Multifunctional obstacle crossing operation vehicle and obstacle crossing method thereof

Abstract

The invention relates to the technical field of operation machinery, and provides a multifunctional obstacle crossing operation vehicle and an obstacle crossing method thereof. The telescopic frames are arranged at the two ends of the chassis structure in the length direction respectively, the two telescopic frames can stretch out and draw back relative to the chassis structure in the length direction, a front wheel is installed on one telescopic frame in a lifting mode, and a rear wheel is installed on the other telescopic frame in a lifting mode; the auxiliary wheels are arranged on the two sides, corresponding to the length direction, of the chassis structure correspondingly, and the auxiliary wheels are located between the two telescopic frames and installed on the chassis structure in a liftable mode; wherein the chassis structure can be supported on any two of the front wheel, the rear wheel and the auxiliary wheel. The multifunctional obstacle crossing operation vehicle can cross obstacles and grooves so as to reach areas isolated by the obstacles and the grooves. And moreover, obstacle crossing can be carried out in a straight driving state, turning is not needed, and the trafficability and the escape ability of the operation vehicle in a narrow operation area are improved.

Description

Technical Field

[0001] The present invention relates to the technical field of construction machinery, and particularly to a multi-functional obstacle-crossing work vehicle and an obstacle-crossing method thereof. Background Art

[0002] During the maintenance process of a substation, construction machinery such as aerial work vehicles, cranes, and crawler special vehicles are widely used, which greatly facilitates on-site construction operations, reduces on-site operation intensity and operation risks.

[0003] However, for some equipment areas, the compact equipment layout results in a narrow operation space. Currently, most aerial work vehicles and cranes are relatively large in size and cannot reach the operation position due to the influence of the operation radius, site conditions, and equipment layout. The small crawler special vehicle can relatively enter a narrower area, but some areas are surrounded by cable trenches like isolated islands, and the small crawler special vehicle cannot cross the cable trenches. Under extreme conditions where construction machinery simply cannot reach, the on-site construction still needs to adopt the most primitive methods of manual climbing or pole hoisting, which greatly increases labor costs, labor intensity, and operation risks. Summary of the Invention

[0004] The present invention provides a multi-functional obstacle-crossing work vehicle and an obstacle-crossing method thereof, which are used to solve the problem in the prior art that the construction machinery for substations cannot cross cable trenches, resulting in some areas surrounded by cable trenches being inaccessible and affecting on-site construction.

[0005] The present invention provides a multi-functional obstacle-crossing work vehicle, including: A chassis structure; Retractable frames, which are respectively arranged at both ends in the length direction of the chassis structure. The two retractable frames are respectively retractable relative to the chassis structure along the length direction. A front wheel is liftably installed on one of the retractable frames, and a rear wheel is liftably installed on the other retractable frame; Auxiliary wheels, which are respectively arranged on both sides of the chassis structure corresponding to the length direction. The auxiliary wheels are located between the two retractable frames and are liftably installed on the chassis structure; Wherein, the chassis structure can be supported on any two of the front wheel, the rear wheel, and the auxiliary wheels.

[0006] According to the multi-functional obstacle-crossing work vehicle provided by the present invention, it further includes: Axles and jacking drive mechanisms. Each retractable frame is equipped with a jacking drive mechanism, and the jacking drive mechanism is connected to the axle for driving the axle to lift relative to the retractable frame; one of the axles is installed with the front wheel, and the other axle is installed with the rear wheel.

[0007] A multi-functional obstacle-crossing work vehicle provided by the present invention, wherein the axle includes: a first bracket, a second bracket, and a steering drive mechanism; the first bracket is connected to the jacking drive mechanism, the second bracket is rotatably mounted on the first bracket around a vertical axis, and a wheel is rotatably connected to the second bracket; the steering drive mechanism is fixed to the first bracket and connected to the second bracket for driving the second bracket to rotate relative to the first bracket.

[0008] A multi-functional obstacle-crossing work vehicle provided by the present invention, wherein the steering drive mechanism includes: two slewing drive members, the two slewing drive members are respectively mounted on both sides of the first bracket and are respectively and drivingly connected to the two second brackets; the slewing drive member is used for driving the second bracket to rotate relative to the first bracket within an angle range of 360°.

[0009] A multi-functional obstacle-crossing work vehicle provided by the present invention further includes: A telescopic drive mechanism, including two second drive members respectively mounted on the chassis structure, the two second drive members are respectively and drivingly connected to the two telescopic frames; The telescopic frame includes: a cross beam and two longitudinal beams, one ends of the two longitudinal beams are fixedly connected through the cross beam, the other ends of the two longitudinal beams are movably inserted into the chassis structure, and the driving end of the second drive member is connected to the cross beam.

[0010] A multi-functional obstacle-crossing work vehicle provided by the present invention further includes: A temporary power sensor, a plurality of the temporary power sensors are arranged around the circumference of the chassis structure; An alarm device, the temporary power sensor is communicatively connected to the alarm device.

[0011] A multi-functional obstacle-crossing work vehicle provided by the present invention further includes: A slewing platform, rotatably connected to the chassis structure; A main boom, a first end of the main boom is rotatably connected to the slewing platform and can be folded above the chassis structure, and a working platform is connected to a second end of the main boom; An auxiliary boom, the auxiliary boom is rotatably connected to the second end of the main boom and can be folded on the main boom, and when the auxiliary boom is unfolded relative to the main boom, the top end of the auxiliary boom is higher than the working platform; Wherein, the main boom includes a plurality of main boom sections, and the plurality of main boom sections are sequentially telescopically sleeved; and / or, the auxiliary boom includes a plurality of auxiliary boom sections, and the plurality of auxiliary boom sections are sequentially telescopically sleeved.

