测模块信号连接至整机控制器26。The all-electric scissor-type aerial work platform of the present invention will be described in detail below with reference to the specific embodiments shown in FIGS. 14 to 18 . The whole machine includes a lifting unit 31, a steering unit 32, a steering unit 32 and a control unit. The lifting unit 31 includes a working platform 1, a chassis 2 and a lifting adjustment assembly arranged between the two. The shortened scissor mechanism 3 and the lifting electric screw 4 for controlling the elongation or shortening of the scissors mechanism 3 are arranged in an inclined manner; The assembly and the drive motor 23 used for the drive wheel assembly to drive the aerial work platform to move, which adopt the way of electrically driving the two front wheels 22 respectively, that is, the two front wheels 22 are driven by the two drive motors 23 respectively; the steering unit 32 includes The steering mechanism arranged in linkage with the wheel assembly and the steering electric lead screw 21 for controlling the steering of the aerial work platform through the steering mechanism, the steering link 24 in the steering mechanism here is hinged to the two front wheels 22 at both ends. The installation form on the mounting seat, that is, the two front wheels 22 are linked for steering; the lifting electric lead screw 4 and the steering electric lead screw 21 both include a motor, a cylinder block and a drive rod that can be extended and retracted relative to the cylinder block; the whole machine controller 26 is installed under the chassis 2, the control handle 5 is connected to the controller 26 of the whole machine, the power supply module 27 is installed under the chassis 2, including the battery pack and the battery management module; the control handle 5 and the signal of the fault warning monitoring module are connected to the whole machine controller 26.
举升电动丝杠4与剪叉机构3机械连接，转向电动丝杠21和转向连杆24之间机械连接，带减速装置的驱动电机23和车轮之间机械连接；整机控制器26通过信号连接方式与供电模块27、举升电动丝杠4、转向电动丝杠21以及驱动电机23之间进行信息交互；供电模块27通过电气连接给整机控制器26、举升电动丝杠4、转向电动丝杠21以及驱动电机23供电。The lifting electric screw 4 is mechanically connected with the scissor mechanism 3, the steering electric screw 21 and the steering connecting rod 24 are mechanically connected, and the drive motor 23 with the deceleration device is mechanically connected with the wheels; the whole machine controller 26 through the signal The connection method exchanges information with the power supply module 27, the lifting electric screw 4, the steering electric screw 21 and the drive motor 23; the power supply module 27 is electrically connected to the whole machine controller 26, the lifting electric screw 4, the steering The electric screw 21 and the drive motor 23 supply power.
工作中，操控手柄5向整机控制器26发送指令，整机控制器26控制相应的举升电动丝杠4、转向电动丝杠21和/或驱动电机23执行动作，同时，举升单元31传感器、转向单元32传感器实时向整机控制器26传送工作平台1的高度、速度、转向角度等相关信息，整机控制器26根据这些信号，对举升电动丝杠4的电机、转向电动丝杠21的电机和/或驱动电机 23进行转速调整，从而完成对工作平台1的位置、转向角度及行走速度的控制。During operation, the control handle 5 sends instructions to the whole machine controller 26, and the whole machine controller 26 controls the corresponding lifting electric screw 4, steering electric screw 21 and/or driving motor 23 to perform actions, and at the same time, the lifting unit 31 The sensor and the steering unit 32 sensor transmit the height, speed, steering angle and other related information of the working platform 1 to the complete machine controller 26 in real time. The motor of the bar 21 and/or the drive motor 23 adjust the rotational speed, so as to complete the control of the position, steering angle and traveling speed of the working platform 1 .
与现有技术相比，本实施例的全电动剪叉式高空作业平台的优点在于：该高空作业平台中的举升单元、转向单元、行走单元均采用全电驱动，无液压***介入，不仅解决了现有剪叉式高空作业平台电液驱动***的电能利用率低、存在液压油泄漏风险及维护成本高的问题，而且可以通过电机高效的电能利用率，实现降低整机电池装机容量、削减整机制造和维护成本的目的，同时，对于剪叉机构、举升电动丝杠、转向连杆、转向电动丝杠以及行走驱动电机的布置形式，均可以灵活选择，适用范围更广。Compared with the prior art, the advantage of the all-electric scissor-type aerial work platform in this embodiment is that the lifting unit, steering unit, and walking unit in the aerial work platform are all driven by all-electricity, without the intervention of the hydraulic system, not only It solves the problems of low power utilization, hydraulic oil leakage risk and high maintenance cost of the existing scissor-type aerial work platform electro-hydraulic drive system, and can reduce the installed battery capacity of the whole machine through the efficient power utilization of the motor, For the purpose of reducing the manufacturing and maintenance costs of the whole machine, at the same time, the arrangement of the scissor mechanism, the lifting electric screw, the steering link, the steering electric screw and the travel drive motor can be flexibly selected, and the scope of application is wider.
以上具体实施方式，并不构成对本发明保护范围的限制。本领域技术人员应该明白的是，取决于设计要求和其他因素，可以发生各种各样的修改、组合、子组合和替代。任何在本发明的精神和原则之内所做的修改、等同替换和改进等，均应包含在本发明保护范围之内。The above specific embodiments do not constitute a limitation on the protection scope of the present invention. It should be understood by those skilled in the art that various modifications, combinations, sub-combinations and substitutions may occur depending on design requirements and other factors. Any modifications, equivalent substitutions and improvements made within the spirit and principle of the present invention shall be included within the protection scope of the present invention.

