A variable-distance transport vehicle

Abstract

The present invention discloses a variable-distance operation transport vehicle, which includes a vehicle body and wheels. A plurality of sets of quadrilateral double variable hangers are provided at the bottom of the vehicle body; the quadrilateral variable-distance mechanism can drive the rear wheels of the vehicle body to swing with an amplitude of 180 degrees relative to the vehicle body, and the position of the rear wheels of the vehicle body always remains parallel to the vehicle body; when the quadrilateral variable-distance mechanism drives the rear wheels of the vehicle body to swing toward the front end of the vehicle body, the wheelbase of the rear side of the vehicle body becomes smaller, and the wheelbase of the front and rear of the vehicle body becomes smaller; when the quadrilateral variable-distance mechanism drives the rear wheels of the vehicle body to swing 90 degrees toward both sides of the vehicle body, the wheelbase of the rear side of the vehicle body becomes larger, and the wheelbase of the front and rear of the vehicle body becomes larger; when the quadrilateral variable-distance mechanism drives the rear wheels of the vehicle body to swing toward the rear end of the vehicle body, the wheelbase of the rear side of the vehicle body becomes smaller, and the wheelbase of the front and rear of the vehicle body becomes larger. The variable-distance operation transport vehicle can change the wheelbase and wheelbase through the quadrilateral double variable hangers, so that the operation vehicle can meet various operation environments.

Description

Technical Field

[0001] The present invention relates to the technical field of vehicle engineering, and in particular to a variable-distance operation transport vehicle. Background Art

[0002] A work vehicle is a four-wheel vehicle loaded with special equipment or tools for special operations. The work vehicle needs to be able to adapt to various working environments. Most existing work vehicles use ordinary bodies, and the wheelbase and track of the work vehicle cannot be adjusted, which results in the existing work being able to only travel on relatively flat and wide roads, and cannot adapt well to narrow and rugged mountain roads. Summary of the invention

[0003] To solve the above problems, the present invention provides a variable-distance work truck, which can change the wheelbase and track, so that the work vehicle can not only travel on relatively flat and wide roads, but also on narrow and rugged mountain roads, meeting various working environments.

[0004] The technical solution adopted by the present invention is:

[0005] A variable-distance transport vehicle, comprising a vehicle body, wheels and a power device, wherein a plurality of sets of quadrilateral double-variable hangers are arranged at the bottom of the vehicle body; the quadrilateral double-variable hangers are symmetrically mounted on both sides of the middle section and / or rear end of the bottom of the vehicle body through connecting hangers under the vehicle body and connecting hangers on the vehicle body; the quadrilateral double-variable hangers comprise a connecting rocker arm, a rear suspension shock absorber and a quadrilateral variable-distance mechanism; the connecting rocker arm is parallel to the vehicle body, one end of which is hinged to the connecting hanger under the vehicle body, and the other end of which is connected to the connecting hanger on the vehicle body through the rear suspension shock absorber; one end of the quadrilateral variable-distance mechanism is mounted on the connecting rocker arm, and the other end of the quadrilateral variable-distance mechanism is mounted on the vehicle body Rear wheels; the quadrilateral variable pitch mechanism can drive the rear wheels of the vehicle body to swing with an amplitude of 180 degrees relative to the vehicle body, and the position of the rear wheels of the vehicle body always remains parallel to the vehicle body; when the quadrilateral variable pitch mechanism drives the rear wheels of the vehicle body to swing toward the front end of the vehicle body, the wheel track of the rear side of the vehicle body becomes smaller and the wheelbase of the front and rear of the vehicle body becomes smaller; when the quadrilateral variable pitch mechanism drives the rear wheels of the vehicle body to swing 90 degrees to the two side ends of the vehicle body, the wheel track of the rear side of the vehicle body becomes larger and the wheelbase of the front and rear of the vehicle body becomes larger; when the quadrilateral variable pitch mechanism drives the rear wheels of the vehicle body to swing toward the rear end of the vehicle body, the wheel track of the rear side of the vehicle body becomes smaller and the wheelbase of the front and rear of the vehicle body becomes larger.

[0006] Furthermore, the quadrilateral pitch-changing mechanism is a parallelogram structure as a whole, which includes a positioning connecting plate, four single-hole sleeve connecting rods, four double-hole sleeve connecting rods, two swing load-bearing beams, a swing regulating beam and a trapezoidal positioning connecting plate; the positioning connecting plate is fixedly mounted on the connecting rocker arm through a clamp on the connecting rocker arm; the four single-hole sleeve connecting rods and the four double-hole sleeve connecting rods are symmetrically fixedly mounted on the positioning connecting plate and the trapezoidal positioning connecting plate, respectively, and the four single-hole sleeve connecting rods are located at the upper and lower parts of the positioning connecting plate and the trapezoidal positioning connecting plate, and the four double-hole sleeve connecting rods are located in the middle of the positioning connecting plate and the trapezoidal positioning connecting plate; the two swing load-bearing beams are located at The two swing load-bearing beams are on the same horizontal plane in the vertical direction, and are parallel to each other. The swing regulating beam is parallel to the two swing load-bearing beams in the horizontal direction, and has a certain distance from the two swing load-bearing beams. The swing load-bearing beam is installed between the single-hole shaft sleeve connecting rod and the double-hole shaft sleeve connecting rod, and the swing regulating beam is installed between the double-hole shaft sleeve connecting rod. One end of the swing load-bearing beam and the swing regulating beam is rotatably connected to the positioning connecting plate through the single-hole shaft sleeve connecting rod and the double-hole shaft sleeve connecting rod, and the other end of the swing load-bearing beam and the swing regulating beam is rotatably connected to the trapezoidal positioning connecting plate through the single-hole shaft sleeve connecting rod and the double-hole shaft sleeve connecting rod; the wheel is installed at the bottom or outside of the single-hole shaft sleeve connecting rod at the lower part of the trapezoidal positioning connecting plate.