[0012] According to a multifunctional obstacle-crossing vehicle provided by the present invention, the working platform comprises a base and a working frame, the base is fixed to the second end of the main arm, and the working frame can be folded and installed on the base.

[0013] A multifunctional obstacle-crossing vehicle provided by the present invention further comprises: A leg structure, wherein a plurality of leg structures are provided on both sides of the length direction of the chassis structure; the leg structure comprises a first leg arm, a second leg arm and a leg, one end of the first leg arm is rotatably connected to the chassis structure so that the first leg arm can be folded and unfolded relative to the chassis structure, the second leg arm can be telescopically installed on the first leg arm, and the leg can be lifted and lowered on one end of the second leg arm away from the first leg arm.

[0014] The present invention also provides an obstacle overcoming method using any of the above-mentioned multifunctional obstacle overcoming operation vehicles, comprising: The multifunctional obstacle-crossing vehicle drives forward to the obstacle area; the auxiliary wheels are lowered so that the auxiliary wheels are in contact with the ground; Lifting the front wheels and driving the corresponding telescopic frames to extend; Moving the multifunctional obstacle-crossing vehicle forward until the obstacle area is located between the front wheels and the auxiliary wheels, lowering the front wheels so that the front wheels are in contact with the ground; Lifting the rear wheels and driving the corresponding telescopic frames to extend; Lowering the rear wheel so that the rear wheel contacts the ground, and then lifting the auxiliary wheel; Moving the multifunctional obstacle-crossing vehicle forward until the obstacle area is located between the auxiliary wheels and the rear wheels, lowering the auxiliary wheels so that the auxiliary wheels are in contact with the ground; Lifting the rear wheels and driving the corresponding telescopic frames to retract; Moving the multifunctional obstacle-crossing vehicle forward until the rear wheels are away from the obstacle area; The rear wheels are lowered to make them contact the ground, and then the auxiliary wheels are lifted.

[0015] The multifunctional obstacle-crossing operation vehicle and the obstacle-crossing method provided by the present invention are characterized in that telescopic frames are respectively telescopically installed at both ends of the chassis structure in the length direction, the front wheels and the rear wheels are respectively liftably installed on the two telescopic frames, and auxiliary wheels are liftably installed on both sides of the chassis structure in the length direction and between the two telescopic frames. The telescopic movement of the two telescopic frames and the coordination of the lifting and lowering movements of the front wheels, the rear wheels and the auxiliary wheels enable the operation vehicle to cross obstacles and grooves to reach areas separated by obstacles and grooves; and obstacles can be crossed while driving in a straight line without turning, thereby improving the passability and escape ability of the operation vehicle in narrow operation areas. Brief Description of the Drawings

[0016] In order to more clearly illustrate the technical solutions in the present invention or the prior art, the following will briefly introduce the drawings required for the description of the embodiments or the prior art. Obviously, the drawings in the following description are some embodiments of the present invention. For those of ordinary skill in the art, without creative efforts, other drawings can also be obtained based on these drawings.

[0017] Figure 1 It is the front view of the multi-functional obstacle-crossing work vehicle provided by the present invention.

[0018] Figure 2 It is the top view of the multi-functional obstacle-crossing work vehicle provided by the present invention.

[0019] Figure 3 It is the schematic diagram of the crab walking mode of the multi-functional obstacle-crossing work vehicle provided by the present invention.

[0020] Figure 4 It is the schematic diagram of the four-wheel steering mode of the multi-functional obstacle-crossing work vehicle provided by the present invention.

[0021] Figure 5 It is the schematic diagram of the vertical movement mode of the multi-functional obstacle-crossing work vehicle provided by the present invention.

[0022] Figure 6 It is one of the schematic diagrams of the deployment of the working arm of the multi-functional obstacle-crossing work vehicle provided by the present invention.

[0023] Figure 7 It is another schematic diagram of the deployment of the working arm of the multi-functional obstacle-crossing work vehicle provided by the present invention.

[0024] Figure 8 It is the schematic diagram of the folded state of the auxiliary arm of the multi-functional obstacle-crossing work vehicle provided by the present invention.

[0025] Figure 9 It is the schematic diagram of the deployed state of the auxiliary arm of the multi-functional obstacle-crossing work vehicle provided by the present invention.

[0026] Figure 10 It is the schematic diagram of the folded state of the working platform of the multi-functional obstacle-crossing work vehicle provided by the present invention.

[0027] Figure 11 It is one of the schematic diagrams of the obstacle-crossing method of the multi-functional obstacle-crossing work vehicle provided by the present invention.

[0028] Figure 12 It is another schematic diagram of the obstacle-crossing method of the multi-functional obstacle-crossing work vehicle provided by the present invention.

[0029] Figure 13 It is the third schematic diagram of the obstacle-crossing method of the multi-functional obstacle-crossing work vehicle provided by the present invention.

[0030] Figure 14 It is the fourth schematic diagram of the obstacle-crossing method of the multi-functional obstacle-crossing work vehicle provided by the present invention.