Claims (12)

  1. 一种全电动剪叉式高空作业平台，其特征在于，包括：An all-electric scissor-type aerial work platform, characterized in that it includes:
    举升单元，其包括底盘、工作平台及设置在所述底盘与所述工作平台之间的升降调节组件，所述升降调节组件包括能够伸长或缩短的剪叉机构和用于控制所述剪叉机构伸长或缩短的电动举升控制部件；A lift unit includes a chassis, a work platform, and a lift adjustment assembly disposed between the chassis and the work platform, the lift adjustment assembly including a scissor mechanism capable of extending or shortening and a scissor mechanism for controlling the scissors Electric lift control components that extend or shorten the fork mechanism;
    行走单元，其包括设置在所述底盘下方的轮组件以及用于驱动所述轮组件带动该高空作业平台移动的电动驱动部件；a traveling unit, which includes a wheel assembly disposed under the chassis and an electric drive component for driving the wheel assembly to drive the aerial work platform to move;
    转向单元，其包括与所述轮组件联动设置的转向机构以及用于通过所述转向机构控制该高空作业平台进行转向的电动转向控制部件；a steering unit, which includes a steering mechanism arranged in linkage with the wheel assembly and an electric steering control component for controlling the aerial work platform to steer through the steering mechanism;
    控制单元，其包括整机控制器、用于采集所述工作平台的高度信息和速度信息的举升单元传感器以及用于采集所述工作平台的转向角度信息的转向单元传感器，所述举升单元传感器及所述转向单元传感器均连接至所述整机控制器，所述电动举升控制部件、所述电动转向控制部件以及所述电动驱动部件均连接至所述整机控制器。A control unit, which includes a complete machine controller, a lifting unit sensor for collecting the height information and speed information of the working platform, and a steering unit sensor for collecting the steering angle information of the working platform, the lifting unit The sensor and the steering unit sensor are all connected to the complete machine controller, and the electric lift control part, the electric steering control part and the electric drive part are all connected to the complete machine controller.
  2. 如权利要求1所述的一种全电动剪叉式高空作业平台，其特征在于，所述剪叉机构包括多个依次铰接安装的剪叉子单元，所述剪叉子单元包括至少两个并列设置的剪叉架，所述剪叉架包括呈X型铰接的两个剪叉臂，所述电动举升控制部件安装在位于该高空作业平台同一侧的一个所述剪叉臂与另一个所述剪叉臂之间，或者，所述电动举升控制部件安装在一个所述剪叉臂与所述底盘之间，或者，所述电动举升控制部件安装在一个所述剪叉臂与所述工作平台之间。The all-electric scissor-type aerial work platform according to claim 1, wherein the scissor mechanism includes a plurality of scissor units that are hingedly installed in sequence, and the scissor unit includes at least two parallel-arranged scissor units. A scissor frame, the scissor frame includes two scissor arms hinged in an X-shape, and the electric lift control component is installed on one of the scissor arms and the other of the scissors located on the same side of the aerial work platform between the fork arms, or the electric lift control part is installed between one of the scissor arms and the chassis, or the electric lift control part is installed between one of the scissor arms and the work between platforms.
  3. 如权利要求1或2所述的一种全电动剪叉式高空作业平台，其特征在于，所述电动举升控制部件的数量为一个、两个或多个，所述电动举升控制部件呈水平布置、竖直布置和/或倾斜布置。The all-electric scissor-type aerial work platform according to claim 1 or 2, wherein the number of the electric lift control components is one, two or more, and the electric lift control components are in the form of one, two or more. Horizontal arrangement, vertical arrangement and/or inclined arrangement.
  4. 如权利要求3所述的一种全电动剪叉式高空作业平台，其特征在于，所述电动举升控制部件为电动直线驱动器。The all-electric scissor-type aerial work platform according to claim 3, wherein the electric lift control component is an electric linear drive.
  5. 如权利要求1所述的一种全电动剪叉式高空作业平台，其特征在于，所述转向机构包括转向连杆，所述电动转向控制部件安装在所述转向连杆与所述底盘之间，所述转向连杆安装在轮组件与所述底盘之间，或者，所述转向连杆安装在所述轮组件内部。The all-electric scissor-type aerial work platform according to claim 1, wherein the steering mechanism comprises a steering link, and the electric steering control component is installed between the steering link and the chassis , the steering link is installed between the wheel assembly and the chassis, or the steering link is installed inside the wheel assembly.