[0007] Furthermore, the swing load-bearing beam, the swing regulating beam and the positioning connecting plate cooperate with the single-hole sleeve connecting rod, the double-hole sleeve connecting rod and the trapezoidal positioning connecting plate cooperate with the single-hole sleeve connecting rod and the double-hole sleeve connecting rod to form a parallelogram structure on the horizontal plane; wherein, when the rear suspension shock absorber is not extended or retracted, the positioning connecting plate cooperates with the single-hole sleeve connecting rod and the double-hole sleeve connecting rod to fix its position relative to the vehicle body; the trapezoidal positioning connecting plate cooperates with the single-hole sleeve connecting rod and the double-hole sleeve connecting rod to drive the wheel to swing with an amplitude of 180 degrees relative to the vehicle body through the swing load-bearing beam and the swing regulating beam.

[0008] Furthermore, a double-beam self-balancing bogie is provided in the middle of the front end of the bottom of the vehicle body, and the double-beam self-balancing bogie is connected to the vehicle body through the vehicle body connecting column and the vehicle body bottom beam; the double-beam self-balancing bogie comprises a main complex, a secondary complex, a vertical motion main body, a vertical motion secondary body and a force balancing mechanism; the main complex is fixedly connected to the vehicle body bottom beam; the vertical motion main body is symmetrically arranged on both sides of the main complex, and is located in the same plane with the main complex in the vertical direction, the vertical motion main body is connected to the main complex through a pair of parallel connecting lower beams and a pair of parallel connecting upper beams, the vertical motion main body can swing relative to the main complex through the connecting lower beam and the connecting upper beam, and the position of the vertical motion main body always remains parallel to the main complex; the vertical motion secondary body is symmetrically arranged on both sides of the secondary complex, and is located in the same plane with the secondary complex in the vertical direction, The moving sub-body is connected to the sub-combination through a steering connecting rod, and the vertical moving sub-body can swing relative to the sub-combination through the steering connecting rod, and the position of the vertical moving sub-body always remains parallel to the sub-combination; the sub-combination is parallel to the main complex, and the sub-combination is close to the front end of the vehicle body, the sub-combination is connected to the top of the main complex through a pair of parallel steering rods, and the bottoms of the two vertical moving sub-bodies are connected to the vertical moving main body through a pair of parallel steering arm rods, the sub-combination can swing relative to the main complex through the steering rod, and the position of the sub-combination always remains parallel to the main complex; the force balancing mechanism can be rotatably installed on the vehicle body connecting column, and the tops of the two vertical moving main bodies are respectively connected to the force balancing mechanism, so that the two vertical moving main bodies and the two vertical moving sub-bodies are force balanced; the wheels are installed at the bottom or outside of the steering arm rod.

[0009] Furthermore, the main complex, the auxiliary complex and the steering rod form a parallelogram structure on the horizontal plane; the main complex, the vertical moving body, the connecting lower beam and the connecting upper beam form a parallelogram structure on the vertical plane; the connecting lower beam, the connecting upper beam, the steering arm and the steering rod form a parallelogram structure in the horizontal projection direction.

[0010] Furthermore, the main complex includes four right-angle ear connecting plates and two bearing sleeves; right-angle ear connecting plates are symmetrically provided on both sides of each bearing, the outer wall of the bearing is fixedly connected to the right-angle ear connecting plates, and a gap is left between the four right-angle ear connecting plates for the vehicle body bottom beam to pass through, and the two bearing sleeves are symmetrically fixedly installed on the vehicle body bottom beam through the four right-angle ear connecting plates; a radial bearing is provided inside the bearing sleeve, and the bearing sleeve is rotatably installed with a steering control shaft with one end exposed to the outside of the bearing sleeve through the radial bearing; one end of the steering rod is fixedly connected to the end of the steering control shaft exposed to the outside of the bearing sleeve; the right-angle ear connecting plates and the bearing sleeves are provided with screw holes for matching the hinged installation of the connecting lower beam and the connecting upper beam, and one end of a pair of connecting lower beams and a pair of parallel connecting upper beams are hinged to the right-angle ear connecting plates and the bearing sleeves through screw holes, and the connecting lower beam is parallel to the connecting upper beam.

[0011] Furthermore, the vertically moving body includes a sleeve, a radial bearing, a thrust bearing and a steering shaft; the sleeve is a cylindrical structure, a top of which is provided with a mounting hole hinged to a force balancing mechanism, the interior of which is hollow and the bottom is open; the upper end of the steering shaft is inserted into the sleeve through the bottom opening of the sleeve, and is rotatably connected to the sleeve through the radial bearing and the thrust bearing, and its lower end is exposed outside the sleeve and is fixedly connected to one end of the steering arm; the outer wall of the sleeve is provided with screw holes for hinged installation of a connecting lower beam and a connecting upper beam, and the other ends of a pair of connecting lower beams and a pair of parallel connecting upper beams are hinged to the sleeve through screw holes, and the connecting lower beam is parallel to the connecting upper beam; the axis lines of the two sleeves and the axis lines of the two bearing sleeves of the main complex are parallel or intersecting with each other on the same plane.

[0012] Furthermore, the auxiliary combination includes a lower cross connector and a linkage connector; the linkage connector is N-shaped, the lower cross connector is symmetrically installed on both sides of the linkage connector, and the lower cross connector passes through the linkage connector and can rotate relative to the linkage connector; the lower cross connector passes through the upper end of the linkage connector and is rotatably connected to the other end of the steering rod, and the lower end of the lower cross connector exposed outside the linkage connector is connected to a pin shaft at one end of the steering connecting rod; the vertical motion auxiliary body is an upper cross connector, the upper end of the upper cross connector is connected to a pin shaft at one end of the steering connecting rod, and the lower end of the upper cross connector is rotatably connected to the other end of the steering arm rod.

[0013] Furthermore, the force balancing mechanism includes a front suspension shock absorber, a self-balancing seesaw, a seesaw connecting column head and a seesaw connecting nut; the middle of the self-balancing seesaw is rotatably connected to the seesaw connecting column head, and the seesaw connecting column head passes through the vehicle body connecting column and is threadedly connected to the seesaw connecting nut; the self-balancing seesaw can rotate relative to the seesaw connecting column head, and mounting holes hinged to the front suspension shock absorber are provided on both sides; the front suspension shock absorber is symmetrically arranged, one end of the front suspension shock absorber is hinged to the self-balancing seesaw, and the other end is hinged to the top of the vertically moving body.

