Multifunctional deformable obstacle crossing special operation vehicle

Abstract

The invention relates to the technical field of special operation vehicles, and provides a multifunctional deformable obstacle crossing special operation vehicle which comprises a chassis system, a rotary platform and a telescopic arm, the rotary platform is arranged on the chassis system, the bottom of the telescopic arm is connected with the rotary platform, and an operation platform is arranged at the top of the telescopic arm; the chassis system comprises a chassis structural part, and supporting leg supporting mechanisms are arranged at the front end and the rear end of the chassis structural part; the supporting leg supporting mechanism comprises an automatic telescopic frame, a rotating mechanism, a lifting assembly and a self-driven auxiliary wheel, one end of the automatic telescopic frame is connected with the chassis structural part through the rotating mechanism, and the automatic telescopic frame is driven by the rotating mechanism to be switched between the folding position and the multiple unfolding positions. Through the arrangement of the supporting leg supporting mechanism, when obstacle crossing is needed, the chassis system can be separated from the ground and supported by the supporting leg supporting mechanism through the cooperation of the lifting assembly and the self-driven auxiliary wheels, and therefore the robot can cross obstacles.

Description

Technical Field

[0001] The present invention relates to the technical field of special operation vehicles, and in particular to a multifunctional deformable obstacle-crossing special operation vehicle. Background Art

[0002] Aerial platforms and cranes are currently widely used during substation maintenance, greatly facilitating on-site construction work and reducing both workload and operational risks. However, these efforts have also gradually exposed some issues. For example, in substations with 220kV and lower equipment, the compact layout and limited working space, coupled with the numerous live equipment and parts surrounding them, have created isolated areas within cable trenches.

[0003] Conventional aerial platforms and cranes have difficulty reaching designated locations due to their large size and limited ability to navigate obstacles. Furthermore, site conditions and equipment layout hinder conventional aerial platforms and cranes from reaching confined, isolated areas for operations. Consequently, there is an urgent need for a compact, specialized intelligent work vehicle capable of traversing cable trenches and obstacles. Summary of the Invention

[0004] The present invention provides a multifunctional deformable obstacle-crossing special operation vehicle, which is used to solve the defects of the prior art such as weak obstacle-crossing capability and poor applicability in narrow and complex scenes.

[0005] The present invention provides a multifunctional deformable obstacle-crossing special operation vehicle, comprising: a chassis system, a rotating platform and a telescopic arm, wherein the rotating platform is arranged on the chassis system, the bottom of the telescopic arm is connected to the rotating platform so as to rotate under the drive of the rotating platform, and the top of the telescopic arm is provided with a working platform; the chassis system comprises a chassis structure, and the front and rear ends of the chassis structure are both provided with outrigger support mechanisms, and the outrigger support mechanisms are used to selectively support the chassis system; wherein the outrigger support mechanism comprises an automatic telescopic frame, a rotating mechanism, a lifting assembly and a self-driving auxiliary wheel, one end of the automatic telescopic frame is connected to the chassis structure through the rotating mechanism, so as to drive the automatic telescopic frame to switch between a folded position and a plurality of deployed positions through the rotating mechanism, the other end of the automatic telescopic frame is connected to the lifting assembly, and the lifting assembly is perpendicular to the automatic telescopic frame, and the bottom of the lifting assembly is provided with the self-driving auxiliary wheel, so as to drive the chassis system to move through the self-driving auxiliary wheel when it is necessary to overcome obstacles.

[0006] According to the multifunctional deformable obstacle-crossing special operation vehicle provided by the present invention, the telescopic arm includes a main support arm and an auxiliary lifting arm. The bottom of the main support arm is connected to the rotating platform, and the top of the main support arm is provided with the working platform; the auxiliary lifting arm is rotatably provided on the top of the main support arm, so that when heavy objects need to be lifted, the auxiliary lifting arm can be unfolded so that it coincides with the extension direction of the main support arm to realize the lifting of heavy objects.