[0031] Figure 15 It is the fifth schematic diagram of the obstacle-crossing method of the multi-functional obstacle-crossing work vehicle provided by the present invention.

[0032] Figure 16 It is the sixth schematic diagram of the obstacle-crossing method of the multi-functional obstacle-crossing work vehicle provided by the present invention.

[0033] Figure 17 It is the seventh schematic diagram of the obstacle-crossing method of the multi-functional obstacle-crossing work vehicle provided by the present invention.

[0034] Figure 18 It is the eighth schematic diagram of the obstacle-crossing method of the multi-functional obstacle-crossing work vehicle provided by the present invention.

[0035] Figure 19 It is the ninth schematic diagram of the obstacle-crossing method of the multi-functional obstacle-crossing work vehicle provided by the present invention.

[0036] Figure 20 It is the tenth schematic diagram of the obstacle-crossing method of the multi-functional obstacle-crossing work vehicle provided by the present invention.

[0037] Reference signs: 1. Chassis structure; 2. Telescopic frame; 3. Axle; 31. First bracket; 32. Second bracket; 33. Rotary drive member; 34. Front wheel; 35. Rear wheel; 41. Mounting frame; 42. Second drive member; 43. Auxiliary wheel; 5. Rotary platform; 51. Platform bracket; 52. Rotary mechanism; 53. Main boom luffing drive member; 61. Main boom; 611. Main boom section; 62. Auxiliary boom; 621. Auxiliary boom section; 622. Rotary seat; 623. Auxiliary boom luffing drive member; 624. Swing drive member; 63. Working platform; 631. Working frame; 6311. Bottom plate; 6312. Front frame; 6313. Rear frame; 6314. Side frame; 632. Base; 7. Leg structure. Detailed implementation manners

[0038] To make the objectives, technical solutions and advantages of the present invention clearer, the technical solutions in the present invention will be clearly and completely described below in conjunction with the accompanying drawings in the present invention. Obviously, the described embodiments are some, but not all, of the embodiments of the present invention. All other embodiments obtained by those of ordinary skill in the art based on the embodiments in the present invention without creative efforts shall fall within the protection scope of the present invention.

[0039] In the description of the embodiments of the present invention, it should be noted that unless otherwise clearly specified and defined, the terms "first" and "second" are used for numbering product components for clear explanation and do not represent any substantial difference. The terms "mounted", "connected", and "coupled" should be understood in a broad sense. For example, it can be a fixed connection, a detachable connection, or an integral connection; it can be directly connected, or indirectly connected through an intermediate medium, and it can be the communication inside two components. For those of ordinary skill in the art, the specific meanings of the above terms in the embodiments of the present invention can be understood according to specific circumstances. In addition, the meaning of "a plurality of" is two or more. In the specification and claims, "and / or" means at least one of the connected objects, and the character " / ", generally represents an "or" relationship between the associated objects before and after.

[0040] The following will Figures 1 - 20 describe the multi-functional obstacle-crossing work vehicle of the present invention and the obstacle-crossing method of the multi-functional obstacle-crossing work vehicle.

[0041] As Figure 1 and Figure 2 shown, the multi-functional obstacle-crossing work vehicle provided by the embodiments of the present invention includes a chassis structure 1, a telescopic frame 2, and auxiliary wheels 43. Telescopic frames 2 are respectively provided at both ends in the length direction of the chassis structure 1, and the two telescopic frames 2 are respectively telescopic relative to the chassis structure 1 along the length direction. A front wheel 34 is liftably mounted on one of the telescopic frames 2, and a rear wheel 35 is liftably mounted on the other telescopic frame 2. Auxiliary wheels 43 are respectively provided on both sides of the chassis structure 1 corresponding to the length direction, and the auxiliary wheels 43 are located between the two telescopic frames 2 and are liftably mounted on the chassis structure 1. Among them, the chassis structure 1 can be supported on any two of the front wheel 34, the rear wheel 35, and the auxiliary wheels 43.

[0042] Among them, the two telescopic frames 2 are respectively telescopically mounted at both ends in the length direction of the chassis structure 1 along the length direction of the chassis structure 1, and the front wheel 34 and the rear wheel 35 are respectively located at one end of the corresponding telescopic frame 2 away from the chassis structure 1. The two telescopic frames 2 are respectively telescopic relative to the chassis structure 1 along the length direction, that is, the two telescopic frames 2 can extend and retract one by one, or extend and retract simultaneously.

[0043] Specifically, two front wheels 34 are mounted on the telescopic frame 2 at one end of the chassis structure 1, and the two front wheels 34 can be lifted relative to the telescopic frame 2 individually or simultaneously. Similarly, two rear wheels 35 are mounted on the telescopic frame 2 at the other end of the chassis structure 1, and the two rear wheels 35 can be lifted relative to the telescopic frame 2 individually or simultaneously. The auxiliary wheels 43 on both sides of the chassis structure 1 can be lifted relative to the chassis structure 1 individually or simultaneously.

[0044] The front wheel 34, the rear wheel 35 and the auxiliary wheel 43 can all be single-wheel structures or multi-wheel combination structures. Figure 1 Each auxiliary wheel 43 includes two wheels arranged along the length direction of the chassis structure 1, which can improve the load-bearing capacity and driving stability of the auxiliary wheel 43.