[0014] Furthermore, the power device is a wheel hub motor, which is installed on the wheel; in two-wheel drive, the wheel with the wheel hub motor is installed on a set of quadrilateral double-variable brackets, and in four-wheel drive, the wheel with the wheel hub motor is installed on a set of quadrilateral double-variable brackets and a double-beam self-balancing bogie.

[0015] The beneficial effects of the present invention are:

[0016] The bottom of the body of the variable-pitch operation transporter is provided with a plurality of sets of quadrilateral double-variable hangers. The quadrilateral variable-pitch mechanism can drive the rear wheels of the vehicle body to swing 180 degrees relative to the vehicle body, and the position of the rear wheels of the vehicle body always remains parallel to the vehicle body; when the quadrilateral variable-pitch mechanism drives the rear wheels of the vehicle body to swing toward the front end of the vehicle body, the wheelbase of the rear side of the vehicle body becomes smaller, and the wheelbase of the front and rear of the vehicle body becomes smaller. Under this adjustment state, the operation vehicle can meet the operation environment of narrow roads and many winding roads. Since the wheelbase becomes smaller, it can adapt to narrow roads, and since the wheelbase of the front and rear of the vehicle body becomes smaller, the turning radius of the operation vehicle is reduced; when the quadrilateral variable-pitch mechanism drives the rear wheels of the vehicle body to swing toward the two sides of the vehicle body When it swings 90 degrees, the wheelbase at the rear of the vehicle becomes the largest, and the wheelbase at the front and rear of the vehicle becomes larger. In this adjustment state, the work vehicle can meet the working environment of maintaining vehicle driving stability on wide roads. Relatively increasing the wheelbase and wheelbase can lower the center of gravity of the vehicle body, thereby increasing the driving stability of the work vehicle; when the quadrilateral variable pitch mechanism drives the wheels at the rear of the vehicle body to swing toward the rear end of the vehicle body, the wheelbase at the rear of the vehicle body becomes smaller and the wheelbase at the front and rear of the vehicle body becomes the largest. In this adjustment state, the work vehicle can meet the working environment of narrow road slopes. Since the wheelbase becomes smaller, it can adapt to narrow roads. Since the wheelbase at the front and rear of the vehicle body becomes the largest, the anti-pitch and yaw performance of the work vehicle is increased.

[0017] The variable-distance work truck is also equipped with a double-beam self-balancing bogie in the middle of the front end of the bottom of the vehicle body. In addition to meeting the normal vehicle driving and steering requirements, the double-beam self-balancing bogie can also ensure the force balance of the front wheels of the vehicle body, while ensuring that the front wheels of the vehicle body are always in contact with the ground, which allows the work vehicle to travel on bumpy roads with high stability. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the following briefly introduces the drawings required for describing the embodiments. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without creative labor. Among them:

[0019] Figure 1 It is a schematic diagram of the overall structure of the vehicle body side of the present invention;

[0020] Figure 2 It is a schematic diagram of the top surface structure of the quadrilateral double-variable hanger of the present invention;

[0021] Figure 3 It is a front structural schematic diagram of the quadrilateral double-variable hanger of the present invention;

[0022] Figure 4 It is a schematic diagram of the side structure of the quadrilateral double-variable hanger of the present invention;

[0023] Figure 5 It is a schematic diagram of the top surface structure of the double-beam self-balancing bogie of the present invention;

[0024] Figure 6 It is a schematic diagram of the side structure of the double-beam self-balancing bogie of the present invention;

[0025] Figure 7 It is a schematic diagram of the connection relationship between the main combined body and the vertical moving body of the double-beam self-balancing bogie of the present invention;

[0026] Figure 8 It is a schematic diagram of the connection relationship between the auxiliary combined body and the vertical motion auxiliary body of the double-beam self-balancing bogie of the present invention;

[0027] Figure 1—8, 1—body, 2—wheel, 3—quadrilateral double variable hanger, 4—body lower connecting lug, 5—body upper connecting lug, 6—connecting rocker arm, 7—rear suspension shock absorber, 8—quadrilateral variable pitch mechanism, 9—positioning connecting plate, 10—single-hole bushing connecting rod, 11—double-hole bushing connecting rod, 12—swing load-bearing beam, 13—swing regulating beam, 14—trapezoidal positioning connecting plate, 15—double-beam self-balancing bogie, 16—body connecting column, 17—body bottom beam, 18—main complex, 19—sub-combination, 20—vertical moving main body, 21—vertical moving sub-body, 22—force Balancing mechanism, 23—connecting lower beam, 24—connecting upper beam, 25—steering connecting rod, 26—steering rod, 27—steering arm rod, 28—right-angle lifting ear connecting plate, 29—bearing sleeve, 30—radial bearing, 31—steering control shaft, 32—screw hole, 33—shaft sleeve, 34—radial bearing, 35—thrust bearing, 36—steering shaft, 37—mounting hole, 38—lower cross connector, 39—linking connector, 40—upper cross connector, 41—front suspension shock absorber, 42—self-balancing rocker, 43—rocker connecting column head, 44—rocker connecting nut, 45—mounting hole. DETAILED DESCRIPTION

[0028] The following will be combined with the accompanying drawings of the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0029] Example 1

[0030] like Figure 1 As shown, the present embodiment discloses a variable-length work truck, which includes a body 1, wheels 2 and a power device, wherein a plurality of sets of quadrilateral double-variable hangers 3 are provided at the bottom of the body 1; when the body 1 of the work truck is not long, the quadrilateral double-variable hangers 3 are symmetrically installed on both sides of the rear end of the bottom of the body 1 through connecting ears 4 under the body and connecting ears 5 on the body; when the body 1 of the work truck is long, the quadrilateral double-variable hangers 3 are symmetrically installed on both sides of the middle section and the rear end of the bottom of the body 1 through connecting ears 4 under the body and connecting ears 5 on the body.