[0007] According to the multifunctional deformable obstacle-crossing special operation vehicle provided by the present invention, the auxiliary lifting arm includes a fixed arm and a telescopic lifting arm, the telescopic lifting arm is nested in the fixed arm, and a connecting base is provided at one end of the fixed arm, and a hinge part and a positioning part are provided on the connecting base, the hinge part is hinged to the main support arm, and the positioning part is used to connect with the main support part when the auxiliary lifting arm is working.

[0008] According to the multifunctional deformable obstacle-crossing special operation vehicle provided by the present invention, a pulley assembly is provided on the auxiliary lifting arm, and the pulley assembly is used for winding the lifting cable.

[0009] According to the multifunctional deformable obstacle-crossing special operation vehicle provided by the present invention, the working platform includes a load-bearing base, a hanging basket body, a connecting piece, a swinging device and a mounting frame, the mounting frame is connected to the main body support arm, the swinging device is arranged on the mounting frame, and a swinging frame is provided on the output end of the swinging device. The load-bearing base is fixedly connected to the swinging frame through the connecting piece, and the hanging basket body is connected to the load-bearing base so that the hanging basket body swings in the horizontal direction under the drive of the swinging device.

[0010] According to the multifunctional deformable obstacle-crossing special operation vehicle provided by the present invention, the mounting frame and the main body support arm are hingedly arranged, and an angle adjustment device is also provided between the mounting frame and the main body support arm. The angle adjustment device is used to drive the mounting frame to rotate so that the hanging basket body is always parallel to the horizontal plane.

[0011] According to the multifunctional deformable obstacle-crossing special operation vehicle provided by the present invention, both ends of the front side of the chassis structure and both ends of the rear side of the chassis structure are provided with rotating connection parts, and the rotating mechanism is provided in each of the rotating connection parts.

[0012] According to the multifunctional deformable obstacle-crossing special operation vehicle provided by the present invention, the automatic telescopic frame includes a telescopic drive device, a fixed support arm and a telescopic support arm, one end of the fixed support arm is connected to the rotating mechanism, the telescopic support arm is nested in the fixed support arm, the telescopic drive device is provided on the fixed support arm, the output end of the telescopic drive device is connected to the telescopic support arm to drive the telescopic support arm to move relative to the fixed support arm, and the lifting assembly is provided at the end of the telescopic support arm.

[0013] According to the multifunctional deformable obstacle-crossing special operation vehicle provided by the present invention, the lifting assembly includes a lifting drive device, a connecting bracket, a positioning shaft and a positioning block. The positioning block is connected to the main body of the lifting drive device, the positioning shaft is passed through the positioning block and can slide relative to the positioning block, the lifting drive device is connected to the telescopic support arm, the bottom of the connecting bracket is connected to the self-driving auxiliary wheel, and the output ends of the positioning shaft and the lifting drive device are both connected to the upper part of the connecting bracket, so that the connecting bracket moves in the vertical direction under the drive of the lifting drive device.

[0014] According to the multifunctional deformable obstacle-crossing special operation vehicle provided by the present invention, a front axle and a rear axle are provided at the bottom of the chassis structure, and steering knuckles are provided at both ends of the front axle and both ends of the rear axle, and each of the steering knuckles is provided with a self-driving driving wheel; and each of the steering knuckles is connected to a steering drive device, and the steering drive device is used to drive the steering knuckle to move.

[0015] According to the multifunctional deformable obstacle-crossing special operation vehicle provided by the present invention, the front and rear sides of the bottom of the chassis structure are provided with suspension mechanisms, and the suspension mechanism includes a connecting support part, a movable arm and a retractable device. The connecting support part is connected to the chassis structure, one end of the movable arm is hinged to the connecting support part, and the other end of the movable arm is provided with a self-driving driving wheel. The output end of the retractable device is hinged to the movable arm and is close to one side of the self-driving driving wheel. The retractable device is used to drive the self-driving driving wheel to move in the vertical direction.

[0016] According to the multifunctional deformable obstacle-crossing special operation vehicle provided by the present invention, a rotating device is provided between the self-driving auxiliary wheel and the lifting assembly, so that the self-driving auxiliary wheel can rotate through the rotating device.