  6. 如权利要求5所述的一种全电动剪叉式高空作业平台，其特征在于，所述轮组件包括能够转动地安装在所述底盘上的两个前轮支座、对应安装在两个所述前轮支座上的两个前轮、能够转动地安装在所述底盘上的两个后轮支座以及对应安装在两个所述后轮支座上的两个后轮，所述转向连杆的数量为一根，其两端分别铰接安装在两个所述前轮支座上，或者，其两端分别铰接安装在两个所述后轮支座上。The all-electric scissor-type aerial work platform according to claim 5, wherein the wheel assembly comprises two front wheel supports rotatably mounted on the chassis, correspondingly mounted on the two The two front wheels on the front wheel support, the two rear wheel supports rotatably installed on the chassis, and the two rear wheels correspondingly installed on the two rear wheel supports, the steering The number of the connecting rod is one, and both ends of the connecting rod are hingedly mounted on the two front wheel supports respectively, or both ends are hingedly mounted on the two rear wheel supports respectively.
  7. 如权利要求5所述的一种全电动剪叉式高空作业平台，其特征在于，所述轮组件包括能够转动地安装在所述底盘上的两个前轮支座、对应安装在两个所述前轮支座上的两个前轮、能够转动地安装在所述底盘上的两个后轮支座以及对应安装在两个所述后轮支座上的两个后轮，所述转向连杆的数量为两根，二者对应铰接安装在两个所述前轮支座与所述底盘之间，或者，二者对应铰接安装在两个所述后轮支座与所述底盘之间。The all-electric scissor-type aerial work platform according to claim 5, wherein the wheel assembly comprises two front wheel supports rotatably mounted on the chassis, correspondingly mounted on the two The two front wheels on the front wheel support, the two rear wheel supports rotatably installed on the chassis, and the two rear wheels correspondingly installed on the two rear wheel supports, the steering The number of connecting rods is two, and the two are hingedly installed between the two front wheel supports and the chassis, or, the two are hingedly installed between the two rear wheel supports and the chassis. between.
  8. 如权利要求5所述的一种全电动剪叉式高空作业平台，其特征在于，所述轮组件包括能够转动地安装在所述底盘上的两个前轮支座、对应安装在两个所述前轮支座上的两个前轮、能够转动地安装在所述底盘上的两个后轮支座以及对应安装在两个所述后轮支座上的两个后轮，所述转向连杆的数量为四根，这四根所述转向连杆对应铰接在两个所述前轮支座与所述底盘之间、两个所述后轮支座与所述底盘之间。The all-electric scissor-type aerial work platform according to claim 5, wherein the wheel assembly comprises two front wheel supports rotatably mounted on the chassis, correspondingly mounted on the two The two front wheels on the front wheel support, the two rear wheel supports rotatably installed on the chassis, and the two rear wheels correspondingly installed on the two rear wheel supports, the steering The number of connecting rods is four, and the four steering connecting rods are correspondingly hinged between the two front wheel supports and the chassis, and between the two rear wheel supports and the chassis.
  9. 如权利要求5至8中任意一项所述的一种全电动剪叉式高空作业平台，其特征在于，所述电动转向控制部件为电动直线驱动器。The all-electric scissor-type aerial work platform according to any one of claims 5 to 8, wherein the electric steering control component is an electric linear drive.
  10. 如权利要求1所述的一种全电动剪叉式高空作业平台，其特征在于，所述轮组件包括两个前轮和两个后轮，所述电动驱动部件为分别对应用于驱动两个所述前轮的两个驱动电机，或者，所述电动驱动部件为分别对应用于驱动两个所述后轮的两个驱动电机，或者，所述电机驱动部件为分别对应用于驱动两个所述前轮和两个所述后轮的四个驱动电机。The all-electric scissor-type aerial work platform according to claim 1, wherein the wheel assembly comprises two front wheels and two rear wheels, and the electric driving components are respectively corresponding to driving the two The two drive motors of the front wheels, or the electric drive components are respectively corresponding to the two drive motors used to drive the two rear wheels, or the motor drive components are respectively corresponding to the two drive motors used to drive the two rear wheels. Four drive motors for the front wheels and two of the rear wheels.
  11. 如权利要求1所述的一种全电动剪叉式高空作业平台，其特征在于，所述底盘的下部设置有供电模块，所述电动举升控制部件、所述电动转向控制部件、所述电动驱动部件以及所述控制单元均电连接至所述供电模块。The all-electric scissor-type aerial work platform according to claim 1, wherein a power supply module is arranged on the lower part of the chassis, the electric lift control part, the electric steering control part, the electric Both the driving part and the control unit are electrically connected to the power supply module.
  12. 如权利要求1所述的一种全电动剪叉式高空作业平台，其特征在于，所述控制单元还包括连接至所述整机控制器的操控手柄以及故障预警检测模块。The all-electric scissor-type aerial work platform according to claim 1, wherein the control unit further comprises a control handle connected to the whole machine controller and a fault early warning detection module.
PCT/CN2021/124060 2021-02-08 2021-10-15 Fully electric scissor-type aerial work platform WO2022166251A1 (en)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
CN202110179998.6 2021-02-08
CN202110179998.6A CN112850595A (en) 2021-02-08 2021-02-08 Full-electric scissor-type aerial work platform