[0045] When driving on a normal road, the two telescopic frames 2 can be retracted to the extreme position relative to the chassis structure 1, so that the length of the working vehicle is shortened to the minimum, which is conducive to its traveling in a narrow working area. Figures 11 - 20 As shown, when the road ahead encounters an obstacle or groove (collectively referred to as obstacle area A), the auxiliary wheel 43 is lowered, the front wheel 34 is raised and the corresponding telescopic frame 2 is extended; after continuing to drive until the obstacle area A is between the front wheel 34 and the auxiliary wheel 43, the front wheel 34 is lowered; after raising the rear wheel 35 and extending the corresponding telescopic frame 2, the rear wheel 35 is lowered, and then the auxiliary wheel 43 is raised; after continuing to drive until the obstacle area A is between the auxiliary wheel 43 and the rear wheel 35, the auxiliary wheel 43 is lowered, and then the rear wheel 35 is raised and the corresponding telescopic frame 2 is retracted; after continuing to drive until the obstacle area is far away from the rear wheel 35, the rear wheel 35 is lowered and the auxiliary wheel 43 is raised. In this way, obstacle avoidance driving is completed.

[0046] The multifunctional obstacle-crossing vehicle provided by the embodiment of the present invention has telescopic frames 2 which are respectively telescopically installed at both ends of the chassis structure 1 in the length direction, and the front wheels 34 and the rear wheels 35 which are respectively liftably installed on the two telescopic frames 2, and the auxiliary wheels 43 which are liftably installed on both sides of the length direction of the chassis structure 1 and between the two telescopic frames 2. By utilizing the telescopic movement of the two telescopic frames 2 and the coordination of the lifting and lowering movement of the front wheels 34, the rear wheels 35 and the auxiliary wheels 43, the vehicle can cross obstacles and trenches to reach areas separated by obstacles and trenches; and can cross obstacles while driving in a straight line without turning, thereby improving the vehicle's passability and escape ability in narrow working areas.

[0047] like Figure 1 and Figure 2 As shown, the multifunctional obstacle-crossing vehicle provided in some embodiments of the present invention further includes an axle 3 and a lifting drive mechanism. A lifting drive mechanism is installed on each telescopic frame 2, and the lifting drive mechanism is connected to the axle 3, which is used to drive the axle 3 to rise and fall relative to the telescopic frame 2. One of the axles 3 is installed with a front wheel 34, and the other axle 3 is installed with a rear wheel 35.

[0048] The lifting drive mechanism may include one or more first drive members, which are arranged at intervals along the width direction of the chassis structure 1 to improve the stability of the lifting of the axle 3. The first drive member is not limited to a linear drive member such as an oil cylinder, a pneumatic cylinder or an electric cylinder.

[0049] In this embodiment, two lifting drive mechanisms are respectively used to drive the lifting of the front axle and the rear axle, so as to realize the independent lifting of the front axle and the rear axle, and the simultaneous lifting of the two front wheels 34 and the simultaneous lifting of the two rear wheels 35.

[0050] Among them, the axle 3 on the telescopic frame 2 at one end of the chassis structure 1 is the front axle, and the front wheels 34 are rotatably connected thereto. The axle 3 on the telescopic frame 2 at the other end of the chassis structure 1 is the rear axle, and the rear wheels 35 are rotatably connected thereto. It should be noted that in the embodiment of the present invention, the azimuth relationship between the front wheels 34 and the rear wheels 35 is defined based on the front and rear of the driving direction of the work vehicle, that is, the wheels in the front of the driving direction are the front wheels 34, and the wheels in the rear of the driving direction are the rear wheels 35.

[0051] Furthermore, the axle 3 includes a first bracket 31, a second bracket 32 and a steering drive mechanism. The first bracket 31 is connected to the lifting drive mechanism, and the second bracket 32 is rotatably mounted on the first bracket 31 around a vertical axis. Wheels are rotatably connected to the second bracket 32. The steering drive mechanism is fixed to the first bracket 31 and connected to the second bracket 32, and is used to drive the second bracket 32 to rotate relative to the first bracket 31.

[0052] Specifically, one end of the lifting drive mechanism is fixed to the telescopic frame 2, and the other end is fixed to the first bracket 31, and is used to drive the first bracket 31 to lift relative to the telescopic frame 2, so as to drive the second bracket 32 and the wheels thereon to lift. One end of the steering drive mechanism is fixed to the first bracket 31, and the other end is fixed to the second bracket 32, and is used to drive the second bracket 32 to rotate relative to the first bracket 31 around a vertical axis to realize wheel steering.

[0053] In some embodiments of the present invention, the steering drive mechanism includes two slewing drive members 33, and the two slewing drive members 33 are respectively installed on both sides of the first bracket 31 and are drivingly connected to the two second brackets 32 in one-to-one correspondence. The slewing drive member 33 is used to drive the second bracket 32 to rotate relative to the first bracket 31 within a 360° angle range. Among them, the slewing drive member is not limited to an oil cylinder, a motor, etc., as long as it can drive the second bracket 32 to rotate relative to the first bracket 31 within a 360° angle range. In this embodiment, the two slewing drive members 33 are respectively used to drive the two second brackets 32 on the axle 3 to rotate relative to the first bracket 31, so as to realize the independent steering of the two wheels on the axle 3.

[0054] It should be noted that the steering drive mechanism may also include a steering drive member, and the two second brackets 32 are simultaneously driven by the steering drive member to rotate relative to the first bracket 31, so as to realize the synchronous steering of the two wheels on the axle 3. The steering drive member may be a steering oil cylinder.