[0017] The multifunctional deformable obstacle-crossing special operation vehicle provided by the present invention, through the setting of the outrigger support mechanism, enables the chassis system to be separated from the ground and supported by the outrigger support mechanism when it is necessary to overcome obstacles through the cooperation of the lifting assembly and the self-driving auxiliary wheels, so that it can overcome obstacles and realize operations in complex environments, thereby improving the applicability of the operation vehicle. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] In order to more clearly illustrate the technical solutions in the present invention or the prior art, a brief introduction is given below to the drawings required for use in the embodiments or the description of the prior art. Obviously, the drawings described below are some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0019] Figure 1 It is a schematic diagram of the overall structure of the multifunctional deformable obstacle-crossing special operation vehicle provided by the present invention.

[0020] Figure 2 It is a side structural schematic diagram of the multifunctional deformable obstacle-crossing special operation vehicle provided by the present invention.

[0021] Figure 3 It is a schematic diagram of the top structure of the multifunctional deformable obstacle-crossing special operation vehicle provided by the present invention.

[0022] Figure 4 It is a schematic diagram of the swinging state of the hanging basket body in the multifunctional deformable obstacle-crossing special operation vehicle provided by the present invention.

[0023] Figure 5 It is a schematic diagram of the state of the auxiliary lifting arm in the multifunctional deformable obstacle-crossing special operation vehicle provided by the present invention when it is in the working position.

[0024] Figure 6 It is a schematic diagram of the specific structure of the auxiliary lifting arm in the multifunctional deformable obstacle-crossing special operation vehicle provided by the present invention.

[0025] Figure 7 It is a schematic diagram of the specific structure of the connection between the lifting assembly and the sub-drive auxiliary wheel in the multifunctional deformable obstacle-crossing special operation vehicle provided by the present invention.

[0026] Figure 8 It is a schematic diagram of the rear axle structure connection structure of the multifunctional deformable obstacle-crossing special operation vehicle provided by the present invention.

[0027] Figure 9 This is one of the state diagrams of the moving mode of the multifunctional deformable obstacle-crossing special operation vehicle provided by the present invention.

[0028] Figure 10 This is the second state schematic diagram of the mobile mode of the multifunctional deformable obstacle-crossing special operation vehicle provided by the present invention.

[0029] Figure 11 This is the third state diagram of the mobile mode of the multifunctional deformable obstacle-crossing special operation vehicle provided by the present invention.

[0030] Figure 12This is one of the illustrated steps of the obstacle overcoming process of the multifunctional deformable obstacle overcoming special operation vehicle provided by the present invention.

[0031] Figure 13 This is the second illustrated step of the obstacle overcoming process of the multifunctional deformable obstacle overcoming special operation vehicle provided by the present invention.

[0032] Figure 14 This is the third illustrated step of the obstacle overcoming process of the multifunctional deformable obstacle overcoming special operation vehicle provided by the present invention.

[0033] Figure 15 This is the fourth step of the illustrated obstacle-crossing process of the multifunctional deformable obstacle-crossing special operation vehicle provided by the present invention. Figure 1 .

[0034] Figure 16 This is the fourth step of the illustrated obstacle-crossing process of the multifunctional deformable obstacle-crossing special operation vehicle provided by the present invention. Figure 2 .

[0035] Figure 17 This is the fifth illustrated step of the obstacle overcoming process of the multifunctional deformable obstacle overcoming special operation vehicle provided by the present invention.

[0036] Figure 18 This is the sixth illustrated step of the obstacle overcoming process of the multifunctional deformable obstacle overcoming special operation vehicle provided by the present invention.

[0037] Figure 19 This is one of the overall structural schematic diagrams of a multifunctional deformable obstacle-crossing special operation vehicle provided by another embodiment of the present invention.

[0038] Figure 20 This is the second schematic diagram of the overall structure of the multifunctional deformable obstacle-crossing special operation vehicle provided by another embodiment of the present invention.