Publications (1)

Publication Number Publication Date
WO2022166251A1 true WO2022166251A1 (en) 2022-08-11

Family

ID=75989525

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/CN2021/124060 WO2022166251A1 (en) 2021-02-08 2021-10-15 Fully electric scissor-type aerial work platform

Country Status (2)

Country Link
CN (1) CN112850595A (en)
WO (1) WO2022166251A1 (en)

Families Citing this family (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN112850595A (en) * 2021-02-08 2021-05-28 江苏汇智高端工程机械创新中心有限公司 Full-electric scissor-type aerial work platform
CN113233394B (en) * 2021-06-02 2022-04-22 江苏汇智高端工程机械创新中心有限公司 Scissor-fork type aerial work platform control method and system
CN113830011A (en) * 2021-08-31 2021-12-24 江苏汇智高端工程机械创新中心有限公司 Complete machine control system and method for full-electric scissor-type aerial work platform
CN114180489A (en) * 2021-11-27 2022-03-15 北京理工大学 Lifting vehicle of self-boarding platform

Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US3961681A (en) * 1974-07-01 1976-06-08 Up-Right, Inc. Mobile scaffold with series-connected hydraulic motor drive
CN101844559A (en) * 2009-03-27 2010-09-29 雷蒙德股份有限公司 Be used to keep the system and method for the dynamic stability of materials handling vehicle
CN203006872U (en) * 2012-12-04 2013-06-19 南京尤马特机械有限公司 Self-walking scissor fork type lifting platform
CN206307958U (en) * 2016-05-19 2017-07-07 山东农业大学 One kind can transversal stretching greenhouse transport vehicle hoistable platform
CN112850595A (en) * 2021-02-08 2021-05-28 江苏汇智高端工程机械创新中心有限公司 Full-electric scissor-type aerial work platform

