An intermediate articulated mechanism for explosion-proof trackless rubber-tyred vehicle

Abstract

The present invention discloses an intermediate articulated mechanism for an explosion-proof trackless rubber-tyred vehicle, and relates to the technical field of articulated special vehicles, including a front fixing device and a first pitching base, wherein a first limiting groove is provided on the left end surface of the first pitching base, two first connecting seats are slidably arranged in the first limiting groove, the front fixing device is connected to the first pitching base through a twisting device, one end of the twisting device is rotationally connected to the front fixing device through a kingpin shaft, and the other end of the twisting device is rotationally connected to the first pitching base through the first connecting seat, and a first steering oil cylinder and a second steering oil cylinder are respectively arranged on both sides of the twisting device. The present invention controls the extension and retraction of the first steering oil cylinder and the second steering oil cylinder, so that the twisting device rotates around the kingpin shaft as the axis, so that a certain rotation angle is formed between the front fixing device and the first pitching base, so as to facilitate the explosion-proof trackless rubber-tyred vehicle to turn.

Description

Technical Field

[0001] The invention relates to the technical field of articulated special vehicles, in particular to a middle articulated mechanism of an explosion-proof trackless rubber-tyred vehicle. Background Art

[0002] The middle articulation mechanism of explosion-proof rubber-tyred trackless vehicles is a key component designed to enhance the flexibility and stability of the vehicle in operation. This mechanism usually adopts special articulation technology, allowing the vehicle to turn and pass obstacles in narrow environments, with a smaller turning radius than traditional vehicles, better passability and maneuverability, while also ensuring the structural strength and safety of the vehicle. The middle articulation mechanism of explosion-proof rubber-tyred trackless vehicles provides important functions and safety guarantees for vehicles that need to operate in dangerous environments through its unique design and characteristics.

[0003] The invention with authorization announcement number CN108189910B discloses a multi-degree-of-freedom adaptive lifting obstacle-crossing vehicle articulated mechanism. The invention controls the steering cylinder through the hydraulic system to rotate the steering articulation and the swing articulation so that the entire vehicle can achieve articulated steering, and controls the extension of the lifting cylinder so that the rear frame is in a lifted state along with the steering articulation as a whole, thereby achieving the adjustment of the vehicle's steering angle, pitch height, and torsion angle, thereby improving the vehicle's applicability to complex roads.

[0004] The above device can adjust the steering angle, pitch height, and torsion angle of the vehicle to adapt to the conditions of different roads. However, the device cannot adjust the distance between the front and rear frames, cannot reduce the turning radius of the vehicle, and has poor passability in narrow places. In addition, the turning angle adjustment range of the device is small, and it is only adjusted by the steering cylinder, and its end position cannot be adjusted, so it cannot achieve a larger angle adjustment. Summary of the invention

[0005] The object of the present invention is to provide an intermediate articulated mechanism for an explosion-proof rubber-tyred trackless vehicle to solve the problems raised in the above-mentioned background technology.

[0006] To achieve the above object, the present invention provides the following technical solutions:

[0007] A middle articulated mechanism of an explosion-proof trackless rubber-tyred vehicle comprises a front fixing device and a first pitching base, a first limiting groove is provided on the left end surface of the first pitching base, two first connecting seats are slidably arranged in the first limiting groove, the front fixing device is connected to the first pitching base through a twisting device, one end of the twisting device is rotatably connected to the front fixing device through a kingpin shaft, and the other end of the twisting device is rotatably connected to the first pitching base through the first connecting seat, a first steering cylinder and a second steering cylinder are respectively arranged on both sides of the twisting device, one end of the first steering cylinder and the second steering cylinder are fixedly connected to the outer end of one side of the front fixing device through a first steering bracket, and the other end of the first steering cylinder and the second steering cylinder are connected to the twisting device through a second steering bracket;

[0008] A rear fixed frame is arranged on the right side of the first pitch base, and the first pitch base is rotatably connected to the rear fixed frame through two second connecting seats, a third pitch cylinder is arranged above the first pitch base, one end of the third pitch cylinder is fixedly connected to the rear fixed frame through a third pitch bracket, and the other end of the third pitch cylinder is fixedly connected to the first pitch base through a fourth pitch bracket, a second limiting groove is arranged on the rear fixed frame, and two movable seats are slidably arranged in the second limiting groove, a first pitch cylinder and a second pitch cylinder are respectively arranged above the torsion device, one end of the first pitch cylinder and the second pitch cylinder are respectively connected to the torsion device through the first pitch bracket, and the other end of the first pitch cylinder and the second pitch cylinder are respectively fixedly connected to the movable seat through the second pitch bracket, the front fixing device is fixedly connected to the front frame of the explosion-proof trackless rubber-wheeled vehicle through fastening bolts, and the rear fixed frame is fixedly connected to the rear frame of the explosion-proof trackless rubber-wheeled vehicle through fastening bolts.