[0039] Figure 21 This is the second state diagram of the mobile mode of the multifunctional deformable obstacle-crossing special operation vehicle provided by another embodiment of the present invention.

[0040] Figure 22 This is the third state diagram of the mobile mode of the multifunctional deformable obstacle-crossing special operation vehicle provided by another embodiment of the present invention.

[0041] Figure 23 This is one of the illustrated steps of the obstacle overcoming process of a multifunctional deformable obstacle-overcoming special operation vehicle provided by another embodiment of the present invention.

[0042] Figure 24 This is the second illustrated step of the obstacle overcoming process of the multifunctional deformable obstacle overcoming special operation vehicle provided by another embodiment of the present invention.

[0043] Figure 25This is the third illustrated step of the obstacle overcoming process of the multifunctional deformable obstacle overcoming special operation vehicle provided by another embodiment of the present invention.

[0044] Figure 26 This is the fourth step of the illustrated obstacle-crossing process of the multifunctional deformable obstacle-crossing special operation vehicle provided by another embodiment of the present invention. Figure 1 .

[0045] Figure 27 This is the fourth step of the illustrated obstacle-crossing process of the multifunctional deformable obstacle-crossing special operation vehicle provided by another embodiment of the present invention. Figure 2 .

[0046] Figure 28 This is the fifth illustrated step of the obstacle overcoming process of the multifunctional deformable obstacle overcoming special operation vehicle provided by another embodiment of the present invention.

[0047] Figure 29 This is the sixth step of the illustrated obstacle-crossing process of the multifunctional deformable obstacle-crossing special operation vehicle provided by another embodiment of the present invention. 10. Chassis system; 11. Self-propelled driving wheel; 12. Rear axle; 13. Steering knuckle; 14. Steering drive device; 20. Rotating platform; 30. Telescopic arm; 31. Main support arm; 311. Modulating cylinder; 312. Winch; 32. Auxiliary lifting arm; 321. Fixed arm; 322. Telescopic lifting arm; 323. Positioning hole; 324. Connecting base; 325. Articulated part; 326. Positioning part; 327. Pulley assembly; 40. Working platform; 41. Basket body; 42. Load Base; 43. Connecting piece; 44. Mounting frame; 45. Swinging device; 46. Swinging frame; 47. Angle adjustment device; 48. Connecting block; 50. Leg support mechanism; 51. Rotating mechanism; 52. Automatic telescopic frame; 53. Lifting assembly; 531. Lifting drive device; 532. Connecting bracket; 533. Positioning block; 534. Positioning shaft; 54. Self-driving auxiliary wheel; 55. Telescopic drive device; 60. Suspension mechanism; 61. Connecting support part; 62. Movable arm; 63. Retractable device. DETAILED DESCRIPTION

[0048] To make the objectives, technical solutions, and advantages of the present invention more clear, the technical solutions of the present invention will be clearly and completely described below in conjunction with the accompanying drawings. Obviously, the embodiments described are only some of the embodiments of the present invention, not all of them. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative efforts shall fall within the scope of protection of the present invention.

[0049] In the description of the embodiments of the present invention, it should be noted that the terms "center", "longitudinal", "lateral", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", etc., indicating the orientation or positional relationship, are based on the orientation or positional relationship shown in the accompanying drawings, and are only for the convenience of explaining the embodiments of the present invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operate in a specific orientation, and therefore should not be understood as limiting the embodiments of the present invention. In addition, the terms "first", "second", and "third" are used for descriptive purposes only and should not be understood as indicating or implying relative importance.

[0050] In the description of the embodiments of the present invention, it should be noted that, unless otherwise specified or limited, the terms "connected" and "connection" should be understood in a broad sense. For example, they can refer to fixed connections, detachable connections, or integral connections; mechanical connections, electrical connections; and direct connections or indirect connections through an intermediary. Those skilled in the art will understand the specific meanings of the above terms in the embodiments of the present invention based on specific circumstances.