[0055] The multi-functional obstacle-crossing work vehicle provided by this embodiment includes four walking modes, namely the conventional mode, the crab walking mode, the four-wheel steering mode, and the vertical movement mode.

[0056] See Figure 2 , when both the current wheels 34 and the rear wheels 35 are at a 0° angle to the length direction of the chassis structure 1, the conventional mode is realized, and it can drive straight along the length direction of the chassis structure 1. See Figure 3 , when the current wheels 34 and the rear wheels 35 deflect in the same direction, the crab walking mode can be realized, and the walking is more flexible. See Figure 4 , when the current wheels 34 and the rear wheels 35 deflect in the opposite direction, the four-wheel steering mode can be realized, and the turning radius is smaller. See Figure 5 , when both the current wheels 34 and the rear wheels 35 are deflected to a 90° angle to the length direction of the chassis structure 1, the vertical movement mode can be realized, and it can drive straight along the width direction of the chassis structure 1.

[0057] The multi-functional obstacle-crossing work vehicle provided by the embodiment of the present invention further includes a telescopic drive mechanism. The telescopic drive mechanism includes two second drive members respectively installed on the chassis structure 1, and the two second drive members are respectively and drivingly connected to the two telescopic frames 2 in a one-to-one correspondence. The telescopic frame 2 includes a cross beam and two longitudinal beams. One ends of the two longitudinal beams are fixedly connected through the cross beam, and the other ends of the two longitudinal beams are movably inserted into the chassis structure 1. The driving end of the second drive member is connected to the cross beam. Among them, the second drive member is a linear drive member such as, but not limited to, an oil cylinder, a cylinder, or an electric cylinder.

[0058] Specifically, the two longitudinal beams are arranged at intervals in the width direction of the chassis structure 1. Two slots are provided at the end of the chassis structure 1, and the two longitudinal beams are respectively inserted into the two slots in a one-to-one correspondence. The second drive member is fixed inside the chassis structure 1, and its driving end extends out of the chassis structure 1 and is fixedly connected to the cross beam. The telescopic frame 2 is driven by the second drive member to expand and contract in the horizontal direction along the length direction of the chassis structure 1. In this embodiment, by setting the telescopic frame 2 with two longitudinal beams, the weight of the telescopic frame 2 is reduced while ensuring the telescopic stability of the telescopic frame 2.

[0059] The multi-functional obstacle-crossing work vehicle provided by the embodiment of the present invention further includes a mounting frame 41 and a lifting drive mechanism. Mounting frames 41 are respectively fixed on both sides of the chassis structure 1 in the length direction, and the auxiliary wheels 43 are rotatably connected to the mounting frames 41. The lifting drive mechanism includes two second drive members 42, and the two second drive members 42 are respectively and drivingly connected to the two mounting frames 41 in a one-to-one correspondence. The second drive member 42 is used to drive the mounting frame 41 to move up and down, so as to drive the auxiliary wheels 43 to move up and down. The second drive member 42 is a linear drive member such as, but not limited to, an oil cylinder, a cylinder, or an electric cylinder.

[0060] The multifunctional obstacle-crossing work vehicle provided by the embodiment of the present invention further includes a temporary power sensor and an alarm device. A plurality of temporary power sensors are arranged around the chassis structure 1. The temporary power sensor is communicatively connected with the alarm device. The temporary power sensor is used to detect the live bodies around the work vehicle.

[0061] Specifically, the temporary power sensor and the alarm device are respectively communicatively connected with the controller. During the driving of the work vehicle, when the distance between the work vehicle and the surrounding live bodies is less than the set safety distance, the controller controls the alarm device to emit an alarm signal to remind the operator. When necessary, the whole vehicle control system can be cut off to make the work vehicle in a stationary state. In this way, accidents of accidentally touching live equipment during the operation construction process can be avoided, and the operation safety can be improved.

[0062] The multifunctional obstacle-crossing work vehicle provided by the embodiment of the present invention further includes a slewing platform 5, a main boom 61 and a sub-boom 62. The slewing platform 5 is rotatably connected to the chassis structure 1. The first end of the main boom 61 is rotatably connected to the slewing platform 5 and can be folded above the chassis structure 1. The second end of the main boom 61 is connected with an operation platform 63. The sub-boom 62 is rotatably connected to the second end of the main boom 61 and can be folded on the main boom 61. When the sub-boom 62 is unfolded relative to the main boom 61, the top end of the sub-boom 62 is higher than the operation platform 63.

[0063] Specifically, the main boom 61, the sub-boom 62 and the operation platform 63 form the working arm of the work vehicle. The working arm is rotatably connected to the slewing platform 5 through one end of the main boom 61. The slewing platform 5 includes a platform bracket 51, a slewing mechanism 52 and a main boom luffing drive 53. The flange at the bottom of the platform bracket 51 is rotationally connected to the chassis structure 1 through the slewing mechanism 52. The first end of the main boom 61 is rotatably connected to the platform bracket 51. One end of the main boom luffing drive 53 is rotatably connected to the platform bracket 51, and the other end is rotatably connected to the main boom 61, and is used to drive the main boom 61 to make a vertical luffing movement relative to the platform bracket 51. When the main boom 61 luffs down to the lowest position, it is folded on the chassis structure 1, see Figure 2 .

