Engineering vehicle obstacle crossing driving walking device

Abstract

The invention discloses an obstacle crossing driving walking device for an engineering vehicle, and belongs to the technical field of obstacle crossing of engineering vehicles. The obstacle-crossing driving walking device for the engineering vehicle comprises a supporting rod and a pulley, and further comprises a tenon mechanism, a driving mechanism and a driving mechanism, the tenon mechanism can be connected with a rod body of the supporting rod in a clamped mode, and the tenon mechanism is used for limiting rotation of the supporting rod around the axle center of a wheel of the engineering vehicle; the hydraulic telescopic mechanism is connected with one end, far away from the pulley, of the supporting rod, is connected with a hydraulic control loop and is used for driving the supporting rod to move in the radial direction of the wheel, so that the rod body of the supporting rod is separated from the clamping tenon mechanism; the clutch mechanism is connected with wheels of the engineering vehicle, the hydraulic telescopic mechanism is connected with the clutch mechanism, and when the clutch mechanism is closed, the wheels of the engineering vehicle drive the supporting rods to rotate around the axes of the wheels through the clutch mechanism. The obstacle crossing driving walking device for the engineering vehicle has higher reliability, so that the whole walking device can adapt to a more severe working environment.

Description

Technical Field

[0001] The invention relates to the technical field of engineering vehicle obstacle crossing, and in particular to an engineering vehicle obstacle crossing driving walking device. Background Art

[0002] Engineering vehicles play a key role in various infrastructure construction, mining, logistics and transportation, and their driving and traveling devices, as one of the core components, directly affect the overall performance of the vehicle. In the fields of engineering construction, mining, emergency rescue, etc., engineering vehicles often need to face various complex terrains and obstacles, such as trenches, steps, boulders, etc. Therefore, some engineering vehicles today are equipped with driving and traveling devices with obstacle-crossing performance to improve the operating efficiency and adaptability of engineering vehicles.

[0003] The core components of the existing engineering vehicle obstacle-crossing driving walking device include a support rod, a pulley and a driving unit. The support rod is rotatably connected to the front part of the vehicle body, and the support rod and the pulley are both connected to the driving unit. When the engineering vehicle encounters an obstacle, the driving unit is controlled to operate, and the driving unit drives the support rod to rotate until the support rod abuts against the obstacle, and then the driving unit is controlled to continue to rotate. The supporting force applied by the obstacle to the support rod supports the front half of the vehicle body until the pulley abuts against the obstacle, and then the vehicle is driven forward to cross the obstacle through the pulley.

[0004] However, the above-mentioned engineering vehicle obstacle-crossing driving walking device needs to rely on additional power components. Since the weight of engineering vehicles is generally relatively large, the power requirements for power components are relatively high, which leads to the fact that the volume structure of the power components is often relatively large. Oversized power components will have an adverse effect on the passability of the engineering vehicle itself, and adding additional power components will reduce the reliability of the entire device when used in harsh environments. When engineering vehicles are facing tunnel construction or underground construction, the construction space where the engineering vehicles are located is relatively narrow, and the environment in which they are located is a harsh environment with high humidity. This type of construction environment has high requirements on the passability and reliability of engineering vehicles. The above-mentioned technical solution using additional power components, due to the limitations of passability and reliability, makes it difficult for engineering vehicles to operate stably for a long time in narrow and high-humidity construction scenes such as tunnels or underground. Summary of the invention

[0005] The purpose of the present invention is to overcome the problems in the prior art and provide an obstacle-crossing driving walking device for engineering vehicles, which reduces the impact on the passability of engineering vehicles and has higher reliability, so that the entire obstacle-crossing walking device can assist engineering vehicles to adapt to more narrow and harsh working environments.

[0006] The present invention provides an obstacle-crossing driving walking device for an engineering vehicle, comprising a support rod and a pulley, wherein the pulley is rotatably connected to the support rod, and the support rod abuts against the upper end surface of the obstacle through the pulley, and is characterized in that it also comprises:

[0007] A tenon mechanism is provided on the body of the engineering vehicle, the tenon mechanism can be engaged with the rod body of the support rod, and the tenon mechanism is used to limit the support rod from rotating around the wheel axis of the engineering vehicle;

[0008] A hydraulic telescopic mechanism is connected to the end of the support rod away from the pulley, the hydraulic telescopic mechanism is connected to a hydraulic control circuit, and the hydraulic telescopic mechanism is used to drive the support rod to move along the radial direction of the wheel, so that the rod body of the support rod is disengaged from the tenon mechanism;

[0009] The clutch mechanism is connected to the wheel of the engineering vehicle, and the hydraulic telescopic mechanism is connected to the clutch mechanism. When the clutch mechanism is closed, the wheel of the engineering vehicle drives the support rod to rotate around the axis of the wheel through the clutch mechanism.