[0051] In the embodiments of the present invention, unless otherwise expressly specified or limited, a first feature being "above" or "below" a second feature may mean that the first and second features are in direct contact, or that the first and second features are in indirect contact through an intermediate medium. Furthermore, a first feature being "above," "above," and "above" a second feature may mean that the first feature is directly above or obliquely above the second feature, or simply means that the first feature is at a higher level than the second feature. A first feature being "below," "below," and "below" a second feature may mean that the first feature is directly below or obliquely below the second feature, or simply means that the first feature is at a lower level than the second feature.

[0052] In the description of this specification, the description with reference to the terms "one embodiment", "some embodiments", "example", "specific example", or "some examples" means that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the embodiment of the present invention. In this specification, the schematic representations of the above terms do not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described can be combined in any one or more embodiments or examples in a suitable manner. In addition, those skilled in the art can combine and combine different embodiments or examples described in this specification and features of different embodiments or examples without contradiction.

[0053] Usually, when power facilities such as substations are under maintenance, workers are carried out on aerial work vehicles or cranes to perform high-altitude maintenance. However, in some narrow areas and areas with complex geographical environments, conventional aerial work vehicles and cranes cannot perform operations.

[0054] In the related art, small tracked special vehicles are used for operations. However, since some areas around the substation are divided by cable trenches to form isolated areas, and the cable trenches need to be crossed to move forward, the work vehicles in the related art are difficult to overcome obstacles, making it difficult to effectively carry out maintenance in complex environments.

[0055] Regarding the problems in related technologies, such as Figure 1-Figure 5 As shown, an embodiment of the present invention provides a multifunctional deformable obstacle-crossing special operation vehicle, comprising a chassis system 10, a slewing platform 20 and a telescopic arm 30. The slewing platform 20 is arranged on the chassis system 10, and the bottom of the telescopic arm 30 is connected to the slewing platform 20 so as to rotate under the drive of the slewing platform 20. The top of the telescopic arm 30 is provided with a working platform 40; the chassis system 10 includes a chassis structure, and the front and rear ends of the chassis structure are both provided with outrigger support mechanisms 50, which are used to selectively support the chassis system 10; wherein, the outrigger support mechanism The structure 50 includes an automatic telescopic frame 52, a rotating mechanism 51, a lifting assembly 53, and self-propelled auxiliary wheels 54. One end of the automatic telescopic frame 52 is connected to the chassis structure via the rotating mechanism 51, so that the rotating mechanism 51 can drive the automatic telescopic frame 52 to switch between a folded position and multiple deployed positions. The other end of the automatic telescopic frame 52 is connected to the lifting assembly 53, and the lifting assembly 53 is perpendicular to the automatic telescopic frame 52. The bottom of the lifting assembly 53 is provided with a self-propelled auxiliary wheel 54, which is used to drive the chassis system 10 to move when obstacles need to be overcome. During power maintenance, a special operation vehicle is required to lift workers to a specific height to inspect the cables. In this embodiment, the work platform 40 on the telescopic arm 30 is used to carry workers. The workers can rise and fall via the telescopic arm 30 and rotate via the rotating platform 20 to reach any position, improving their flexibility. In addition, the provision of the outrigger support mechanism 50 enables the work vehicle to overcome obstacles, thereby enabling operations in complex environments and improving its applicability.

[0056] Specifically, the chassis structure comprises a frame structure that supports the slewing platform 20 and telescopic arm 30 located on the chassis structure. The slewing platform 20 is rotatably mounted on the chassis structure and can rotate about its own rotation center. This rotation of the slewing platform 20 drives the connected telescopic arm 30, enabling flexible adjustment when different orientations are required, improving its applicability. Furthermore, the outrigger support mechanism 50 is movably mounted on the chassis structure. When obstacles need to be overcome or support is required, the outrigger support mechanism 50 is deployed to provide support and overcome obstacles, thus enabling stable support in complex geographical environments.