[0009] As a further solution of the present invention: the torsion device includes a first torsion frame, a pin shaft hole matching the main pin shaft is opened on the first torsion frame, two second steering brackets are respectively fixedly arranged at the outer end parts of the first torsion frame, a through hole is opened in the first torsion frame, telescopic legs are slidably arranged in the through holes, a telescopic oil cylinder is fixedly arranged in the telescopic leg, and the end of the telescopic part of the telescopic oil cylinder is fixedly connected to the inner wall of the first torsion frame, two limiting strip holes are respectively opened on the upper end surfaces of the two arms of the first torsion frame, a fixing seat is slidably arranged above the limiting strip hole, the fixing seat is fixedly connected to the outer wall of the telescopic leg, the first connecting seat is fixedly arranged at the outer end part of the telescopic leg, and the first pitch bracket is fixedly arranged on the fixing seat.

[0010] As a further solution of the present invention: a slide rail is fixedly arranged between the two limiting strip holes and above the first torsion frame, and the fixing seat is slidably connected to the slide rail via a slider.

[0011] As a further solution of the present invention: a fixed block is arranged below the front fixing device, and the front second fixing frame and the fixed block are connected by a universal angle rotation bracket, the axis of the universal angle rotation bracket is the same as the axis of the kingpin shaft, a fixing rod is fixedly arranged on the right side of the fixed block, a slide is slidably arranged on the fixing rod below the first pitch base, and the first pitch base and the slide are connected by an angle adjustment bracket.

[0012] As a further solution of the present invention: the outer end portion of the fixing rod is located on the right side of the sliding seat and a limited end is fixedly provided.

[0013] As a further solution of the present invention: the axis center of the universal angle rotating bracket is the same as the axis center of the kingpin shaft.

[0014] As a further solution of the present invention: the front fixing device includes a front second fixing frame, a first mounting groove is opened in the front second fixing frame, a first lateral adjustment cylinder is relatively fixedly arranged in the first mounting groove, a first moving block is fixedly arranged on the outer end of the first lateral adjustment cylinder and the first moving block is slidably connected to the front second fixing frame, and the first steering bracket is fixedly arranged on the first moving block.

[0015] As a further solution of the present invention: the front fixing device includes a front third fixing frame, the bottom of the front third fixing frame is provided with a second mounting groove located on one side of the torsion device, a second lateral adjustment cylinder is relatively fixedly arranged in the second mounting groove, a second moving block is fixedly arranged on the outer end of the second lateral adjustment cylinder and the second moving block is slidably connected to the front third fixing frame, and the first steering bracket is fixedly arranged on the second moving block.

[0016] As a further solution of the present invention: the head and tail of the first torsion frame form a certain angle.

[0017] As a further solution of the present invention: the first steering bracket and the second steering bracket have the same height.

[0018] Compared with the prior art, the present invention has the following beneficial effects:

[0019] By controlling the extension and retraction of the first steering oil cylinder and the second steering oil cylinder, the torsion device is rotated around the kingpin shaft as the axis, so that a certain rotation angle is formed between the front fixing device and the first pitch base, which is convenient for the explosion-proof trackless rubber-tyred vehicle to turn;

[0020] By adjusting the extension and retraction amount of the first pitch oil cylinder and the second pitch oil cylinder, the first pitch base and the rear fixed frame are adjusted with the first connecting seat as the axis for the initial pitch angle adjustment, and by adjusting the extension and retraction amount of the third pitch oil cylinder, the rear fixed frame is adjusted with the second connecting seat as the axis for the secondary pitch angle adjustment, thereby increasing the pitch angle adjustment range of the articulated mechanism, making it adaptable to more complex terrains, and improving the application range of the explosion-proof trackless rubber-tyred vehicle;