[0010] Preferably, the clutch mechanism includes a shell, a chuck and a turntable, the shell is connected to the hydraulic telescopic mechanism, the shell is rotatably connected to the axle of the wheel, the axle can limit the axial movement of the shell along the wheel, the chuck is arranged in the inner cavity of the shell and connected to the axle, the turntable is slidably connected to the inner cavity of the shell along the axial direction of the wheel, the inner cavity of the shell can limit the rotation of the turntable relative to the hydraulic telescopic mechanism, a sealed cavity is formed between the turntable and the inner cavity of the shell, the sealed cavity is communicated with the hydraulic telescopic mechanism, and when the hydraulic control circuit controls the action of the hydraulic telescopic mechanism, the hydraulic control circuit passes hydraulic oil into the sealed cavity to engage the turntable with the chuck.

[0011] Preferably, the chuck is provided with a groove along the radial direction of the chuck, and the turntable is provided with a first block. When hydraulic oil flows into the sealing chamber, the first block on the turntable is inserted into the groove on the chuck, and the groove can limit the first block from rotating relative to the chuck. The side wall of the shell is provided with a special-shaped hole, and the sealing chamber is connected to the hydraulic telescopic mechanism through the special-shaped hole. The turntable is provided with a special-shaped plug-in block, and the special-shaped plug-in block is connected to the special-shaped plug-in block in an axially sliding manner along the wheel, and the turntable drives the shell to rotate through the special-shaped hole and the special-shaped plug-in block.

[0012] Preferably, the hydraulic telescopic mechanism includes a piston and a hydraulic cylinder, the piston is connected to the hydraulic cylinder in a radial sliding manner along the wheel, the hydraulic cylinder is connected to the hydraulic control circuit, the tenon mechanism includes a second clamping block and a limiting slider, the second clamping block is arranged on the vehicle body, the second clamping block is provided with a limiting slide groove along the radial direction of the wheel, the limiting slide groove is arranged on the support rod, the limiting slide groove is slidably connected to the limiting slide groove, the second clamping block limits the support rod from rotating around the axial direction of the wheel through the limiting slide groove and the limiting slide groove, when the hydraulic control circuit passes hydraulic oil into the hydraulic cylinder, the piston drives the support rod to move in the radial direction of the wheel so that the limiting slide groove slides out of the limiting slide groove.

[0013] Preferably, the special-shaped socket is connected to the middle part of the inner cavity of the hydraulic cylinder, so that when the hydraulic control circuit passes a certain amount of hydraulic oil into the inner cavity of the hydraulic cylinder, thereby driving the support rod to move until the limiting sliding block on the support rod slides out of the limiting sliding groove on the second clamping block, the hydraulic oil in the inner cavity of the hydraulic cylinder enters the sealing cavity through the special-shaped socket, and a first spring is provided in the sealing cavity, the first spring abuts against the turntable, and the first spring is used to apply an elastic force to the turntable away from the side of the chuck.

[0014] Preferably, the inner cavity of the hydraulic cylinder is a stepped hole, the hydraulic control circuit and the special-shaped socket are both connected to the end of the hydraulic cylinder inner cavity with a smaller diameter, the piston is slidably connected to the inner wall of the end of the hydraulic cylinder inner cavity with a smaller diameter, and a sliding sleeve is slidably connected to the inner end of the hydraulic cylinder inner cavity with a larger diameter, the support rod is slidably connected to the sliding sleeve at one end close to the piston, a second spring is provided outside the support rod, and the second spring abuts against the sliding sleeve, when the piston moves in the hydraulic cylinder inner cavity until it abuts against the sliding sleeve, the inner cavity of the hydraulic cylinder is connected to the sealing cavity through the special-shaped socket, the piston squeezes the second spring through the sliding sleeve, and the elastic coefficient of the second spring is greater than that of the first spring.

[0015] Preferably, a detector is provided on the second clamping block, and the detector is used to detect the position of the limiting sliding groove on the second clamping block relative to the limiting sliding block on the support rod.

[0016] Preferably, the pulley is connected to a ratchet mechanism, and the ratchet mechanism is arranged on the support rod. The ratchet mechanism is used to limit the rolling direction of the pulley so that the pulley can only roll toward the rear of the vehicle body.

[0017] Preferably, a sealing ring is provided on the turntable, and the turntable is slidably connected to the inner cavity of the shell through the sealing ring.

[0018] Preferably, the inner cavity of the shell is provided with a wear-resistant coating.