[0057] The telescopic boom 30 includes a main support arm 31, which comprises a support arm tube connected to the slewing platform 20 and multiple stages of telescopic boom tubes. The support arm tube supports the multiple stages of telescopic boom tubes. Each lower-level telescopic boom tube is nested within the adjacent upper-level telescopic boom tube, and the lower-level telescopic boom tube is configured to be retractable relative to the upper-level telescopic boom tube. The working platform 40 is located on the last-level telescopic boom tube, allowing it to reach different heights during the telescopic boom extension and retraction process, improving its flexibility.

[0058] Among them, the self-driven auxiliary wheel 54 is a wheel with its own driving power in conventional technology, that is, the electric motor and the driving wheel are integrated into a whole, which simplifies the power transmission structure of the vehicle and no longer requires a traditional transmission system. Each wheel can independently receive the driving force from the control system, and the speed of each wheel can be adjusted as needed, thereby improving the vehicle's controllability and flexibility.

[0059] Specifically, a connection base is provided at the bottom of the support arm, which is connected to the slewing platform 20 via the connection base. Modulation cylinders 311 are provided on both sides of the support arm. The cylinder ends of the modulation cylinders 311 are connected to the connection base, and the piston rods of the modulation cylinders 311 are hinged to the support arm. By driving the piston rods to move, the support arm can have different tilt angles, improving its flexibility. The provision of modulation cylinders 311 on both sides enhances its load-bearing capacity and overall stability.

[0060] It is understandable that when inspecting power facilities such as substations and power towers, it is necessary to reach a high position to work. In this case, it is necessary to use an aerial work vehicle or crane to lift the work platform 40. Since power facilities such as substations and power towers are often surrounded by cable trenches, which cannot be crushed by vehicles, it is necessary to cross the cable trenches to perform operations. In this embodiment, the front and rear outrigger support structures are deployed to enable the front and rear outrigger mechanisms to support the chassis system 10, allowing the chassis system 10 to cross the cable trenches and avoid crushing the cable trenches. This method improves the applicability of the vehicle by modifying the outrigger mechanism to enable it to move and drive the chassis system 10 over trenches and other obstacles, enabling operations in a variety of complex environments.

[0061] In the specific configuration, the telescopic arm 30 also includes an auxiliary lifting arm 32. The bottom of the main support arm 31 is connected to the rotary platform 20, and the top of the main support arm 31 is provided with a working platform 40, that is, the working platform 40 is connected to the telescopic arm tube of the last level; the auxiliary lifting arm 32 is rotatably provided on the top of the main support arm 31, so that when heavy objects need to be lifted, the auxiliary lifting arm 32 can be unfolded to coincide with the extension direction of the main support arm 31, thereby achieving the lifting of heavy objects. Conventional work vehicles have telescopic arms 30 that are only used to carry workers or only for lifting heavy objects. In this embodiment, by providing the auxiliary lifting arm 32 on the main support arm 31, it is possible to unfold the auxiliary lifting arm 32 when needed, thereby achieving the simultaneous carrying of workers and lifting of heavy objects, thereby improving its flexibility and applicability.

[0062] Specifically, the auxiliary lifting arm 32 is rotatably connected to the last-level telescopic arm 30, and the auxiliary lifting arm 32 can be switched between the working position and the storage position through the rotatable connection. In the working position, the auxiliary lifting arm 32 is unfolded and arranged along the extension direction of the main support arm 31. In the storage position, the auxiliary lifting arm 32 is folded up and located on one side of the main lifting arm. This method is conducive to working in a limited space and can realize the applicability of the auxiliary lifting arm 32 according to specific environment and needs.

[0063] It is understood that the auxiliary lifting arm 32 is integrated with the main support arm 31 through a rotatable connection, allowing it to be deployed when needed and folded away when not needed, without taking up excess space. Specifically, there are various methods for rotatable connection, such as a hinged connection to achieve rotatable connection of the auxiliary lifting arm 32, and a positioning structure to achieve positioning after the deployed position.