[0031] Specifically, the present embodiment provides a specific structure of the quadrilateral double variable hanger 3, such as Figure 1As shown in FIG. 2 , the quadrilateral double variable hanger 3 includes a connecting rocker arm 6, a rear suspension shock absorber 7 and a quadrilateral variable pitch mechanism 8. The connecting rocker arm 6 is parallel to the vehicle body 1, one end of the connecting rocker arm 6 is hinged to the connecting hook 4 under the vehicle body, and the other end of the connecting rocker arm 6 is connected to the connecting hook 5 on the vehicle body through the rear suspension shock absorber 7. One end of the quadrilateral variable pitch mechanism 8 is fixedly mounted on the connecting rocker arm 6, and the other end of the quadrilateral variable pitch mechanism 8 is mounted on the rear wheel 2 of the vehicle body 1; the quadrilateral variable pitch mechanism 8 can drive the rear wheel 2 of the vehicle body 1 to swing with an amplitude of 180 degrees relative to the vehicle body 1, and the position of the rear wheel 2 of the vehicle body 1 always remains parallel to the vehicle body 1.

[0032] The specific structure of the quadrilateral pitch-changing mechanism 8 is also provided in this embodiment. Figure 2 As shown in FIG. 4 , the quadrilateral pitch-changing mechanism 8 is a parallelogram structure as a whole, and the quadrilateral pitch-changing mechanism 8 includes a positioning connecting plate 9, four single-hole sleeve connecting rods 10, four double-hole sleeve connecting rods 11, two swing load-bearing beams 12, a swing regulating beam 13 and a trapezoidal positioning connecting plate 14. Among them, the positioning connecting plate 9 is fixedly mounted on the connecting rocker arm 6 through a clamp on the connecting rocker arm 6; the four single-hole sleeve connecting rods 10 and the four double-hole sleeve connecting rods 11 are symmetrically fixedly mounted on the positioning connecting plate 9 and the trapezoidal positioning connecting plate 14, respectively, and the four single-hole sleeve connecting rods 10 are located at the upper and lower parts of the positioning connecting plate 9 and the trapezoidal positioning connecting plate 14, and the four double-hole sleeve connecting rods 11 are located in the middle of the positioning connecting plate 9 and the trapezoidal positioning connecting plate 14; the two swing load-bearing beams 12 are located on the same horizontal plane in the vertical direction, and the two swing load-bearing beams 12 are parallel, and the swing regulating beam 13 is horizontal to the two swing load-bearing beams 12. The swing load-bearing beam 12 is parallel to the top and has a certain distance with the two swing load-bearing beams 12. The swing load-bearing beam 12 is installed between the single-hole sleeve connecting rod 10 and the double-hole sleeve connecting rod 11, and the swing regulating beam 13 is installed between the double-hole sleeve connecting rod 11. One end of the swing load-bearing beam 12 and the swing regulating beam 13 is rotatably connected to the positioning connecting plate 9 through the single-hole sleeve connecting rod 10 and the double-hole sleeve connecting rod 11, and the other end of the swing load-bearing beam 12 and the swing regulating beam 13 is rotatably connected to the trapezoidal positioning connecting plate 14 through the single-hole sleeve connecting rod 10 and the double-hole sleeve connecting rod 11; the wheel 2 is installed at the bottom or outside of the single-hole sleeve connecting rod 10 at the bottom of the trapezoidal positioning connecting plate 14.

[0033] The variable-distance transport vehicle uses a quadrilateral double variable hanger 3 to adjust the wheelbase and track width of the vehicle body 1:

[0034] Since the swing load-bearing beam 12, the swing regulating beam 13 and the positioning connecting plate 9 of the quadrilateral pitch changing mechanism 8 cooperate with the single-hole sleeve connecting rod 10, the double-hole sleeve connecting rod 11 and the trapezoidal positioning connecting plate 14 cooperate with the single-hole sleeve connecting rod 10, the double-hole sleeve connecting rod 11 to form a parallelogram structure on the horizontal plane; therefore, by utilizing the instability of the quadrilateral structure, the load-bearing beam and the swing regulating beam 13 can drive the trapezoidal positioning connecting plate 14 and the wheel 2 to rotate with the positioning connecting plate 9 as the axis through the single-hole sleeve connecting rod 10, the double-hole sleeve connecting rod 11; specifically, the trapezoidal positioning connecting plate 14 cooperates with the single-hole sleeve connecting rod 10, the double-hole sleeve connecting rod 11 through the swing load-bearing beam 12 and the swing regulating beam 13 to drive the wheel 2 to swing with an amplitude of 180 degrees relative to the vehicle body 1. When the quadrilateral variable pitch mechanism 8 drives the rear wheels 2 of the vehicle body 1 to swing toward the front end of the vehicle body 1, the wheel track of the rear side of the vehicle body 1 becomes smaller and the wheelbase of the front and rear of the vehicle body 1 becomes smaller; when the quadrilateral variable pitch mechanism 8 drives the rear wheels 2 of the vehicle body 1 to swing 90 degrees toward the two side ends of the vehicle body 1, the wheel track of the rear side of the vehicle body 1 becomes larger and the wheelbase of the front and rear of the vehicle body 1 becomes larger; when the quadrilateral variable pitch mechanism 8 drives the rear wheels 2 of the vehicle body 1 to swing toward the rear end of the vehicle body 1, the wheel track of the rear side of the vehicle body 1 becomes smaller and the wheelbase of the front and rear of the vehicle body 1 becomes larger; the changes in the wheel track and wheelbase enable the working vehicle to adapt to various road working environments.