[0064] A rotating seat 622 is rotatably connected to the second end of the main boom 61. One end of the sub-boom 62 is rotatably connected to the rotating seat 622. A sub-boom luffing drive 623 is rotatably connected to the rotating seat 622. The other end of the sub-boom luffing drive 623 is rotatably connected to the sub-boom 62 and is used to drive the sub-boom 62 to rotate relative to the rotating seat 622 to realize the luffing movement of the sub-boom 62. The rotating seat 622 is connected to the second end of the main boom 61 through a swing drive 624. The swing drive 624 is used to drive the rotating seat 622 to rotate relative to the main boom 61. Among them, the main boom luffing drive 53 and the sub-boom luffing drive 623 are linear drive members not limited to oil cylinders, air cylinders and electric cylinders. The swing drive 624 is a rotary drive member not limited to worm gears.

[0065] SeeFigure 6 When the auxiliary boom 62 needs to be used to increase the working height, the swing driving member can be controlled to drive the rotating base to drive the auxiliary boom 62 to be turned up and unfolded relative to the main boom 61, so as to extend the length of the entire working boom. Lighter objects can be hoisted by the auxiliary boom 62. The working platform 63 is used to carry construction workers. When the auxiliary boom 62 is unfolded, the top end is higher than the working platform 63. The luffing function of the auxiliary boom 62 can cooperate with the construction workers to carry out light lifting, and the operation is more flexible, providing convenience for on-site construction.

[0066] See Figure 2 and Figure 7 When the auxiliary boom 62 is not needed, the swing driving member can be controlled to drive the rotating base to drive the auxiliary boom 62 to be folded above the main boom 61, obtaining a smaller overall dimension, and heavier objects can be hoisted by the main boom 61.

[0067] In this embodiment, by providing the auxiliary boom 62 that can be folded on the main boom 61 and arranging the working platform 63 at the end of the main boom 61, it can not only provide an aerial working platform for construction workers, but also have the function of light lifting. See Figure 6 and Figure 9 . The auxiliary boom 62 and the working platform 63 can be used independently of each other or simultaneously, greatly improving the construction efficiency.

[0068] In some embodiments of the present invention, the main boom 61 includes a plurality of main boom sections 611, and the plurality of main boom sections 611 can be telescopically sleeved in sequence. Specifically, the main boom section 611 is a hollow structure, and the plurality of main boom sections 611 can be slidably sleeved in sequence to realize the telescopic length of the main boom 61. The outermost main boom section 611 is respectively rotatably connected to the slewing platform and the main boom luffing driving member. The innermost main boom section 611 is rotatably connected to the auxiliary boom 62. When the work vehicle is traveling or when aerial work is not required, the main boom 61 can be retracted to the shortest length and folded onto the chassis structure 1.

[0069] In some embodiments of the present invention, the auxiliary boom 62 includes a plurality of auxiliary boom sections 621, and the plurality of auxiliary boom sections 621 can be telescopically sleeved in sequence. Specifically, the auxiliary boom section 621 is a hollow structure, and the plurality of auxiliary boom sections 621 can be slidably sleeved in sequence to realize the telescopic length of the auxiliary boom 62. The outermost auxiliary boom section 621 is rotatably connected to the rotating base. When the work vehicle is traveling or when aerial work is not required, the auxiliary boom 62 can be retracted to the shortest length and folded above the main boom 61.

[0070] Such as Figure 6As shown, in the embodiment of the present invention, the working platform 63 includes a base 632 and a working frame 631, the base 632 is fixed to the second end of the main arm 61, and the working frame 631 can be folded and installed on the base 632. The working frame 631 is used to provide a safe working space for construction personnel. When the working frame 631 is not needed, the working frame 631 can be folded and arranged close to the base 632, which can avoid the interference between the working frame 631 and the object hoisted by the auxiliary arm 62, and reduce the size of the working arm folded onto the chassis structure 1.

[0071] The embodiment of the present invention provides a retractable main arm 61 and a secondary arm 62, the main arm 61 can be folded onto the chassis structure 1, the secondary arm 62 can be folded onto the main arm 61, and the working platform 63 is provided with a foldable working frame 631, so that when the main arm 61 and the secondary arm 62 are retracted to the shortest length, the main arm 61 is folded above the chassis structure 1, the secondary arm 62 is folded onto the main arm 61, and the working frame 631 of the working platform 63 is in a folded state, the space occupied by the working arm can be greatly reduced, so that the volume of the whole vehicle is small and suitable for narrow working environments.

[0072] Specifically, see Figure 8 and Figure 10 The working frame 631 includes a bottom plate 6311, a front frame 6312, a rear frame 6313 and two side frames 6314. The front frame 6312 and the rear frame 6313 are arranged opposite to each other, and the two side frames 6314 are arranged opposite to each other. The front frame 6312, the rear frame 6313 and the two side frames 6314 are installed on the bottom plate 6311 and are surrounded by the bottom plate 6311 to form a working area.

[0073] The rear frame 6313 is fixed to the second end of the main arm 61 through the base 632. The side frame 6314 has two rotatably connected sub-frames, and the ends of the two sub-frames that are away from each other are rotatably connected to the rear frame 6313 and the front frame 6312 respectively. One of the sub-frames of the side frame 6314 away from the rear frame 6313 is slidably connected to the bottom plate 6311, so that the front frame 6312 can slide toward the rear frame 6313 relative to the bottom plate 6311, and at the same time, the sub-frames of the two side frames 6314 are folded inwardly between the front frame 6312 and the rear frame 6313. The bottom plate 6311 can be folded upward relative to the base 632 and locked with the base 632 through a locking member, so as to limit the two folded side frames 6314 in a folded state.