[0019] Compared with the prior art, the beneficial effects of the present invention are as follows: when the engineering vehicle travels to an obstacle such as a step or a high platform, the clutch mechanism is controlled to close, and then the hydraulic control circuit is controlled to operate, and the hydraulic telescopic mechanism drives the support rod to move outward from the hydraulic cylinder, so that the rod body of the support rod is disengaged from the latch mechanism. Then the wheel is driven to rotate, and the wheel drives the support rod to rotate forward around the wheel axis through the clutch mechanism and the hydraulic cylinder until the pulley on the support rod abuts against the upper end surface of the obstacle at the front end of the engineering vehicle, and the obstacle applies a vertical upward support force to the support rod through the pulley to support the wheel. Thus, the front end of the engineering vehicle is lifted, and as the support rod continues to rotate, the body of the engineering vehicle is pushed forward, so that the walking device drives the body of the engineering vehicle to cross obstacles without relying on additional power components, reducing the impact on the passability of the engineering vehicle, and having higher reliability in a high-humidity working environment, so that the entire obstacle-crossing walking device can assist the engineering vehicle to adapt to a narrower and more humid working environment.

[0020] The clutch mechanism of the walking device can control whether the wheel drives the support rod to rotate by changing the connection state of its own turntable and chuck as needed, so as to prevent the normal movement of the engineering vehicle from being affected by the rotation of the support rod, and can also ensure that the engineering vehicle provides sufficient power to the support rod when overcoming obstacles, so as to ensure that the entire engineering vehicle can smoothly overcome obstacles. When the wheel drives the chuck to rotate through the wheel axle, under the limiting action of the first clamping block and the clamping groove, the power from the chuck to the turntable can be stably output, and the chuck drives the housing to rotate stably through the special-shaped plug block and the special-shaped plug hole, so as to ensure that the support rod has enough power to move the vehicle body, thereby further ensuring that the engineering vehicle can smoothly overcome obstacles. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] Figure 1 It is a structural schematic diagram of the first working state of the present invention;

[0022] Figure 2 This is a structural schematic diagram of the first working state of the AA surface of the present invention;

[0023] Figure 3 This is a structural schematic diagram of the second working state of the AA surface of the present invention;

[0024] Figure 4 It is a structural schematic diagram of the third working state of the present invention;

[0025] Figure 5 It is a structural schematic diagram of the BB surface of the present invention;

[0026] Figure 6 It is a schematic diagram of the structure of the first card block of the present invention.

[0027] Description of reference numerals:

[0028] 1. Obstacle, 101. Support rod, 102. Pulley, 103. Latch mechanism, 104. Vehicle body, 105. Wheel, 106. Hydraulic cylinder, 107. Piston, 108. Clutch mechanism, 201. Housing, 202. Chuck, 203. Turntable, 204. Axle, 205. Sealing chamber, 301. Slot, 302. First block, 303. Special-shaped jack, 304. Special-shaped block, 401. Second block, 402. Limiting slider, 403. Limiting slot, 5. First spring, 601. Sleeve, 602. Second spring, 7. Detector, 8. Ratchet mechanism, 9. Sealing ring. DETAILED DESCRIPTION

[0029] The following is combined with Figure 1-Figure 6 , the specific implementation of the present invention is described in detail, but it should be understood that the protection scope of the present invention is not limited by the specific implementation. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative work are within the scope of protection of the present invention.

[0030] like Figure 1-Figure 6 As shown, the present invention provides an obstacle-crossing driving walking device for an engineering vehicle, comprising a support rod 101 and a pulley 102, wherein the pulley 102 is rotatably connected to the support rod 101, and the support rod 101 is in contact with the upper end surface of the obstacle 1 through the pulley 102, and further comprising: a tenon mechanism 103, a hydraulic telescopic mechanism and a clutch mechanism 108, wherein the tenon mechanism 103 is arranged on the body 104 of the engineering vehicle, and the tenon mechanism 103 can be engaged with the rod body of the support rod 101, and the tenon mechanism 103 is used to limit the rotation of the support rod 101 around the axis of the wheel 105 of the engineering vehicle ; The hydraulic telescopic mechanism is connected to the end of the support rod 101 away from the pulley 102, and the hydraulic telescopic mechanism is connected to a hydraulic control circuit. The hydraulic telescopic mechanism is used to drive the support rod 101 to move radially along the wheel 105, so that the rod body of the support rod 101 is disengaged from the tenon mechanism 103; the clutch mechanism 108 is connected to the wheel 105 of the engineering vehicle, and the hydraulic telescopic mechanism is connected to the clutch mechanism 108. When the clutch mechanism 108 is closed, the wheel 105 of the engineering vehicle drives the support rod 101 to rotate around the axis of the wheel 105 through the clutch mechanism 108.