[0021] By adjusting the telescopic amount of the telescopic oil cylinder, the distance between the front fixing device and the first pitch base is shortened (the wheelbase of the explosion-proof trackless rubber-wheeled vehicle can be adjusted. The long wheelbase has the advantages of strong stability and more flexible suspension adjustment. The short wheelbase has the advantages of flexible operation and easy passage through narrow spaces. In this way, the advantages of both can be combined). The first connecting seat slides in the first limiting groove, and the moving seat slides in the second limiting groove, so that the turning radius of the explosion-proof trackless rubber-wheeled vehicle can be adjusted to meet the turning requirements under different conditions and improve the flexibility of the explosion-proof trackless rubber-wheeled vehicle. The cylinder body of the telescopic oil cylinder is located in the telescopic leg, which can reduce the space occupied in the first torsion frame and allow the telescopic leg to move in the through hole to the greatest extent (the cylinder barrel of the telescopic oil cylinder and the telescopic leg cannot be shortened, and this method can maximize the use of the spacing in the through hole). The slide rail reduces the friction resistance between the first torsion frame and the fixed seat. The through hole in the first torsion frame can reduce the mass of the articulated mechanism, thereby achieving lightweight articulated mechanism.

[0022] The slide seat slides on the fixed rod, and when the connection between the torsion device and the first pitch base and the rear fixed frame is broken, the fixed rod, the limit end and the slide seat cooperate to form a connection assembly, so that the explosion-proof rubber-tyred trackless vehicle can continue to travel to the maintenance place in an emergency;

[0023] By adjusting the extension and retraction amount of the second lateral adjustment cylinder, the positional relationship between the first steering cylinder, the second steering cylinder and the first steering bracket is controlled, and the range of the rotation angle of the torsion device is increased, so that the explosion-proof rubber-tyred trackless vehicle can turn within a larger turning radius, thereby improving the adaptability of the explosion-proof rubber-tyred trackless vehicle to complex terrain;

[0024] By adjusting the telescopic amount of the telescopic cylinder, the horizontal distance between the front third fixed frame and the first pitch base is shortened (the wheelbase is adjusted), the first connecting seat slides in the first limiting groove, the movable seat slides in the second limiting groove, the first pitch base and the rear fixed frame rise in the vertical height, driving the rear frame of the explosion-proof trackless rubber-tyred vehicle to rise, which can adjust the turning radius of the explosion-proof trackless rubber-tyred vehicle and the different heights of the front and rear frames of the explosion-proof trackless rubber-tyred vehicle on different slopes, so as to adapt to the use of the explosion-proof trackless rubber-tyred vehicle under complex terrain. In particular, when the wheels of the explosion-proof trackless rubber-tyred vehicle fall, the vehicle can be quickly freed through adjustment of the articulated mechanism, thereby improving the use efficiency of the explosion-proof trackless rubber-tyred vehicle. BRIEF DESCRIPTION OF THE DRAWINGS

[0025] Figure 1 It is a schematic diagram of the three-dimensional structure of Example 1 of the present invention.

[0026] Figure 2 It is a schematic diagram of the top structure of embodiment 1 of the present invention.

[0027] Figure 3 This is a schematic diagram of the main structure of Example 1 of the present invention.

[0028] Figure 4 For the present invention Figure 2 Schematic diagram of the cross-sectional structure at AA in the middle.

[0029] Figure 5 It is a schematic diagram of the local three-dimensional structure of the torsion device in Example 1 of the present invention.

[0030] Figure 6 It is a schematic diagram of the cross-sectional structure of the torsion device in Example 1 of the present invention.

[0031] Figure 7 This is an exploded view of the torsion device in Example 1 of the present invention.

[0032] Figure 8 It is a schematic diagram of the three-dimensional structure of Example 2 of the present invention.

[0033] Fig. 9 This is a schematic diagram of the main structure of Example 2 of the present invention.

[0034] Fig.10 For the present invention Fig. 9 Schematic diagram of the cross-sectional structure at BB in the middle.

[0035] Fig.11 This is a schematic diagram of the three-dimensional structure of Example 3 of the present invention.

[0036] Fig.12 This is another three-dimensional structural schematic diagram of Example 3 of the present invention.

[0037] Fig.13 This is a schematic diagram of the main structure of Example 3 of the present invention.