[0064] In some embodiments, such as Figure 6As shown, the auxiliary lifting arm 32 includes a fixed arm 321 and a telescopic lifting arm 322. The telescopic lifting arm 322 is nested within the fixed arm 321. A connecting base 324 is provided at one end of the fixed arm 321. The connecting base 324 is provided with a hinge portion 325 and a positioning portion 326. The hinge portion 325 is hinged to the main support arm 31, and the positioning portion 326 is used to connect to the main support portion when the auxiliary lifting arm 32 is in operation. The auxiliary lifting arm 32 needs to be able to rotate so that it can switch between a working position and a storage position. In this embodiment, the provision of the hinge portion 325 and the positioning portion 326 on the connecting base 324 allows the auxiliary lifting arm 32 to be deployed when required and positioned by the positioning portion 326, making the auxiliary lifting arm 32 more stable during operation.

[0065] Specifically, the telescopic lifting arm 322 can move relative to the fixed arm 321, and positioning holes 323 are provided on both the fixed arm 321 and the telescopic lifting arm 322. When the telescopic lifting arm 322 is extended, the telescopic lifting arm 322 is pulled and the positioning holes 323 on the two are overlapped, and fixed by a pin shaft to limit the axial movement of the telescopic part, thereby realizing the extension and positioning of the telescopic lifting arm 322.

[0066] When setting up, continue as Figure 6 As shown, the hinge portion 325 includes two vertically spaced through-holes, with a gap between them. This gap is used to engage with the main support arm 31, and an axle pin is inserted between the through-holes to achieve an articulated connection between the two. Correspondingly, the positioning portion 326 also adopts the same structure as the hinge portion 325, and the positioning portion 326 and the hinge portion 325 are arranged side by side. In the specific configuration, the hinge portion 325 is always hingedly connected to the main support arm 31, and the positioning portion 326 is connected when required, thereby limiting the degrees of freedom of the auxiliary lifting arm 32 and maintaining its position stability.

[0067] It is understandable that if Figure 5 As shown, the working platform 40 and the auxiliary lifting arm 32 are both arranged at the top end of the main support arm 31. When the auxiliary lifting arm 32 needs to be worked or stored, it can be operated by the staff on the working platform 40, so that it can be used flexibly.

[0068] In some embodiments, the auxiliary hoisting arm 32 is provided with a pulley assembly 327 for winding a hoisting cable. When hoisting, a hoisting cable is required for hoisting. In this embodiment, the provision of the pulley assembly 327 facilitates the positioning and operation of the hoisting cable.

[0069] Specifically, continue as Figure 5As shown, a winch 312 is provided on the main support arm 31 or on the chassis system 10, and a lifting cable is wound around the winch 312, so that when performing lifting operations, the lifting of heavy objects can be achieved by starting the winch 312, thereby enabling personnel operations and heavy object lifting to be achieved simultaneously, thereby improving its operating efficiency.

[0070] In some embodiments, such as Figure 2 、 Figure 4 As shown, the working platform 40 includes a bearing base 42, a hanging basket body 41, a connecting piece 43, a swinging device 45 and a mounting frame 44. The mounting frame 44 is connected to the main support arm 31. The swinging device 45 is provided on the mounting frame 44. A swinging frame 46 is provided on the output end of the swinging device 45. The bearing base 42 is fixedly connected to the swinging frame 46 through the connecting piece 43. The hanging basket body 41 is connected to the bearing base 42 so that the hanging basket body 41 swings in the horizontal direction under the drive of the swinging device 45. When arriving at the predetermined position for maintenance, it is necessary to inspect the positions to be inspected in each direction one by one. In this embodiment, the swinging of the hanging basket body 41 is achieved by the swinging device 45, so that continuous operation at multiple positions can be achieved, thereby improving work efficiency.

[0071] Specifically, the swing mechanism 45 includes a swing cylinder that drives the support base 42 to swing horizontally. The basket body 41 has a storage space inside that can accommodate workers for work. The basket body 41 is connected to the support base 42, which can swing under the drive of the swing mechanism 45 to reach different horizontal positions.