[0035] When the quadrilateral variable pitch mechanism 8 drives the rear wheels 2 of the vehicle body 1 to swing toward the front end of the vehicle body 1, the wheelbase of the rear side of the vehicle body 1 becomes smaller, and the wheelbase of the front and rear of the vehicle body 1 becomes smaller. In this adjustment state, the working vehicle can meet the working environment of narrow roads and many bends. Since the wheelbase becomes smaller, it can adapt to narrow roads. Since the wheelbase of the front and rear of the vehicle body 1 becomes smaller, the turning radius of the working vehicle is reduced; when the quadrilateral variable pitch mechanism 8 drives the rear wheels 2 of the vehicle body 1 to swing 90 degrees toward the two side ends of the vehicle body 1, the wheelbase of the rear side of the vehicle body 1 becomes maximum, and the wheelbase of the front and rear of the vehicle body 1 becomes larger. In this adjustment state, the working vehicle can meet the working environment of narrow roads and many bends. Since the wheelbase becomes smaller, it can adapt to narrow roads. Since the wheelbase of the front and rear of the vehicle body 1 becomes smaller, the turning radius of the working vehicle is reduced. The working vehicle can meet the working environment of maintaining vehicle driving stability on a wide road. The relatively increased wheelbase and track can lower the center of gravity of the vehicle body 1, thereby increasing the driving stability of the working vehicle. When the quadrilateral variable pitch mechanism 8 drives the rear wheel 2 of the vehicle body 1 to swing toward the rear end of the vehicle body 1, the wheelbase of the rear side of the vehicle body 1 becomes smaller and the wheelbase of the front and rear of the vehicle body 1 becomes maximum. Under this adjustment state, the working vehicle can meet the working environment of a slope section on a narrow road. Since the wheelbase becomes smaller, it can adapt to narrow roads. Since the wheelbase of the front and rear of the vehicle body 1 becomes maximum, the anti-pitch and yaw performance of the working vehicle is increased.

[0036] In addition, when the vehicle body 1 of the work vehicle remains stable and the rear suspension shock absorber 7 does not extend or retract, the positioning connecting plate 9 and the single-hole sleeve connecting rod 10 and the double-hole sleeve connecting rod 11 thereon are fixed relative to the vehicle body; when the rear suspension shock absorber 7 is extended or retracted, the positioning connecting plate 9 and the single-hole sleeve connecting rod 10 and the double-hole sleeve connecting rod 11 thereon are swung through the connecting rocker arm 6 with the connecting ear 4 under the vehicle body as the axis, so that when the ground is uneven, the rear suspension shock absorber 7 can effectively play a shock-absorbing role.

[0037] Example 2

[0038] As a preferred embodiment of the present technical solution, in addition to the above structure in Example 1, Figure 1 As shown, a double-beam self-balancing bogie 15 is also provided at the middle of the front end of the bottom of the vehicle body 1, and the double-beam self-balancing bogie 15 is connected to the vehicle body 1 through a vehicle body connecting column 16 and a vehicle body bottom beam 17; Figure 5 As shown in FIG. 8 , the double-beam self-balancing bogie 15 includes a main body 18 , a secondary body 19 , a vertically moving main body 20 , a vertically moving secondary body 21 and a force balancing mechanism 22 .

[0039] like Figure 5 As shown in FIG. 7 , the main complex 18 includes four right-angled ear connecting plates 28 and two bearing sleeves 29; right-angled ear connecting plates 28 are symmetrically arranged on both sides of each bearing, and the outer wall of the bearing is fixedly connected to the right-angled ear connecting plates 28, and a gap is left between the four right-angled ear connecting plates 28 for the vehicle body bottom beam 17 to pass through, and the two bearing sleeves 29 are symmetrically fixedly installed on the vehicle body bottom beam 17 through the four right-angled ear connecting plates 28 to form an integral main complex 18. The main complex 18 is connected to the vertical moving body 20 through the connecting lower beam 23 and the connecting upper beam 24, and is connected to the auxiliary complex 19 through the steering rod 26, and is connected to the body 1 through the body bottom beam 17; specifically, the right-angle ear connecting plate 28 and the bearing sleeve 29 are provided with screw holes 32 for matching the connecting lower beam 23 and the connecting upper beam 24 for hinged installation, and one end of a pair of connecting lower beams 23 and a pair of parallel connecting upper beams 24 are hinged to the connecting plate and the bearing sleeve 29 through the screw holes 32, and the connecting lower beam 23 is parallel to the connecting upper beam 24; a radial bearing 30 is provided inside the bearing sleeve 29, and the bearing sleeve 29 is rotatably installed with a steering control shaft 31 with one end exposed outside the bearing sleeve 29 through the radial bearing 30; one end of the steering rod 26 is fixedly sleeved and connected to the end of the steering control shaft 31 exposed outside the bearing sleeve 29.

[0040] like Figure 5As shown in FIG. 7 , the vertical motion body 20 is symmetrically arranged on both sides of the main joint body 18 and is located in the same plane AA as the main joint body 18 in the vertical direction. The vertical motion body 20 is connected to the main joint body 18 through a pair of parallel lower connecting beams 23 and a pair of parallel upper connecting beams 24. The vertical motion body 20 can swing relative to the main joint body 18 through the lower connecting beams 23 and the upper connecting beams 24, and the position of the vertical motion body 20 is always kept parallel to the main joint body 18; the vertical motion body 20 is connected to the vertical motion sub-body 21 through a steering arm 27. Specifically, the vertical motion body 20 includes a shaft sleeve 33, a radial bearing 34, a thrust bearing 35 and a steering shaft 36; the shaft sleeve 33 is a cylindrical structure, and a mounting hole 37 hinged to the force balancing mechanism 22 is provided on the top of the shaft sleeve 33, and the shaft sleeve 33 is hollow inside and the bottom of the shaft sleeve 33 is open. The upper end of the steering shaft 36 is inserted into the sleeve 33 through the bottom opening of the sleeve 33, and is rotatably connected to the sleeve 33 through the radial bearing 34 and the thrust bearing 35. The lower end of the steering shaft 36 is exposed outside the sleeve 33 and is fixedly connected to one end of the steering arm 27. The outer wall of the sleeve 33 is provided with screw holes for hinged installation of the connecting lower beam 23 and the connecting upper beam 24. The other ends of a pair of parallel connecting lower beams 23 and a pair of parallel connecting upper beams 24 are hinged to the sleeve 33 through the screw holes, and the connecting lower beams 23 are parallel to the connecting upper beams 24.