[0038] Fig.14 It is a schematic diagram of the local three-dimensional structure of the torsion device in Example 3 of the present invention.

[0039] Notes on reference numerals: 1. front fixing device; 12. front second fixing frame; 121. first lateral adjustment cylinder; 122. first moving block; 123. first mounting groove; 13. front third fixing frame; 131. second lateral adjustment cylinder; 132. second moving block; 133. second mounting groove; 21. first steering cylinder; 22. second steering cylinder; 23. first steering bracket; 24. second steering bracket; 3. main pin shaft; 4. torsion device; 41. first torsion frame; 42. pin shaft hole; 43. slide rail; 44. fixing seat; 45. limit strip hole; 46. through hole; 47. Telescopic cylinder; 48. Telescopic leg; 5. First pitch base; 51. First connecting seat; 52. First limiting slot; 61. First pitch cylinder; 62. Second pitch cylinder; 63. First pitch bracket; 64. Second pitch bracket; 7. Second connecting seat; 8. Rear fixed bracket; 81. Moving seat; 82. Second limiting slot; 9. Third pitch cylinder; 91. Third pitch bracket; 92. Fourth pitch bracket; 101. Fixed block; 102. Universal angle rotating bracket; 103. Fixed rod; 104. Limiting end; 105. Sliding seat; 106. Angle adjustment bracket. DETAILED DESCRIPTION

[0040] The following embodiments will be described in detail with reference to the accompanying drawings. In the drawings or descriptions, similar or identical parts use the same reference numerals, and in actual applications, the shape, thickness or height of each component may be enlarged or reduced. The embodiments listed in the present invention are only used to illustrate the present invention and are not used to limit the scope of the present invention. Any obvious modifications or changes made to the present invention do not depart from the spirit and scope of the present invention.

[0041] Example 1, please refer to Figure 1 to Figure 7 In the embodiment of the present invention, an intermediate articulated mechanism of an explosion-proof trackless rubber-tyred vehicle includes a front fixing device 1 and a first pitching base 5. A first limiting groove 52 is provided on the left end surface of the first pitching base 5. Two first connecting seats 51 are slidably arranged in the first limiting groove 52. The front fixing device 1 is connected to the first pitching base 5 through a torsion device 4. One end of the torsion device 4 is rotatably connected to the front fixing device 1 through a kingpin shaft 3. The other end of the torsion device 4 is rotatably connected to the first pitching base 5 through the first connecting seat 51. First steering cylinders are respectively arranged on both sides of the torsion device 4. 21 and the second steering cylinder 22, one end of the first steering cylinder 21 and the second steering cylinder 22 is fixedly connected to the outer end of one side of the front fixing device 1 through the first steering bracket 23, and the other end of the first steering cylinder 21 and the second steering cylinder 22 is connected to the torsion device 4 through the second steering bracket 24. By controlling the extension and retraction of the first steering cylinder 21 and the second steering cylinder 22, the torsion device 4 rotates around the kingpin shaft 3 as the axis, so that a certain rotation angle is formed between the front fixing device 1 and the first pitch base 5, which is convenient for the explosion-proof rubber-tyred trackless vehicle to turn.

[0042] A rear fixing frame 8 is arranged on the right side of the first pitch base 5, and the first pitch base 5 is rotatably connected to the rear fixing frame 8 through two second connecting seats 7. A third pitch oil cylinder 9 is arranged above the first pitch base 5, and one end of the third pitch oil cylinder 9 is fixedly connected to the rear fixing frame 8 through a third pitch bracket 91, and the other end of the third pitch oil cylinder 9 is fixedly connected to the first pitch base 5 through a fourth pitch bracket 92. A second limiting groove 82 is provided on the rear fixing frame 8, and two moving seats 81 are slidably arranged in the second limiting groove 82. A first pitch oil cylinder 61 and a second pitch oil cylinder 62 are arranged relatively above the torsion device 4, respectively. One end of the first pitch oil cylinder 61 and the second pitch oil cylinder 62 are connected to the torsion device 4 through the first pitch bracket 63, respectively. The other ends of the oil cylinder 61 and the second pitch oil cylinder 62 are fixedly connected to the movable seat 81 through the second pitch bracket 64 respectively, the front fixing device 1 is fixedly connected to the front frame of the explosion-proof trackless rubber-wheeled vehicle through fastening bolts, and the rear fixing frame 8 is fixedly connected to the rear frame of the explosion-proof trackless rubber-wheeled vehicle through fastening bolts. By adjusting the telescopic amount of the first pitch oil cylinder 61 and the second pitch oil cylinder 62, the first pitch base 5 and the rear fixing frame 8 are adjusted with the first connecting seat 51 as the axis for preliminary pitch angle adjustment, and the telescopic amount of the third pitch oil cylinder 9 is adjusted so that the rear fixing frame 8 is adjusted with the second connecting seat 7 as the axis for secondary pitch angle adjustment, thereby increasing the pitch angle adjustment range of the articulated mechanism, making it adaptable to more complex terrains, and improving the application range of the explosion-proof trackless rubber-wheeled vehicle.