[0031] The working principle of the above embodiment is briefly described:

[0032] When the engineering vehicle is moving normally, the tenon mechanism 103 is engaged with the rod body of the support rod 101, and the clutch mechanism 108 is disengaged. When the wheel 105 of the engineering vehicle is rotating, the tenon mechanism 103 can prevent the support rod 101 from rotating around the axis of the wheel 105 of the engineering vehicle, thereby preventing the support rod 101 from interfering with the normal movement of the engineering vehicle. When the engineering vehicle moves to an obstacle 1 such as a step or a platform, the clutch mechanism 108 is controlled to close, and then the hydraulic control circuit is controlled to operate, and the hydraulic control circuit is filled with hydraulic oil to the hydraulic telescopic mechanism, and the hydraulic telescopic mechanism drives the support rod 101 to move along the radial direction of the wheel 105, so that the rod body of the support rod 101 is disengaged from the tenon mechanism 103. At the same time, the overall length of the support rod 101 and the hydraulic telescopic mechanism is lengthened, and the distance between the pulley 102 and the axis of the wheel 105 is increased. Then the wheel 105 is driven to rotate, and the wheel 105 drives the support rod 101 to rotate forwardly around the axis of the wheel 105 through the clutch mechanism 108 and the hydraulic telescopic mechanism, thereby driving the pulley 102 to rotate forwardly around the axis of the wheel 105, until the pulley 102 on the support rod 101 abuts against the upper end surface of the obstacle 1 at the front end of the engineering vehicle. At this time, as the wheel 105 continues to rotate, the support rod 101 applies a downward squeezing force to the obstacle 1 through the pulley 102, and the obstacle 1 applies a vertical upward supporting force to the support rod 101 through the pulley 102, thereby applying a vertical upward supporting force to the wheel 105 of the engineering vehicle to support the wheel 105. Thereby, the front end of the engineering vehicle is lifted, and as the support rod 101 continues to rotate, the body 104 of the engineering vehicle is pushed forward, so that the engineering vehicle can pass over the obstacle 1.

[0033] The engineering vehicle obstacle-crossing driving walking device of the present invention can drive the body 104 of the engineering vehicle to cross obstacles without relying on additional power components, thereby reducing the impact on the passability of the engineering vehicle and having higher reliability, so that the entire obstacle-crossing walking device can assist the engineering vehicle to adapt to a narrower and harsher working environment.

[0034] On the basis of the above embodiments, in order to ensure that the engineering vehicle can overcome obstacles, sufficient power is provided to the support rod 101 to ensure that the entire engineering vehicle can overcome obstacles smoothly.

[0035] like Figure 1-Figure 6As shown, the clutch mechanism 108 includes a shell 201, a chuck 202 and a turntable 203, the shell 201 is connected to the hydraulic telescopic mechanism, the shell 201 is rotatably connected to the axle 204 of the wheel 105, the axle 204 can limit the axial movement of the shell 201 along the wheel 105, the chuck 202 is arranged in the inner cavity of the shell 201 and connected to the axle 204, the turntable 203 is slidably connected to the inner cavity of the shell 201 along the axial direction of the wheel 105, the inner cavity of the shell 201 can limit the rotation of the turntable 203 relative to the hydraulic telescopic mechanism, and a sealed cavity 205 is formed between the turntable 203 and the inner cavity of the shell 201, the sealed cavity 205 is communicated with the hydraulic telescopic mechanism, and when the hydraulic control circuit controls the action of the hydraulic telescopic mechanism, the hydraulic control circuit passes hydraulic oil into the sealed cavity 205 to make the turntable 203 and the chuck 202 clamped.

[0036] When the engineering vehicle is moving normally, the turntable 203 is out of contact with the chuck 202. At this time, when the engineering vehicle is driving normally, the wheel 105 drives the chuck 202 to rotate relative to the turntable 203 through the wheel axle 204, and the support rod 101 is limited by the tenon mechanism 103. When the engineering vehicle is overcoming obstacles, the hydraulic control circuit is controlled to operate, and hydraulic oil is passed into the hydraulic telescopic mechanism by the hydraulic control circuit. The hydraulic telescopic mechanism drives the support rod 101 to move radially along the wheel 105. At the same time, the hydraulic oil in the hydraulic telescopic mechanism enters the sealed chamber 205 in the housing 201, thereby generating a thrust on the turntable 203 toward the side of the chuck 202. Since the wheel axle 204 can limit the axial movement of the housing 201 along the wheel 105, the hydraulic oil entering the sealed chamber 205 drives the turntable 203 to move toward the side close to the chuck 202 until the turntable 203 contacts and engages with the chuck 202, thereby completing the closing of the clutch mechanism 108. At this time, the rotation of the wheel 105 can drive the turntable 203 to rotate through the wheel axle 204 and the chuck 202, and the turntable 203 drives the hydraulic telescopic mechanism to rotate through the housing 201, thereby driving the support rod 101 and the pulley 102 to rotate around the axial direction of the wheel 105. The clutch mechanism 108 of the walking device can control whether the wheel 105 drives the support rod 101 to rotate by changing the connection state of its own turntable 203 and the chuck 202 as needed, so as to prevent the normal movement of the engineering vehicle from being affected by the rotation of the support rod 101. It can also ensure that when the engineering vehicle overcomes obstacles, sufficient power is provided to the support rod 101 to ensure that the entire engineering vehicle can overcome obstacles smoothly.