[0041] Furthermore, the axis lines of the two sleeves 33 are parallel to or intersect with the axis lines of the two bearing sleeves 29 of the main complex 18 on the same plane. When the axis lines of the two sleeves 33 intersect with the axis lines of the two bearing sleeves 29 of the main complex 18 on the same plane, the inclination angle of the wheel 2 can be changed; specifically, in the threaded holes on the outer wall of the sleeves 33, when the central axes of the two screw holes are perpendicular to the central axes of the sleeves 33, the axis lines of the two sleeves 33 are parallel to the axis lines of the two bearing sleeves 29 of the main complex 18 on the same plane; when the central axis of one of the screw holes intersects with the central axis of the sleeve 33 at right angles, and the central axis of the other screw hole does not intersect with the central axis of the sleeve 33 at right angles, the axis lines of the two sleeves 33 intersect with the axis lines of the two bearing sleeves 29 of the main complex 18 on the same plane, and the inclination angle of the wheel 2 can be changed at this time.

[0042] like Figure 5 , 6As shown in FIG. 8 , the sub-combination 19 is parallel to the main complex 18, and the sub-combination 19 is close to the front end of the vehicle body 1. The top of the sub-combination 19 and the main complex 18 are connected by a pair of parallel steering rods 26. The bottoms of the two vertically moving sub-combinations 21 are connected to the vertically moving main body 20 by a pair of parallel steering arm rods 27. The sub-combination 19 can swing relative to the main complex 18 through the steering rod 26, and the position of the sub-combination 19 always remains parallel to the main complex 18. Specifically, the sub-combination 19 includes a lower cross connector 38 and a linkage connector 39; the linkage connector 39 is n-shaped, and the lower cross connector 38 is symmetrically installed on both sides of the linkage connector 39, and the lower cross connector 38 passes through the linkage connector 39 and can rotate relative to the linkage connector 39; the lower cross connector 38 passes through the upper end of the linkage connector 39 and is rotatably connected to the other end of the steering rod 26, and the lower end of the lower cross connector 38 exposed outside the linkage connector 39 is connected to a pin shaft at one end of the steering connecting rod 25.

[0043] like Figure 5 , 6 As shown in FIG. 8 , the vertical motion sub-body 21 is symmetrically arranged on both sides of the sub-combination 19, and is located in the same plane BB as the sub-combination 19 in the vertical direction. The vertical motion sub-body 21 is connected to the sub-combination 19 through a steering connecting rod 25. The vertical motion sub-body 21 can swing relative to the sub-combination 19 through the steering connecting rod 25, and the position of the vertical motion sub-body 21 always remains parallel to the sub-combination 19.

[0044] The vertical motion auxiliary body 21 is an upper cross connector 40, the upper end of which is pin-connected to one end of the steering connecting rod 25, and the lower end of which is rotatably connected to the other end of the steering arm 27. The wheel 2 is mounted on the bottom or outside of the steering arm 27.

[0045] like Figure 6As shown in FIG. 7 , the force balancing mechanism 22 is rotatably mounted on the vehicle body connection column 16, and the tops of the two vertical motion bodies 20 are respectively connected to the force balancing mechanism 22, so that the two vertical motion bodies 20 and the two vertical motion sub-bodies 21 are force balanced. Specifically, the force balancing mechanism 22 includes a front suspension shock absorber 41, a self-balancing seesaw 42, a seesaw connection column head 43 and a seesaw connection nut 44; the middle of the self-balancing seesaw 42 is rotatably connected to the seesaw connection column head 43, and the seesaw connection column head 43 passes through the vehicle body connection column 16 and is threadedly connected to the seesaw connection nut 44; the self-balancing seesaw 42 can rotate relative to the seesaw connection column head 43, and both sides of the self-balancing seesaw 42 are provided with mounting holes hinged to the front suspension shock absorber 41; the front suspension shock absorber 41 is symmetrically arranged, one end of the front suspension shock absorber 41 is hinged to the self-balancing seesaw 42, and the other end is hinged to the top of the vertical motion body 20.

[0046] The specific functions of the double-beam self-balancing bogie 15 are as follows:

[0047] Through the specific structures and connection relationships of the main joint body 18, the auxiliary joint body 19, the vertical direction moving main body 20, the vertical direction moving auxiliary body 21, and the force balancing mechanism 22 in this embodiment, as shown in FIG. Figure 5 As shown, the main joint body 18, the auxiliary joint body 19 and the steering rod 26 form a parallelogram structure aa-bb on the horizontal plane; the connecting lower beam 23, the connecting upper beam 24, the steering arm 27 and the steering rod 26 form a parallelogram structure ab-cd in the horizontal projection direction; Figure 7 As shown, the main joint body 18, the vertical motion main body 20, the connecting lower beam 23 and the connecting upper beam 24 form a parallelogram structure ef-gh on the vertical plane. Since the parallelogram structure is unstable, the parallelogram structure aa-bb formed by the main joint body 18, the auxiliary joint body 19 and the steering rod 26 can meet the steering function of the work vehicle; when the work vehicle turns, the vertical plane BB where the vertical motion auxiliary body 21 and the auxiliary joint body 19 are located moves parallel to the left and right relative to the vertical plane AA where the vertical motion main body 20 and the main joint body 18 are located, so that the wheel 2 installed at the bottom or outside of the steering arm 27 can achieve the steering function.

[0048] Since the parallelogram structure is unstable, the parallelogram structure ef-gh formed by the main complex 18, the vertical motion main body 20, the connecting lower beam 23 and the connecting upper beam 24 on the vertical plane can ensure that the wheels 2 of the work vehicle are always in contact with the ground, and cooperate with the force balancing mechanism 22 to ensure the force balance of the front wheel 2 of the vehicle body 1. Specifically, when one side of the road surface is convex and the other side is concave, the vertical motion main body 20 on one side is subjected to the force of the wheel 2 contacting the convex road surface. The vertical motion main body 20 moves upward relative to the main complex 18 through a pair of parallel connecting lower beams 23 and a pair of parallel connecting upper beams 24, and remains parallel to the main complex 18; the vertical motion sub-body 21 moves upward relative to the sub-combination 19 through the steering connecting rod 25, and remains parallel to the sub-combination 19; while the vertical motion main body 20 moves upward, The force is transmitted to one side of the self-balancing seesaw 42 through the front suspension shock absorber 41. Since the self-balancing seesaw 42 can rotate relative to the vehicle body connecting column 16, while one side of the self-balancing seesaw 42 is subjected to the force, a reaction force is formed on the other side, so that the vertical motion main body 20 and the vertical motion sub-body 21 on the other side both move downward, thereby ensuring the force balance of the front wheel 2 of the vehicle body 1 and ensuring that the front wheel 2 of the vehicle body 1 is always in contact with the ground, which satisfies the need for the work vehicle to travel on bumpy roads and has high stability.