[0043] The torsion device 4 includes a first torsion frame 41, on which a pin hole 42 cooperating with the main pin shaft 3 is provided, and two second steering brackets 24 are respectively fixedly arranged at the outer ends of the first torsion frame 41, and a through hole 46 is provided in the first torsion frame 41, and telescopic legs 48 are respectively slidably provided in the through holes 46, and a telescopic oil cylinder 47 is fixedly provided in the telescopic leg 48, and the end of the telescopic part of the telescopic oil cylinder 47 is fixedly connected to the inner wall of the first torsion frame 41, and the upper end surfaces of the two arms of the first torsion frame 41 are respectively provided with Two limiting strip holes 45, a slide rail 43 is fixedly arranged between the two limiting strip holes 45 and located above the first torsion frame 41, a fixing seat 44 is slidably arranged above the limiting strip holes 45, and the fixing seat 44 is slidably connected to the slide rail 43 through a slider, the fixing seat 44 is fixedly connected to the outer wall of the telescopic leg 48, the first connecting seat 51 is fixedly arranged at the outer end of the telescopic leg 48, and the first pitch bracket 63 is fixedly arranged on the fixing seat 44, and the telescopic amount of the telescopic oil cylinder 47 is adjusted so that the front fixing device 1 and The distance between the first pitch base 5 is shortened (the wheelbase of the explosion-proof trackless rubber-tyred vehicle can be adjusted, and the long wheelbase has the advantages of strong stability and more flexible suspension adjustment, and the short wheelbase has the advantages of flexible operation and easy passage through narrow space, so that the advantages of both can be combined), the first connecting seat 51 slides in the first limiting groove 52, and the movable seat 81 slides in the second limiting groove 82, so that the turning radius of the explosion-proof trackless rubber-tyred vehicle can be adjusted to adapt to the turning requirements under different conditions and improve the flexibility of the explosion-proof trackless rubber-tyred vehicle. The cylinder body of the telescopic cylinder 47 is located in the telescopic leg 48, which can reduce the space occupied in the first torsion frame 41 and allow the telescopic leg 48 to move in the through hole 46 to the maximum extent (the cylinder barrel of the telescopic cylinder 47 and the telescopic leg 48 cannot be shortened, and this method can maximize the use of the spacing in the through hole 46), the slide rail 43 reduces the friction resistance between the first torsion frame 41 and the fixed seat 44, and the through hole 46 in the first torsion frame 41 can reduce the mass of the articulated mechanism, thereby achieving lightweight articulated mechanism.

[0044] When the device is used, when the explosion-proof trackless rubber-tyred vehicle is turning, one of the first steering cylinder 21 and the second steering cylinder 22 is extended and the other is shortened, so that the torsion device 4, the first pitch base 5 and the rear fixed frame 8 rotate around the kingpin shaft 3 as the axis. When the explosion-proof trackless rubber-tyred vehicle needs to adjust the pitch angle, the extension amount of the first pitch cylinder 61 and the second pitch cylinder 62 is adjusted, so that the first pitch base 5 and the rear fixed frame 8 adjust the pitch angle with the first connecting seat 51 as the axis, thereby improving the obstacle crossing ability of the explosion-proof trackless rubber-tyred vehicle. When the initial pitch angle adjustment ability is insufficient, the adjustment The telescopic amount of the third pitching oil cylinder 9 is adjusted, so that the rear fixing frame 8 can adjust the secondary pitch angle with the second connecting seat 7 as the axis, further improving the adaptability of the explosion-proof trackless rubber-tyred vehicle to complex roads. When the explosion-proof trackless rubber-tyred vehicle needs to make a turn with a small turning radius, the telescopic oil cylinder 47 is started, the first connecting seat 51 slides in the first limiting groove 52, and the moving seat 81 slides in the second limiting groove 82, so that the distance between the front fixing device 1 and the first pitching base 5 is shortened, and the distance between the front and rear frames of the explosion-proof trackless rubber-tyred vehicle is also shortened, thereby achieving the purpose of turning with a small turning radius of the explosion-proof trackless rubber-tyred vehicle.