[0074] When the working platform 63 needs to be used, unlock the bottom plate 6311 and the base 632, fold the bottom plate 6311 to a horizontal state, pull the front frame 6312 away from the rear frame 6313 to slide relative to the bottom plate 6311, and unfold the working frame 631. Then, lock the front frame 6312 and the bottom plate 6311 with a pin shaft to limit the working frame 631 in the unfolded state.

[0075] As shown Figure 1 in the figure, the multi-functional obstacle-crossing work vehicle provided by the embodiment of the present invention further includes outrigger structures 7. A plurality of outrigger structures 7 are provided on both sides in the length direction of the chassis structure 1. The outrigger structure 7 includes a first outrigger arm, a second outrigger arm and an outrigger. One end of the first outrigger arm is rotatably connected to the chassis structure 1, so that the first outrigger arm can be folded and unfolded relative to the chassis structure 1. The second outrigger arm is telescopically installed on the first outrigger arm, and an outrigger is liftably installed at the end of the second outrigger arm away from the first outrigger arm.

[0076] Optionally, the number of outrigger structures 7 is four, and one outrigger structure 7 is installed at the front and rear of both sides in the length direction of the chassis structure 1. When the work vehicle unfolds for high-altitude work, a plurality of outrigger structures 7 can be unfolded relative to the chassis structure 1 and supported on the ground to prevent the work vehicle from tipping over.

[0077] Specifically, the outrigger structure 7 further includes a deployment oil cylinder, a telescopic oil cylinder and a lifting oil cylinder. One end of the deployment oil cylinder is rotatably connected to the chassis structure 1, and the other end is rotatably connected to the first outrigger arm, and is used to drive the first outrigger arm to fold on the side of the chassis structure 1 and unfold in a direction away from the chassis structure 1. One end of the telescopic oil cylinder is fixed to the first outrigger arm, and the other end is fixed to the second outrigger arm, and is used to drive the second outrigger arm to telescope relative to the first outrigger arm. One end of the lifting oil cylinder is fixed to the second outrigger arm, and the other end is fixed to the outrigger, and is used to drive the outrigger to lift and lower in the vertical direction relative to the second outrigger arm.

[0078] In the embodiment of the present invention, the chassis structure 1 includes a chassis body and a power system, a hydraulic system, a control system, an execution device, etc. provided on the chassis body. A gravity distribution system may also be provided on the chassis structure 1, which is used to adjust the front and rear positions of the center of gravity of the work vehicle according to the support form of the work vehicle, ensure the front and rear stability of the work vehicle, and improve the safety of the work vehicle during obstacle-crossing operations. Of course, the center of the whole vehicle can also be adjusted by performing a luffing operation on the working arm to ensure the front and rear stability of the work vehicle.

[0079] The embodiment of the present invention also provides an obstacle-crossing method using any one of the above multi-functional obstacle-crossing work vehicles, including the steps of: S1, the multi-functional obstacle-crossing work vehicle drives forward to in front of the obstacle area A, see Figure 11 ; lower the auxiliary wheel 43 so that the auxiliary wheel 43 contacts the ground, see Figure 12 .

[0080] S2, lift the front wheels 34 and drive the corresponding telescopic frame 2 to extend, see Figure 13 .

[0081] S3. Move the multi-functional obstacle-crossing work vehicle forward. After the obstacle area A is located between the front wheels 34 and the auxiliary wheels 43, lower the front wheels 34 so that the front wheels 34 contact the ground. See Figure 14 and Figure 15 .

[0082] S4. Lift the rear wheels 35 and drive the corresponding telescopic frame 2 to extend. See Figure 16 .

[0083] S5. Lower the rear wheels 35. After the rear wheels 35 contact the ground, lift the auxiliary wheels 43. See Figure 17 .

[0084] S6. Move the multi-functional obstacle-crossing work vehicle forward. After the obstacle area A is located between the auxiliary wheels 43 and the rear wheels 35, lower the auxiliary wheels 43 so that the auxiliary wheels 43 contact the ground. See Figure 18 and Figure 19 .

[0085] S7. Lift the rear wheels 35 and drive the corresponding telescopic frame 2 to retract. See Figure 19 .

[0086] S8. Move the multi-functional obstacle-crossing work vehicle forward until the rear wheels 35 are away from the obstacle area A. See Figure 19 .

[0087] S9. Lower the rear wheels 35. After the rear wheels 35 contact the ground, lift the auxiliary wheels 43. See Figure 20 .

[0088] In the obstacle-crossing method of the embodiment of the present invention, the telescopic frame 2, the front wheels 34, the rear wheels 35, and the auxiliary wheels 43 respectively control the corresponding driving parts to act by the control system of the work vehicle, so as to realize the telescoping of the telescopic frame 2 and the lifting and lowering of the front wheels 34, the rear wheels 35, and the auxiliary wheels 43.