[0049] It should be noted that the specific structures and forms of the power device, the control device of the quadrilateral double-variable hanger 3, and the vehicle body direction control device in the above embodiments are not limited. For example:

[0050] The power device can use a hub motor, which is installed on the wheel 2; when the working vehicle is a two-wheel drive, the wheel 2 with the hub motor is installed on a set of quadrilateral double-variable hangers 3 to form a rear-wheel drive mode; when the working vehicle is a four-wheel drive, the wheel 2 with the hub motor is installed on a set of quadrilateral double-variable hangers 3 and a double-beam self-balancing bogie 15 to form a four-wheel drive mode. The control of the quadrilateral double-variable hanger 3 can use existing control devices such as motors and gear transmission structures. The double-beam self-balancing bogie 15 can be connected to existing body direction control devices such as steering wheels and steering shafts through conventional connecting mechanisms to establish a control relationship.

Claims

1. A variable-distance transport vehicle, comprising a vehicle body, wheels and a power device, characterized in that: The bottom of the vehicle body is provided with a plurality of sets of quadrilateral double-variable hangers; The quadrilateral double variable hanger is symmetrically mounted on both sides of the middle section and / or rear end of the bottom of the vehicle body through the connecting hanger under the vehicle body and the connecting hanger on the vehicle body; the quadrilateral double variable hanger includes a connecting rocker arm, a rear suspension shock absorber and a quadrilateral variable pitch mechanism; the connecting rocker arm is parallel to the vehicle body, one end of which is hinged to the connecting hanger under the vehicle body, and the other end of which is connected to the connecting hanger on the vehicle body through the rear suspension shock absorber; one end of the quadrilateral variable pitch mechanism is mounted on the connecting rocker arm, and the other end of the quadrilateral variable pitch mechanism is mounted on the rear wheel of the vehicle body; The quadrilateral variable pitch mechanism can drive the rear wheels of the vehicle body to swing with an amplitude of 180 degrees relative to the vehicle body, and the position of the rear wheels of the vehicle body always remains parallel to the vehicle body; when the quadrilateral variable pitch mechanism drives the rear wheels of the vehicle body to swing toward the front end of the vehicle body, the wheel track of the rear side of the vehicle body becomes smaller and the wheelbase of the front and rear of the vehicle body becomes smaller; when the quadrilateral variable pitch mechanism drives the rear wheels of the vehicle body to swing 90 degrees toward both sides of the vehicle body, the wheel track of the rear side of the vehicle body becomes larger and the wheelbase of the front and rear of the vehicle body becomes larger; when the quadrilateral variable pitch mechanism drives the rear wheels of the vehicle body to swing toward the rear end of the vehicle body, the wheel track of the rear side of the vehicle body becomes smaller and the wheelbase of the front and rear of the vehicle body becomes larger; The quadrilateral pitch-changing mechanism is a parallelogram structure as a whole, and includes a positioning connecting plate, four single-hole sleeve connecting rods, four double-hole sleeve connecting rods, two swing load-bearing beams, a swing regulating beam and a trapezoidal positioning connecting plate; The positioning connecting plate is fixedly mounted on the connecting rocker arm through the clamping plate on the connecting rocker arm; the four single-hole sleeve connecting rods and the four double-hole sleeve connecting rods are symmetrically fixedly mounted on the positioning connecting plate and the trapezoidal positioning connecting plate, and the four single-hole sleeve connecting rods are located at the upper and lower parts of the positioning connecting plate and the trapezoidal positioning connecting plate, and the four double-hole sleeve connecting rods are located in the middle of the positioning connecting plate and the trapezoidal positioning connecting plate; the two swing load-bearing beams are located on the same horizontal plane in the vertical direction, and the two swing load-bearing beams are parallel, and the swing regulating beam is horizontally aligned with the two swing load-bearing beams. The swing load-bearing beam is parallel to the horizontal direction and has a certain distance with the two swing load-bearing beams. The swing load-bearing beam is installed between the single-hole shaft sleeve connecting rod and the double-hole shaft sleeve connecting rod. The swing regulating beam is installed between the double-hole shaft sleeve connecting rod. One end of the swing load-bearing beam and the swing regulating beam is rotatably connected to the positioning connecting plate through the single-hole shaft sleeve connecting rod and the double-hole shaft sleeve connecting rod. The other end of the swing load-bearing beam and the swing regulating beam is rotatably connected to the trapezoidal positioning connecting plate through the single-hole shaft sleeve connecting rod and the double-hole shaft sleeve connecting rod. The wheel is installed at the bottom or outside of the single-hole shaft sleeve connecting rod at the lower part of the trapezoidal positioning connecting plate. A double-beam self-balancing bogie is also provided at the middle of the front end of the bottom of the vehicle body, and the double-beam self-balancing bogie is connected to the vehicle body through the vehicle body connecting column and the vehicle body bottom beam; the double-beam self-balancing bogie includes a main joint body, a secondary joint body, a vertical direction moving main body, a vertical direction moving secondary body and a force balancing mechanism; The main complex is fixedly connected to the bottom beam of the vehicle body; the vertical motion main body is symmetrically arranged on both sides of the main complex and is located in the same plane as the main complex in the vertical direction; the vertical motion main body is connected to the main complex through a pair of parallel connecting lower beams and a pair of parallel connecting upper beams; the vertical motion main body can swing relative to the main complex through the connecting lower beams and the connecting upper beams, and the position of the vertical motion main body always remains parallel to the main complex; the vertical motion sub-body is symmetrically arranged on both sides of the sub-body and is located in the same plane as the sub-body in the vertical direction; the vertical motion sub-body is connected to the sub-body through a steering connecting rod; the vertical motion sub-body can swing relative to the sub-body through the steering connecting rod, and the vertical motion The position of the vertical motion sub-body always remains parallel to the sub-combination; the sub-combination is parallel to the main complex, and the sub-combination is close to the front end of the vehicle body. The top of the sub-combination and the main complex are connected by a pair of parallel steering rods, and the bottoms of the two vertical motion sub-bodies are connected to the vertical motion main body by a pair of parallel steering arm rods. The sub-combination can swing relative to the main complex through the steering rods, and the position of the sub-combination always remains parallel to the main complex; the force balancing mechanism can be rotatably installed on the vehicle body connecting column, and the tops of the two vertical motion main bodies are respectively connected to the force balancing mechanism, so that the two vertical motion main bodies and the two vertical motion sub-bodies are force balanced; the wheels are installed at the bottom or outside of the steering arm rod.