[0045] Example 2, please refer to Figure 8 to Figure 10 The difference between the embodiment of the present invention and the embodiment 1 is that a fixing block 101 is arranged below the front fixing device 1, and the front second fixing frame 12 and the fixing block 101 are connected by a universal angle rotating bracket 102, the axis of the universal angle rotating bracket 102 is the same as the axis of the kingpin shaft 3, and a fixing rod 103 is fixedly arranged on the right side of the fixing block 101, and a slide 105 is slidably arranged below the first pitch base 5 on the fixing rod 103, and a limited end 104 is fixedly arranged on the outer end of the fixing rod 103 at the right side of the slide 105, and the first pitch base 5 and the slide 105 are connected by an angle adjustment bracket 106, and the slide 105 slides on the fixing rod 103. When the connection between the torsion device 4 and the first pitch base 5 and the rear fixing frame 8 is broken, the fixing rod 103, the limited end 104 and the slide 105 cooperate to form a connecting assembly, so that the explosion-proof rubber-tyred trackless vehicle can continue to travel to the maintenance site in an emergency.

[0046] The front fixing device 1 includes a front second fixing frame 12, a first mounting groove 123 is opened in the front second fixing frame 12, a first lateral adjustment cylinder 121 is relatively fixedly arranged in the first mounting groove 123, a first moving block 122 is fixedly arranged on the outer end of the first lateral adjustment cylinder 121, and the first moving block 122 is slidably connected to the front second fixing frame 12, and a first steering bracket 23 is fixedly arranged on the first moving block 122. By adjusting the extension and contraction amount of the first lateral adjustment cylinder 121, the positional relationship between the first steering cylinder 21, the second steering cylinder 22 and the first steering bracket 23 is controlled to increase the range of the rotation angle of the torsion device 4.

[0047] When the device is in use, the first lateral adjustment cylinder 121 is adjusted to adjust the positions of the first steering cylinder 21, the second steering cylinder 22 and the first steering bracket 23, and the rotation angle of the torsion device 4 is further controlled. When the telescopic cylinder 47 is adjusted, the distance between the front second fixed frame 12 and the first pitch base 5 is adjusted, and the fixed block 101 rotates with the torsion device 4 on the universal angle rotation bracket 102, so that the angle of the fixed rod 103 is adjusted accordingly, and the distance between the fixed block 101 and the slide 105 is also adjusted accordingly.

[0048] Example 3, please refer to Figure 11 to Figure 14 The difference between the embodiment of the present invention and the embodiment 2 is that the front fixing device 1 includes a front third fixing frame 13, and the bottom of the front third fixing frame 13 is located on one side of the torsion device 4 and is provided with a second mounting groove 133, and a second lateral adjustment cylinder 131 is relatively fixedly arranged in the second mounting groove 133, and a second moving block 132 is fixedly arranged on the outer end of the second lateral adjustment cylinder 131, and the second moving block 132 is slidably connected to the front third fixing frame 13, and the first steering bracket 23 is fixedly arranged on the second moving block 132, and the positional relationship between the first steering cylinder 21, the second steering cylinder 22 and the first steering bracket 23 is controlled by adjusting the telescopic amount of the second lateral adjustment cylinder 131, so as to increase the range of the rotation angle of the torsion device 4, so that the explosion-proof trackless rubber-tyred vehicle can turn within a larger turning radius, thereby improving the adaptability of the explosion-proof trackless rubber-tyred vehicle to complex terrain.

