Swing arm type double-wheel-track composite special engineering vehicle chassis

[0028] The present invention will be described below in conjunction with specific embodiments:

[0029] Reference attached figure 1 , The swing arm type double-section wheel-track composite special engineering vehicle chassis in this embodiment includes a frame 1, a main bridge assembly, a half-bridge assembly and an outrigger assembly. The overall structure is symmetrical from front to back and from left to right.

[0030] The main axle assembly includes a main axle 3, main wheels 12 and a main axle steering cylinder 10. The main axle is divided into two front and rear main axles, and the front and rear main axles are symmetrically fixed at the bottom of the frame; the two ends of the main axle are respectively connected to the main wheels by their respective rotating brackets 8, and each main wheel is connected by its own hydraulic motor 9 independent drive. The end of the main axle steering cylinder is hinged to the middle of the main axle, and the output end of the main axle steering cylinder is hinged to the respective rotating brackets to provide steering power for the main wheels.

[0031] The half-bridge assembly includes half-bridge 6, half-bridge wheels 16, half-bridge steering cylinder 7, swing arm 4, telescopic arm 5, and swing arm cylinder 13. The outer end of the half-bridge is connected to the half-bridge wheels through a rotating bracket, and each half-bridge wheel is independently driven by its own hydraulic motor. The half-bridge and the half-bridge wheels are in one-to-one correspondence, and the half-bridges are independent of each other. The end of the half-axle steering cylinder is hinged to the middle of the half-axle, and the output end of the half-axle steering cylinder is hingedly connected to the respective rotating brackets to provide steering power for the half-axle wheels.

[0032] Each half bridge corresponds to two sets of parallel telescopic arms and swing arms, refer to the attached Figure 4 , The telescopic arm is coaxially sleeved with the swing arm, the outer end of the swing arm is hingedly connected with the frame, and the outer end of the telescopic arm is fixedly connected with the half bridge. A telescopic arm cylinder 26 is installed between the swing arm and the telescopic arm. Both ends of the telescopic arm cylinder are hinged with the pin 25 on the swing arm and the pin 27 on the telescopic arm. The telescopic arm cylinder provides the telescopic arm for telescopic movement in the swing arm. The output end of the telescopic boom cylinder can be controlled and locked by the pin shaft, which meets the requirements of the vehicle when the vehicle uses tire driving and wheel-leg walking.

[0033] Reference attached figure 2 , The end of the swing arm cylinder is connected with the frame hinge, the output end of the swing arm cylinder is hinged with the end of the front bracket and the end of the rear bracket, the other end of the front bracket is hinged with the middle of the swing arm, and the other end of the rear bracket is connected with the hinge of the middle of the swing arm. The frame is hinged, and the swing arm cylinder is located between the front bracket and the rear bracket, so the swing arm 4, the front bracket 15, the rear bracket 14 and the frame 1 form a four-link mechanism, and the swing arm cylinder 13 provides power to achieve swing The swing of the arm 4.

[0034] The leg assembly includes a leg support 11 and a leg 2. The outrigger frame is fixed on the frame, and the four outriggers are arranged in pairs on both sides of the outrigger frame. Such as image 3 As shown, each leg includes a lateral leg rod 17, a longitudinal leg cylinder, and a leg 24. The lateral outrigger rod is installed on the outrigger frame, and is parallel to the main axle, and can extend and contract laterally in the outrigger frame. The horizontal outriggers are connected with the swing cylinder mounting flange 19 through bolts, the swing cylinder mounting flange 19 is connected with the swing cylinder 18 through bolts, the swing cylinder 18 is connected with the longitudinal outrigger shaft 21, and the longitudinal outrigger shaft 21 is connected to the swing cylinder through a rolling bearing 20 The mounting flange 19 is connected, and the shaft of the longitudinal outrigger is driven to rotate by a swing cylinder. The longitudinal outrigger cylinder is perpendicular to the horizontal outrigger rod, the longitudinal outrigger cylinder tube 22 is fixedly connected to the longitudinal outrigger shaft 21, and the outer end of the longitudinal outrigger cylinder rod 23 is fixedly connected to the feet. Each leg has 3 degrees of freedom, including the telescopic movement of the lateral leg rod 17 in the leg frame, the rotation of the longitudinal leg shaft 21 around the lateral leg rod 17 and the telescopic motion of the longitudinal leg cylinder rod 23. When the outriggers work, first the horizontal outrigger rods are extended, the longitudinal outrigger shaft rotates along the horizontal outriggers from horizontal to vertical, and then the outriggers extend until the vehicle is supported to the desired height. The 4 outriggers contract during the movement, making the entire layout compact and conducive to the movement and steering of the machine.

[0035] Such as figure 2 As shown, the machine is in a wheeled chassis running state. At this time, the swing arm cylinder 13 is in an extended state. Through the swing arm four-link mechanism, the four half-bridge wheels are retracted upwards. The entire chassis is supported by the four main wheels. The hydraulic motor drives forward, through the expansion and contraction of the main axle steering cylinder, the deflection angle of the main wheels is adjusted to achieve steering. The whole machine runs fast and has good maneuverability, and the tires do not damage the road surface during operation.

[0036] Such as Figure 5-1 Shown. The machine is in the crawler running state. At this time, the swing arm cylinder 13 is contracted. Through the swing arm four-bar linkage mechanism, the four half-bridge wheels and the four main wheels are grounded at the same time, and then the crawler is fitted between the main wheels and the half-bridge wheels. Pushed by the telescopic boom cylinder, the telescopic boom expands and contracts in the swing arm to adjust the tension of the crawler belt. The left and right crawlers are broken double-section crawlers; and Figure 5-2 , 5-3 , As shown in 5-4, you can adjust the telescopic length of the swing arm cylinder to drive the pitch of the half-bridge wheels to adapt to different terrain. The main wheels and the half-bridge wheels are combined to drive the crawlers, and the steering is realized through the differential speed of each crawler. In this way, the entire chassis has a large driving force and a small connection pressure, so the off-road performance and stability are good, the climbing ability is large, and the turning radius is small, and the flexibility is good.

[0037] Such as Image 6 As shown, the swing arm type double-section wheel-track composite special engineering vehicle chassis structure proposed by the present invention is conducive to convenient switching to the wheel-leg walking mode. The specific solution is that the four swing arm cylinders continue to shrink and pass the swing arm The four-bar linkage mechanism keeps the four main wheels off the ground and the four half-axle wheels support the whole vehicle. Since the four half-axle wheels are independent of each other, the four half-axle wheels are adjusted by the extension of the four swing arm cylinders. It can be used to walk on different roads, especially when there is a certain slope of the road to make the boarding in a horizontal state.

[0038] Such as Figure 7 As shown, the machine is in the working state of outrigger support. At this time, the four swing arm cylinders 13 are in a contracted state. Through the swing arm four-link mechanism, the four half-bridge wheels are retracted upwards, and at the same time, the horizontal support is supported according to the working environment. The leg rod extends to the desired length, and then the longitudinal leg shaft 21 drives the longitudinal leg cylinder rod 23 to swing to the vertical direction under the push of the swing cylinder, and the longitudinal leg cylinder rod 23 extends until the main wheel leaves the ground. It is convenient for machinery to perform related operations.