2. The variable-distance transport vehicle according to claim 1, characterized in that: The swing load-bearing beam, the swing regulating beam and the positioning connecting plate cooperate with the single-hole sleeve connecting rod, the double-hole sleeve connecting rod and the trapezoidal positioning connecting plate cooperate with the single-hole sleeve connecting rod and the double-hole sleeve connecting rod to form a parallelogram structure on the horizontal plane; wherein, when the rear suspension shock absorber is not extended or retracted, the positioning connecting plate cooperates with the single-hole sleeve connecting rod and the double-hole sleeve connecting rod, and its position relative to the vehicle body is fixed; the trapezoidal positioning connecting plate cooperates with the single-hole sleeve connecting rod and the double-hole sleeve connecting rod through the swing load-bearing beam and the swing regulating beam to drive the wheel to swing with an amplitude of 180 degrees relative to the vehicle body.

3. The variable-distance transport vehicle according to claim 1, characterized in that: The main complex, the auxiliary complex and the steering rod form a parallelogram structure on the horizontal plane; the main complex, the vertical moving body, the connecting lower beam and the connecting upper beam form a parallelogram structure on the vertical plane; the connecting lower beam, the connecting upper beam, the steering arm and the steering rod form a parallelogram structure in the horizontal projection direction.

4. The variable-distance transport vehicle according to claim 1, characterized in that: The main complex includes four right-angle ear connecting plates and two bearing sleeves; right-angle ear connecting plates are symmetrically arranged on both sides of each bearing, the outer wall of the bearing is fixedly connected to the right-angle ear connecting plates, and a gap is left between the four right-angle ear connecting plates for the vehicle body bottom beam to pass through, and the two bearing sleeves are symmetrically fixedly installed on the vehicle body bottom beam through the four right-angle ear connecting plates; a radial bearing is arranged inside the bearing sleeve, and the bearing sleeve is rotatably installed with a steering control shaft with one end exposed to the outside of the bearing sleeve through the radial bearing; one end of the steering rod is fixedly connected with the end of the steering control shaft exposed to the outside of the bearing sleeve; the right-angle ear connecting plates and the bearing sleeves are provided with screw holes for hinged installation of the connecting lower beam and the connecting upper beam, and one end of a pair of connecting lower beams and a pair of parallel connecting upper beams are hinged to the right-angle ear connecting plates and the bearing sleeves through screw holes, and the connecting lower beam is parallel to the connecting upper beam.

5. The variable-distance transport vehicle according to claim 1, characterized in that: The vertical moving body includes a sleeve, a radial bearing, a thrust bearing and a steering shaft; the sleeve is a cylindrical structure, with a mounting hole on the top thereof hinged to a force balancing mechanism, the interior of the sleeve is hollow and the bottom is open; the upper end of the steering shaft is inserted into the sleeve through the bottom opening of the sleeve, and is rotatably connected to the sleeve through the radial bearing and the thrust bearing, and the lower end is exposed outside the sleeve and is fixedly connected to one end of the steering arm; the outer wall of the sleeve is provided with screw holes for hinged installation of a connecting lower beam and a connecting upper beam, and the other ends of a pair of connecting lower beams and a pair of parallel connecting upper beams are hinged to the sleeve through the screw holes, and the connecting lower beam is parallel to the connecting upper beam; the axis lines of the two sleeves and the axis lines of the two bearing sleeves of the main complex are parallel or intersecting on the same plane.

6. The variable-distance transport vehicle according to claim 1, characterized in that: The auxiliary joint body comprises a lower cross connector and a linkage connector; the linkage connector is in an N-shape, the lower cross connector is symmetrically mounted on both sides of the linkage connector, and the lower cross connector passes through the linkage connector and can rotate relative to the linkage connector; the lower cross connector passes through the upper end of the linkage connector and is rotatably connected to the other end of the steering rod, and the lower end of the lower cross connector exposed outside the linkage connector is connected to a pin shaft at one end of the steering rod; The vertical direction motion auxiliary body is an upper cross connector, the upper end of which is pin-connected to one end of the steering connecting rod, and the lower end of which is rotatably connected to the other end of the steering arm rod.

7. The variable-distance transport vehicle according to claim 1, characterized in that: The force balancing mechanism includes a front suspension shock absorber, a self-balancing seesaw, a seesaw connecting column head and a seesaw connecting nut; the middle of the self-balancing seesaw is rotatably connected to the seesaw connecting column head, and the seesaw connecting column head passes through the vehicle body connecting column and is threadedly connected to the seesaw connecting nut; the self-balancing seesaw can rotate relative to the seesaw connecting column head, and mounting holes hinged to the front suspension shock absorber are provided on both sides of the self-balancing seesaw; the front suspension shock absorber is symmetrically arranged, one end of the front suspension shock absorber is hinged to the self-balancing seesaw, and the other end is hinged to the top of the vertically moving body.

8. The variable-distance transport vehicle according to claim 1, characterized in that: The power device is a wheel hub motor, which is installed on the wheel; in two-wheel drive, the wheel with the wheel hub motor is installed on a set of quadrilateral double-variable brackets, and in four-wheel drive, the wheel with the wheel hub motor is installed on a set of quadrilateral double-variable brackets and a double-beam self-balancing bogie.

Images