[0049] The head and tail of the first torsion frame 41 form a certain angle, the first steering bracket 23 and the second steering bracket 24 have the same height, and the horizontal distance between the front third fixed frame 13 and the first pitch base 5 is shortened (the wheelbase is adjusted) by adjusting the telescopic amount of the telescopic cylinder 47, the first connecting seat 51 slides in the first limiting groove 52, the movable seat 81 slides in the second limiting groove 82, the first pitch base 5 and the rear fixed frame 8 rise in the vertical height, driving the rear frame of the explosion-proof trackless rubber-tyred vehicle to rise, which can adjust the turning radius of the explosion-proof trackless rubber-tyred vehicle and the different heights of the front and rear frames of the explosion-proof trackless rubber-tyred vehicle under different slopes, so as to adapt to the use of the explosion-proof trackless rubber-tyred vehicle under complex terrain, especially when the wheels of the explosion-proof trackless rubber-tyred vehicle fall, the vehicle can be quickly freed through the adjustment of the articulated mechanism, thereby improving the use efficiency of the explosion-proof trackless rubber-tyred vehicle.

[0050] When the device is in use, the second lateral adjustment cylinder 131 is adjusted to adjust the positions of the first steering cylinder 21, the second steering cylinder 22 and the first steering bracket 23, and the rotation angle of the torsion device 4 is further controlled. When the telescopic cylinder 47 is adjusted, the distance between the front second fixed frame 12 and the first pitch base 5 is shortened, the first pitch base 5 and the rear fixed frame 8 are raised in vertical height, and the fixed block 101 rotates with the torsion device 4 on the universal angle rotation bracket 102, so that the angle of the fixed rod 103 is adjusted accordingly, and the spacing between the fixed block 101 and the slide 105 is also adjusted accordingly, thereby realizing the adjustment of the angle, spacing, height difference and pitch angle of the front and rear frames of the explosion-proof trackless rubber-tyred vehicle, and improving the application range of the articulated mechanism.

[0051] It will be apparent to those skilled in the art that the invention is not limited to the details of the exemplary embodiments described above and that the invention can be implemented in other specific forms without departing from the spirit or essential features of the invention. Therefore, the embodiments should be considered exemplary and non-limiting in all respects, and the scope of the invention is defined by the appended claims rather than the foregoing description, and it is intended that all variations falling within the meaning and scope of the equivalent elements of the claims be included in the invention. Any reference numeral in a claim should not be considered as limiting the claim to which it relates.

[0052] In addition, it should be understood that although the present specification is described according to implementation modes, not every implementation mode contains only one independent technical solution. This description of the specification is only for the sake of clarity. Those skilled in the art should regard the specification as a whole. The technical solutions in each embodiment may also be appropriately combined to form other implementation modes that can be understood by those skilled in the art.

Claims

1. An intermediate articulated mechanism for an explosion-proof rubber-tyred trackless vehicle, comprising a front fixing device (1) and a first pitching base (5), characterized in that: A first limiting groove (52) is provided on the left end surface of the first pitch base (5), and two first connecting seats (51) are slidably arranged in the first limiting groove (52). The front fixing device (1) is connected to the first pitch base (5) through a torsion device (4). One end of the torsion device (4) is rotationally connected to the front fixing device (1) through a kingpin shaft (3), and the other end of the torsion device (4) is rotationally connected to the first pitch base (5) through the first connecting seat (51). A first steering cylinder (21) and a second steering cylinder (22) are respectively arranged on both sides of the torsion device (4). One end of the first steering cylinder (21) and the second steering cylinder (22) are fixedly connected to the outer end of one side of the front fixing device (1) through a first steering bracket (23), and the other end of the first steering cylinder (21) and the second steering cylinder (22) are connected to the torsion device (4) through a second steering bracket (24); A rear fixing frame (8) is arranged on the right side of the first pitch base (5), and the first pitch base (5) and the rear fixing frame (8) are rotatably connected via two second connecting seats (7). A third pitch oil cylinder (9) is arranged above the first pitch base (5), one end of the third pitch oil cylinder (9) is fixedly connected to the rear fixing frame (8) via a third pitch bracket (91), and the other end of the third pitch oil cylinder (9) is fixedly connected to the first pitch base (5) via a fourth pitch bracket (92). A second limiting groove (82) is provided on the rear fixing frame (8), and two movable seats ( 81), a first pitch cylinder (61) and a second pitch cylinder (62) are respectively arranged above the torsion device (4), one end of the first pitch cylinder (61) and the second pitch cylinder (62) are respectively connected to the torsion device (4) via a first pitch bracket (63), and the other end of the first pitch cylinder (61) and the second pitch cylinder (62) are respectively fixedly connected to the moving seat (81) via a second pitch bracket (64), the front fixing device (1) is fixedly connected to the front frame of the explosion-proof trackless rubber-wheeled vehicle via fastening bolts, and the rear fixing frame (8) is fixedly connected to the rear frame of the explosion-proof trackless rubber-wheeled vehicle via fastening bolts.