[0037] As a preferred solution, Figure 2-Figure 6As shown, the chuck 202 is provided with a groove 301 along the radial direction of the chuck 202, and the turntable 203 is provided with a first block 302. When hydraulic oil is introduced into the sealing chamber 205, the first block 302 on the turntable 203 is inserted into the groove 301 on the chuck 202, and the groove 301 can limit the first block 302 from rotating relative to the chuck 202. The side wall of the shell 201 is provided with a special-shaped socket 303, and the sealing chamber 205 is connected to the hydraulic telescopic mechanism through the special-shaped socket 303. The turntable 203 is provided with a special-shaped plug block 304, and the special-shaped plug block 304 is slidably connected to the special-shaped socket 303 along the axial direction of the wheel 105. The turntable 203 drives the shell 201 to rotate through the special-shaped socket 303 and the special-shaped plug block 304. When the engineering vehicle is moving normally, the first clamping block 302 on the turntable 203 is out of contact with the clamping groove 301 on the chuck 202 , and when the wheel 105 drives the chuck 202 to rotate through the wheel axle 204 , the turntable 203 does not rotate. When the engineering vehicle overcomes an obstacle, the hydraulic control circuit fills hydraulic oil into the sealed chamber 205 in the shell 201, and the hydraulic oil drives the turntable 203 to move toward the side of the chuck 202, and the turntable 203 drives the first clamping block 302 thereon to move toward the side of the chuck 202 until the first clamping block 302 is engaged in the clamping groove 301 on the chuck 202. At this time, when the wheel 105 drives the chuck 202 to rotate through the wheel axle 204, under the limiting action of the first clamping block 302 and the clamping groove 301, a stable output of power from the chuck 202 to the turntable 203 can be achieved. The chuck 202 drives the shell 201 to rotate stably through the special-shaped plug block 304 and the special-shaped plug hole 303, thereby driving the hydraulic telescopic mechanism to rotate stably, thereby ensuring that the support rod 101 has enough power to move the vehicle body 104, thereby further ensuring that the engineering vehicle can successfully overcome obstacles.

[0038] As a preferred solution, Figure 2-Figure 5As shown, the hydraulic telescopic mechanism includes a piston 107 and a hydraulic cylinder 106, the piston 107 is connected to the hydraulic cylinder 106 in a radial sliding manner along the wheel 105, the hydraulic cylinder 106 is connected to the sealing chamber 205 and the hydraulic control circuit, the tenon mechanism 103 includes a second clamping block 401 and a limiting slider 402, the second clamping block 401 is arranged on the vehicle body 104, the second clamping block 401 is provided with a limiting slide groove 403 along the radial direction of the wheel 105, the limiting slider 402 is arranged on the support rod 101, the limiting slider 402 is slidably connected to the limiting slide groove 403, the second clamping block 401 limits the support rod 101 to rotate axially around the wheel 105 through the limiting slide groove 403 and the limiting slider 402, when the hydraulic control circuit passes hydraulic oil into the hydraulic cylinder 106, the piston 107 drives the support rod 101 to move radially along the wheel 105, so that the limiting slider 402 slides out of the limiting slide groove 403. When the engineering vehicle is overcoming obstacles, as the hydraulic control circuit fills the hydraulic cylinder 106 with hydraulic oil, the support rod 101 moves out of the hydraulic cylinder 106, thereby driving the limit slider 402 to slide in the limit slide groove 403, until the support rod 101 drives the limit slider 402 to slide out of the limit slide groove 403, so that the second block 401 releases the restriction on the rotation of the support block. The tenon mechanism 103 of the walking device can automatically release the restriction on the rotation of the support rod 101 when the hydraulic drive support rod 101 extends from the hydraulic cylinder 106 and the hydraulic drive clutch mechanism 108 is closed, thereby preventing the tenon mechanism 103 from releasing the limit in time, and the driving force applied by the wheel 105 to the support rod 101 causes an impact on the entire walking device, thereby ensuring the stable operation of the entire walking mechanism.