[0089] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit them; although the present invention has been described in detail with reference to the foregoing embodiments, those of ordinary skill in the art should understand that they can still modify the technical solutions recorded in the foregoing embodiments, or perform equivalent replacements on some of the technical features; and these modifications or replacements do not make the essence of the corresponding technical solutions deviate from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

1. A multi-functional obstacle-crossing work vehicle, characterized in that, Comprising: Chassis structure; Retractable frames, with the retractable frames provided at both ends in the length direction of the chassis structure respectively. The two retractable frames are respectively retractable relative to the chassis structure along the length direction. A front wheel is liftably mounted on one of the retractable frames, and a rear wheel is liftably mounted on the other retractable frame; Auxiliary wheels, with the auxiliary wheels provided on both sides of the chassis structure corresponding to the length direction respectively. The auxiliary wheels are located between the two retractable frames and are liftably mounted on the chassis structure; Wherein, the chassis structure can be supported on any two of the front wheel, the rear wheel and the auxiliary wheel.

2. The multi-functional obstacle-crossing work vehicle according to claim 1, wherein, Further comprising: Axles and jacking drive mechanisms. Each retractable frame is equipped with a jacking drive mechanism, and the jacking drive mechanism is connected to the axle for driving the axle to lift relative to the retractable frame. One of the axles is equipped with the front wheel, and the other axle is equipped with the rear wheel.

3. The multi-functional obstacle-crossing work vehicle according to claim 2, wherein The axle includes: a first bracket, a second bracket and a steering drive mechanism; the first bracket is connected to the jacking drive mechanism, the second bracket is rotatably mounted on the first bracket around a vertical axis, and a wheel is rotatably connected to the second bracket; the steering drive mechanism is fixed on the first bracket and connected to the second bracket for driving the second bracket to rotate relative to the first bracket.

4. The multi-functional obstacle-crossing work vehicle according to claim 3, wherein The steering drive mechanism includes: two slewing drive parts, which are respectively mounted on both sides of the first bracket and are respectively drivingly connected to the two second brackets in one-to-one correspondence; the slewing drive part is used for driving the second bracket to rotate relative to the first bracket within an angle range of 360°.

5. The multi-functional obstacle-crossing work vehicle according to claim 1, wherein, Further comprising: Retractable drive mechanism, including two second drive parts respectively mounted on the chassis structure, and the two second drive parts are respectively drivingly connected to the two retractable frames in one-to-one correspondence; The retractable frame includes: a cross beam and two longitudinal beams. One ends of the two longitudinal beams are fixedly connected through the cross beam, and the other ends of the two longitudinal beams are movably inserted into the chassis structure, and the driving end of the second drive part is connected to the cross beam.

6. The multi-functional obstacle-crossing work vehicle according to claim 1, characterized in that, Further comprising: Temporary power sensor, with a plurality of temporary power sensors arranged in a surrounding manner on the periphery of the chassis structure; Alarm device, and the temporary power sensor is communicatively connected to the alarm device.

7. The multi-functional obstacle-crossing work vehicle according to claim 1, characterized in that, Further comprising: Slewing platform, rotatably connected to the chassis structure; Main boom, with the first end of the main boom rotatably connected to the slewing platform and foldable above the chassis structure, and the second end of the main boom is connected to an operation platform; Auxiliary boom, with the auxiliary boom rotatably connected to the second end of the main boom and foldable on the main boom. When the auxiliary boom is unfolded relative to the main boom, the top end of the auxiliary boom is higher than the operation platform; Wherein, the main boom includes a plurality of main boom sections, and the plurality of main boom sections are sequentially telescopically sleeved; and / or, the auxiliary boom includes a plurality of auxiliary boom sections, and the plurality of auxiliary boom sections are sequentially telescopically sleeved.

8. The multi-functional obstacle-crossing work vehicle according to claim 7, wherein, The operation platform includes a base and an operation frame, the base is fixed to the second end of the main boom, and the operation frame is foldably mounted on the base.

9. The multifunctional obstacle-crossing work vehicle according to claim 1, wherein, Further comprising: Outrigger structure, and a plurality of said outrigger structures are provided on both sides in the length direction of the chassis structure; the outrigger structure includes a first outrigger arm, a second outrigger arm and an outrigger. One end of the first outrigger arm is rotatably connected to the chassis structure, so that the first outrigger arm can be folded and unfolded relative to the chassis structure. The second outrigger arm is telescopically installed on the first outrigger arm, and the outrigger is liftably installed at one end of the second outrigger arm away from the first outrigger arm.

10. A method for obstacle crossing using the multi-functional obstacle crossing work vehicle according to any one of claims 1-9, characterized in that, Comprising: The multi-functional obstacle-crossing work vehicle drives forward to before the obstacle area; Lower the auxiliary wheel so that the auxiliary wheel contacts the ground; Lift the front wheel and drive the corresponding telescopic frame to extend; Move the multi-functional obstacle-crossing work vehicle forward. After the obstacle area is located between the front wheel and the auxiliary wheel, lower the front wheel so that the front wheel contacts the ground; Lift the rear wheel and drive the corresponding telescopic frame to extend; After lowering the rear wheel so that the rear wheel contacts the ground, lift the auxiliary wheel; Move the multi-functional obstacle-crossing work vehicle forward. After the obstacle area is located between the auxiliary wheel and the rear wheel, lower the auxiliary wheel so that the auxiliary wheel contacts the ground; Lift the rear wheel and drive the corresponding telescopic frame to retract; Move the multi-functional obstacle-crossing work vehicle forward until the rear wheel is away from the obstacle area; After lowering the rear wheel so that the rear wheel contacts the ground, lift the auxiliary wheel.

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