2. The middle articulated mechanism of the explosion-proof rubber-tyred trackless vehicle according to claim 1 is characterized in that: The torsion device (4) comprises a first torsion frame (41), the first torsion frame (41) is provided with a pin hole (42) matched with a main pin shaft (3), two second steering brackets (24) are respectively fixedly arranged at the outer end of the first torsion frame (41), the first torsion frame (41) is provided with a through hole (46), telescopic legs (48) are respectively slidably arranged in the through holes (46), a telescopic oil cylinder (47) is fixedly arranged in the telescopic leg (48), and the telescopic part end of the telescopic oil cylinder (47) is fixedly connected to the inner wall of the first torsion frame (41), two limiting strip holes (45) are respectively provided on the upper end surfaces of the two support arms of the first torsion frame (41), a fixing seat (44) is slidably arranged above the limiting strip hole (45), and the fixing seat (44) is fixedly connected to the outer wall of the telescopic leg (48), the first connecting seat (51) is fixedly arranged at the outer end of the telescopic leg (48), and the first pitch bracket (63) is fixedly arranged on the fixing seat (44).

3. The middle articulated mechanism of the explosion-proof rubber-tyred trackless vehicle according to claim 2 is characterized in that: A slide rail (43) is fixedly arranged between the two limiting strip holes (45) and located above the first torsion frame (41), and the fixed seat (44) is slidably connected to the slide rail (43) via a sliding block.

4. The middle articulated mechanism of the explosion-proof rubber-tyred trackless vehicle according to claim 2 or 3, characterized in that: A fixing block (101) is arranged below the front fixing device (1), and the front second fixing frame (12) and the fixing block (101) are connected via a universal angle rotating bracket (102), the axis of the universal angle rotating bracket (102) is the same as the axis of the main pin shaft (3), a fixing rod (103) is fixedly arranged on the right side of the fixing block (101), a sliding seat (105) is slidably arranged on the fixing rod (103) below the first pitch base (5), and the first pitch base (5) and the sliding seat (105) are connected via an angle adjustment bracket (106).

5. The middle articulated mechanism of the explosion-proof rubber-tyred trackless vehicle according to claim 4 is characterized in that: The outer end of the fixing rod (103) is located on the right side of the sliding seat (105) and is fixedly provided with a limiting end (104).

6. The middle articulated mechanism of the explosion-proof rubber-tyred trackless vehicle according to claim 5 is characterized in that: The axis of the universal angle rotating bracket (102) is the same as the axis of the kingpin shaft (3).

7. The middle articulated mechanism of the explosion-proof rubber-tyred trackless vehicle according to claim 6 is characterized in that: The front fixing device (1) comprises a front second fixing frame (12), a first mounting groove (123) is provided in the front second fixing frame (12), a first lateral adjustment cylinder (121) is relatively fixedly arranged in the first mounting groove (123), a first moving block (122) is fixedly arranged at the outer end of the first lateral adjustment cylinder (121), and the first moving block (122) is slidably connected to the front second fixing frame (12), and the first steering bracket (23) is fixedly arranged on the first moving block (122).

8. The middle articulated mechanism of the explosion-proof rubber-tyred trackless vehicle according to claim 6 is characterized in that: The front fixing device (1) comprises a front third fixing frame (13), a second mounting groove (133) is provided at the bottom of the front third fixing frame (13) and is located on one side of the torsion device (4), a second lateral adjustment oil cylinder (131) is relatively fixedly arranged in the second mounting groove (133), a second moving block (132) is fixedly arranged at the outer end of the second lateral adjustment oil cylinder (131), and the second moving block (132) is slidably connected to the front third fixing frame (13), and the first steering bracket (23) is fixedly arranged on the second moving block (132).

9. The middle articulated mechanism of the explosion-proof rubber-tyred trackless vehicle according to claim 8 is characterized in that: The first steering bracket (23) and the second steering bracket (24) have the same height.

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