[0039] As a preferred solution, Figure 2 , Figure 3 , Figure 5 and Figure 6As shown, the special-shaped socket 303 is connected to the middle part of the inner cavity of the hydraulic cylinder 106, so that the hydraulic control circuit can pass a certain amount of hydraulic oil into the inner cavity of the hydraulic cylinder 106, thereby driving the support rod 101 to move until the limiting slider 402 on the support rod 101 slides out of the limiting slide groove 403 on the second clamping block 401. The hydraulic oil in the inner cavity of the hydraulic cylinder 106 enters the sealed cavity 205 through the special-shaped socket 303, and a first spring 5 is provided in the sealed cavity 205. The first spring 5 abuts against the turntable 203, and the first spring 5 is used to apply an elastic force to the turntable 203 away from the side of the chuck 202. When the engineering vehicle is overcoming obstacles, since the special-shaped socket 303 is connected to the middle of the inner cavity of the hydraulic cylinder 106, when the hydraulic control circuit fills the inner cavity of the hydraulic cylinder 106 with hydraulic oil, the hydraulic oil first drives the support rod 101 to move out of the hydraulic cylinder 106 until the limit slider 402 on the support rod 101 slides out of the limit slide groove 403 on the second clamping block 401. The hydraulic oil in the inner cavity of the hydraulic cylinder 106 enters the sealing cavity 205 through the special-shaped socket 303. During the process of sealing the cavity 205, by rotating the support rod 101, the position of the first block 302 on the turntable 203 relative to the slot 301 on the chuck 202 can be adjusted until the first block 302 is directly opposite to the slot 301. At this time, when the hydraulic oil drives the turntable 203 to move toward the side of the chuck 202, it can ensure that the first block 302 is accurately engaged with the slot 301, thereby ensuring the stable output of power from the chuck 202 to the turntable 203, thereby ensuring that the entire walking device can smoothly cross obstacles. After crossing the obstacle, when the support rod 101 is reset, when the hydraulic control circuit draws hydraulic oil from the hydraulic cylinder 106, under the action of the elastic force of the first spring 5, the turntable 203 first moves to the side away from the chuck 202, so that the hydraulic oil in the sealed cavity 205 first flows back into the hydraulic control circuit, and then the hydraulic oil in the inner cavity of the hydraulic cylinder 106 flows back into the hydraulic circuit, thereby ensuring the subsequent normal operation of the entire walking device.

[0040] As a preferred solution, Figure 2 and Figure 3As shown, the inner cavity of the hydraulic cylinder 106 is a stepped hole, the hydraulic control circuit and the special-shaped socket 303 are both connected to the end of the inner cavity of the hydraulic cylinder 106 with a smaller diameter, the piston 107 is slidably connected to the inner wall of the end of the inner cavity of the hydraulic cylinder 106 with a smaller diameter, and a sleeve 601 is slidably connected to the inner end of the inner cavity of the hydraulic cylinder 106 with a larger diameter, the support rod 101 is slidably connected to the sleeve 601 at one end close to the piston 107, and a second spring 602 is provided outside the support rod 101, and the second spring 602 abuts against the sleeve 601. When the piston 107 moves in the inner cavity of the hydraulic cylinder 106 until it abuts against the sleeve 601, the inner cavity of the hydraulic cylinder 106 is connected to the sealing cavity 205 through the special-shaped socket 303, and the piston 107 squeezes the second spring 602 through the sleeve 601, and the elastic coefficient of the second spring 602 is greater than that of the first spring 5. By setting the inner cavity of the hydraulic cylinder 106 as a stepped hole, when the hydraulic control circuit fills the hydraulic cylinder 106 with hydraulic oil, the hydraulic oil drives the piston 107 to slide at the small diameter end of the inner cavity of the hydraulic cylinder 106 until the piston 107 abuts against the sleeve 601, and the inner cavity of the hydraulic cylinder 106 is connected with the sealing cavity 205 through the special-shaped plug hole 303. At this time, since the elastic coefficient of the second spring 602 is greater than the first spring 5, the hydraulic oil first drives the turntable 203 to move toward the side of the chuck 202 until the first block 302 on the chuck 202 is engaged with the groove 301 on the chuck 202. At this time, the action of the hydraulic control circuit can be controlled as needed, thereby controlling the amount of hydraulic oil entering the hydraulic cylinder 106, thereby controlling the total length of the support rod 101 and the hydraulic cylinder 106 to adapt to obstacles 1 of different heights, thereby improving the applicability of the walking device.

[0041] As a preferred solution, Figure 2 , Figure 3 and Figure 4 As shown, the second clamping block 401 is provided with a detector 7, and the detector 7 is used to detect the position of the limiting slot 403 on the second clamping block 401 relative to the limiting slider 402 on the support rod 101. By setting the detector 7, after the engineering vehicle has finished overcoming the obstacle, in the process of the support rod 101 resetting, as the support rod 101 drives the wheel 105 to rotate, the position of the limiting slot 403 on the second clamping block 401 relative to the limiting slider 402 on the support rod 101 is detected by the detector 7, until the length direction of the limiting slot 403 is in the same direction as the length direction of the limiting slider 402, at this time, the hydraulic control circuit is controlled to act, and the hydraulic control circuit sucks hydraulic oil from the inner cavity of the hydraulic cylinder 106, and the support rod 101 shrinks into the inner cavity of the hydraulic cylinder 106, so that the limiting slider 402 can be accurately engaged in the limiting slot 403, so that the support rod 101 can be accurately limited.