Family Cites Families (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP3628190B2 (en) * 1998-11-06 2005-03-09 株式会社アイチコーポレーション Work vehicle cooling device operation control device
CN101648691A (en) * 2008-08-13 2010-02-17 徐州重型机械有限公司 High-altitude operation engineering machinery and working platform monitoring system thereof
CN202294610U (en) * 2011-08-19 2012-07-04 上海太腾机械设备有限公司 Car synchronization system used in full-hydraulic module cars
CN203006842U (en) * 2012-12-04 2013-06-19 南京尤马特机械有限公司 Self-walking scissor fork type lifting platform
CN105858563B (en) * 2016-06-21 2018-07-03 浙江鼎力机械股份有限公司 The scissor aerial work platform of rear-guard front steering
CN207498011U (en) * 2017-11-14 2018-06-15 湖北脉辉科技有限公司 A kind of self-propelled aerial work platform of the double EPS electrical steerings mechanisms of double drive
CN111877450B (en) * 2020-07-09 2021-12-14 江苏汇智高端工程机械创新中心有限公司 Emergency driving system and control method for ultra-large electric transmission wheel type loader

Patent Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US3961681A (en) * 1974-07-01 1976-06-08 Up-Right, Inc. Mobile scaffold with series-connected hydraulic motor drive
CN101844559A (en) * 2009-03-27 2010-09-29 雷蒙德股份有限公司 Be used to keep the system and method for the dynamic stability of materials handling vehicle
CN203006872U (en) * 2012-12-04 2013-06-19 南京尤马特机械有限公司 Self-walking scissor fork type lifting platform
CN206307958U (en) * 2016-05-19 2017-07-07 山东农业大学 One kind can transversal stretching greenhouse transport vehicle hoistable platform
CN112850595A (en) * 2021-02-08 2021-05-28 江苏汇智高端工程机械创新中心有限公司 Full-electric scissor-type aerial work platform

Also Published As

Publication number Publication date
CN112850595A (en) 2021-05-28

Similar Documents

Publication Publication Date Title
WO2022166251A1 (en) Fully electric scissor-type aerial work platform
CN103348065A (en) Hybrid construction machine
CN109911055A (en) Unmanned barrier-exceeding vehicle
CN104326400A (en) Ridden-driven fully-electric pallet truck and mounting and use methods thereof
CN103879889A (en) Automatic sliding contact line electricity taking device
CN112590558A (en) Pantograph based on double-source power truck
CN206171657U (en) Bearing structure of falling tricycle
CN207826384U (en) Mobile vehicle bridge mounting plate
CN212503871U (en) Multifunctional electric power engineering vehicle
CN210286665U (en) Overhead working truck with anti-toppling structure
CN207267952U (en) Articulated car band carries the hoofing part mechanism of running gear
CN202131051U (en) Medicine spray box lifting device of self-propelled spray machine
CN206509466U (en) Lifting mechanism of buffer device centralized forging manipulator
CN214455261U (en) Car puller rack cylinder fixing structure and cantilever lifting system
CN206154286U (en) Forklift robot
CN212313562U (en) City rail vehicle transfers changes parallel robot
CN202378945U (en) Novel steering structure for loader
CN101787404B (en) Blast-furnace tuyere maintenance vehicle
JP6140391B2 (en) Linked travel system
CN108657057A (en) Car transporter
CN102935482B (en) Synchronous connecting rod forwardly-connected forging manipulator
CN217808448U (en) Sequential telescopic hydraulic system
CN206983787U (en) A kind of vehicle seat lifting mechanism
CN110492383A (en) A kind of liftable obstacle detouring electric aerodyne
CN204755436U (en) A hydraulic drive mechanism for transporting trailer

Legal Events

Date Code Title Description
121 Ep: the epo has been informed by wipo that ep was designated in this application

Ref document number: 21924248

Country of ref document: EP

Kind code of ref document: A1

NENP Non-entry into the national phase

Ref country code: DE

122 Ep: pct application non-entry in european phase

Ref document number: 21924248

Country of ref document: EP

Kind code of ref document: A1