[0042] As a preferred solution, Figure 1-Figure 3As shown, the pulley 102 is connected to a ratchet mechanism 8, and the ratchet mechanism 8 is arranged on the support rod 101. The ratchet mechanism 8 is used to limit the rolling direction of the pulley 102, so that the pulley 102 can only roll to the rear of the vehicle body 104. By providing the ratchet mechanism 8, when the pulley 102 contacts the obstacle 1, the ratchet mechanism 8 is used to limit the rolling direction of the pulley 102, so that the pulley 102 can only roll to the rear of the vehicle body 104, so that the obstacle 1 can apply sufficient forward supporting force to the vehicle body 104 through the pulley 102 and the support rod 101, ensuring that the vehicle body 104 can smoothly cross the obstacle.

[0043] As a preferred solution, Figure 2 , Figure 3 and Figure 6 As shown, a sealing ring 9 is provided on the rotating disk 203, and the rotating disk 203 is slidably connected with the inner cavity of the housing 201 through the sealing ring 9. By providing the sealing ring 9 on the rotating disk 203, the sealing performance of the sealing cavity 205 can be improved, thereby ensuring the normal operation of the entire walking device.

[0044] As a preferred solution, Figure 2 and Figure 3 As shown, a wear-resistant coating is provided in the inner cavity of the housing 201. By providing the wear-resistant coating, the wear resistance of the housing 201 can be improved, thereby increasing the service life of the entire walking device.

[0045] While the embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that many changes, modifications, substitutions and alterations may be made to the embodiments without departing from the principles and spirit of the invention.

Claims

1. An obstacle-crossing driving walking device for an engineering vehicle, comprising a support rod (101) and a pulley (102), wherein the pulley (102) is rotatably connected to the support rod (101), and the support rod (101) abuts against the upper end surface of an obstacle (1) through the pulley (102), characterized in that: Also includes: A latch mechanism (103) is provided on a body (104) of the engineering vehicle, the latch mechanism (103) can be latched with the rod body of the support rod (101), and the latch mechanism (103) is used to limit the rotation of the support rod (101) around the axis of the wheel (105) of the engineering vehicle; A hydraulic telescopic mechanism is connected to an end of the support rod (101) away from the pulley (102), the hydraulic telescopic mechanism is connected to a hydraulic control circuit, and the hydraulic telescopic mechanism is used to drive the support rod (101) to move radially along the wheel (105), thereby causing the rod body of the support rod (101) to be disengaged from the latching mechanism (103); The clutch mechanism (108) is connected to the wheel (105) of the engineering vehicle, and the hydraulic telescopic mechanism is connected to the clutch mechanism (108). When the clutch mechanism (108) is closed, the wheel (105) of the engineering vehicle drives the support rod (101) to rotate around the axis of the wheel (105) through the clutch mechanism (108).

2. The obstacle-overcoming driving device for an engineering vehicle according to claim 1, characterized in that: The clutch mechanism (108) comprises a housing (201), a chuck (202) and a rotating disk (203); the housing (201) is connected to the hydraulic telescopic mechanism; the housing (201) is rotatably connected to the axle (204) of the wheel (105); the axle (204) can limit the axial movement of the housing (201) along the wheel (105); the chuck (202) is arranged in the inner cavity of the housing (201) and is connected to the axle (204); the rotating disk (203) is rotatably connected to the axle (204) of the wheel (105); the axle (204) can limit the axial movement of the housing (201) along the wheel (105); (105) is axially slidably connected to the inner cavity of the shell (201), and the inner cavity of the shell (201) can limit the rotation of the turntable (203) relative to the hydraulic telescopic mechanism. A sealed cavity (205) is formed between the turntable (203) and the inner cavity of the shell (201), and the sealed cavity (205) is connected to the hydraulic telescopic mechanism. When the hydraulic control circuit controls the movement of the hydraulic telescopic mechanism, the hydraulic control circuit introduces hydraulic oil into the sealed cavity (205) to enable the turntable (203) to be clamped with the chuck (202).

3. The obstacle-overcoming driving device for an engineering vehicle according to claim 2, characterized in that: The chuck (202) is provided with a groove (301) along the radial direction of the chuck (202), and the rotating disk (203) is provided with a first block (302). When hydraulic oil flows into the sealing chamber (205), the first block (302) on the rotating disk (203) is inserted into the groove (301) on the chuck (202), and the groove (301) can limit the first block (302) from rotating relative to the chuck (202). The housing (203) 01) side wall is provided with a special-shaped plug hole (303), the sealed cavity (205) is connected with the hydraulic telescopic mechanism through the special-shaped plug hole (303), the rotating disk (203) is provided with a special-shaped plug block (304), the special-shaped plug block (304) is slidably connected in the special-shaped plug hole (303) along the axial direction of the wheel (105), and the rotating disk (203) drives the housing (201) to rotate through the special-shaped plug hole (303) and the special-shaped plug block (304).

4. The obstacle-overcoming driving device for an engineering vehicle according to claim 1, characterized in that: The hydraulic telescopic mechanism comprises a piston (107) and a hydraulic cylinder (106); the piston (107) is slidably connected to the hydraulic cylinder (106) along the radial direction of the wheel (105); the hydraulic cylinder (106) is connected to the sealing chamber (205) and the hydraulic control circuit; the tenon mechanism (103) comprises a second clamping block (401) and a limiting sliding block (402); the second clamping block (401) is arranged on the vehicle body (104); the second clamping block (401) is provided with a limiting sliding groove (403) along the radial direction of the wheel (105) The limiting slider (402) is arranged on the support rod (101), and the limiting slider (402) is slidably connected to the limiting slide groove (403). The second clamping block (401) limits the support rod (101) from rotating axially around the wheel (105) through the limiting slide groove (403) and the limiting slider (402). When the hydraulic control circuit passes hydraulic oil into the hydraulic cylinder (106), the piston (107) drives the support rod (101) to move radially along the wheel (105), so that the limiting slider (402) slides out of the limiting slide groove (403).

5. The obstacle-overcoming driving device for an engineering vehicle according to claim 4, characterized in that: The special-shaped plug hole (303) is connected to the middle part of the inner cavity of the hydraulic cylinder (106), so that the hydraulic control circuit can pass a certain amount of hydraulic oil into the inner cavity of the hydraulic cylinder (106), thereby driving the support rod (101) to move until the limiting slider (402) on the support rod (101) slides out of the limiting slide groove (403) on the second clamping block (401). Only then can the hydraulic oil in the inner cavity of the hydraulic cylinder (106) enter the sealing cavity (205) through the special-shaped plug hole (303). A first spring (5) is provided in the sealing cavity (205), and the first spring (5) is in contact with the rotating disk (203). The first spring (5) is used to apply an elastic force to the rotating disk (203) away from the side of the clamping disk (202).

6. The obstacle-overcoming driving device for an engineering vehicle according to claim 5, characterized in that: The inner cavity of the hydraulic cylinder (106) is a stepped hole, the hydraulic control circuit and the special-shaped plug hole (303) are both connected to the end of the inner cavity of the hydraulic cylinder (106) with a smaller diameter, the piston (107) is slidably connected to the inner wall of the end of the inner cavity of the hydraulic cylinder (106) with a smaller diameter, and a sliding sleeve (601) is slidably connected to the end of the inner cavity of the hydraulic cylinder (106) with a larger diameter. The end of the support rod (101) close to the piston (107) is slidably connected to the sliding sleeve (601), and the support rod ( A second spring (602) is provided outside the hydraulic cylinder (101), and the second spring (602) abuts against the sliding sleeve (601). When the piston (107) moves in the inner cavity of the hydraulic cylinder (106) to abut against the sliding sleeve (601), the inner cavity of the hydraulic cylinder (106) is connected with the sealing cavity (205) through the special-shaped plug hole (303), and the piston (107) squeezes the second spring (602) through the sliding sleeve (601). The elastic coefficient of the second spring (602) is greater than that of the first spring (5).

7. The obstacle-overcoming driving device for an engineering vehicle according to claim 4, characterized in that: The second clamping block (401) is provided with a detector (7), and the detector (7) is used to detect the position of the limiting sliding groove (403) on the second clamping block (401) relative to the limiting sliding block (402) on the support rod (101).

8. The obstacle-overcoming driving device for an engineering vehicle according to claim 1, characterized in that: The pulley (102) is connected to a ratchet mechanism (8), which is arranged on the support rod (101). The ratchet mechanism (8) is used to limit the rolling direction of the pulley (102), so that the pulley (102) can only roll toward the rear of the vehicle body (104).

9. The obstacle-overcoming driving device for an engineering vehicle according to claim 2, characterized in that: The rotating disk (203) is provided with a sealing ring (9), and the rotating disk (203) is slidably connected to the inner cavity of the housing (201) via the sealing ring (9).

10. The obstacle-overcoming driving device for an engineering vehicle according to claim 2, characterized in that: The inner cavity of the shell (201) is provided with a wear-resistant coating.

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