[0072] It is understandable that if Figure 5 As shown, since the working platform 40 and the auxiliary lifting arm 32 are both arranged at the top position of the main support arm 31, and the main support arm 31 needs to be unfolded during work, it may affect the work of the staff in the hanging basket body 41. Through the setting of the swing device 45, the hanging basket body 41 can be avoided to avoid interference with it.

[0073] In a specific embodiment, the mounting bracket 44 is hingedly connected to the main support arm 31. An angle adjustment device 47 is also provided between the mounting bracket 44 and the main support arm 31. The angle adjustment device 47 is used to drive the mounting bracket 44 to rotate so that the hanging basket body 41 is always parallel to the horizontal plane. In this embodiment, the hinged setting and the angle adjustment device 47 cooperate to enable the hanging basket body 41 to be adjusted in the vertical direction, so that the hanging basket body 41 is always in a horizontal position, which is beneficial for the staff to work stably.

[0074] Specifically, a connecting block 48 is provided at the top of the main support arm 31, the mounting bracket 44 is hinged to the connecting block 48, and an angle adjustment device 47 is provided between the mounting bracket 44 and the main support arm 31. The angle adjustment device 47 is an adjustment cylinder, the cylinder body of which is hinged to the main support arm 31, and the piston rod of which is hinged to the mounting bracket 44. Driven by the piston rod, the horizontal state of the hanging basket body 41 can be adjusted in real time, thereby maintaining the level of the hanging basket body 41.

[0075] According to the embodiment provided by the present invention, Figure 1 、 Figure 3 As shown, both ends of the front side of the chassis structure and both ends of the rear side of the chassis structure are provided with rotating connection parts, and each rotating connection part is provided with a rotating mechanism 51. The outrigger support mechanism 50 needs to be deployed during operation to achieve support or overcome obstacles. In this embodiment, the provision of the rotating mechanism 51 allows the outrigger support mechanism 50 to be positioned in any position, thereby achieving different functions and improving its flexibility.

[0076] Specifically, the rotation mechanism 51 is a slewing mechanism comprising a slewing support device and a slewing drive device. The slewing drive device is used to drive the slewing support device. The main portion of the slewing drive device is connected to the chassis structure, and the rotating portion of the slewing support device is connected to the automatic telescopic frame 52, thereby enabling the automatic telescopic frame 52 to be deployed or retracted.

[0077] It will be appreciated that the chassis structure is generally plate-shaped, and by providing support mechanisms at both the front and rear ends, each of the four corners of the chassis structure has a leg support mechanism 50. The swivel mechanism maintains stability at any rotation angle, allowing the leg support mechanism 50 to have multiple deployed positions, enabling different modes of operation.

[0078] In some embodiments, the automatic telescopic frame 52 includes a telescopic drive device 55, a fixed support arm, and a telescopic support arm. One end of the fixed support arm is connected to the rotation mechanism 51, and the telescopic support arm is nested within the fixed support arm. The telescopic drive device 55 is located on the fixed support arm, and the output end of the telescopic drive device 55 is connected to the telescopic support arm to drive the telescopic support arm to move relative to the fixed support arm. The lifting assembly 53 is located at the end of the telescopic support arm. By configuring the telescopic support arm, it can meet the requirements of different extension lengths, improving its applicability.

[0079] Specifically, the rotating mechanism 51 is a rotary mechanism that can drive the fixed support arm to expand or fold, thereby driving the entire leg support mechanism 50 to move, thereby being able to better meet the needs of different scenarios. For details, please refer to the above description.

[0080] In some embodiments, such as Figure 7As shown, the lifting assembly 53 includes a lifting drive 531, a connecting bracket 532, a positioning shaft 534, and a positioning block 533. The positioning block 533 is connected to the main body of the lifting drive 531. The positioning shaft 534 is disposed within the positioning block 533 and can slide relative to the positioning block 533. The lifting drive 531 is connected to the telescopic support arm. The bottom of the connecting bracket 532 is connected to the self-driving auxiliary wheel 54. The output end of the positioning shaft 534 and the lifting drive 531 are both connected to the upper portion of the connecting bracket 532, so that the connecting bracket 532 moves vertically under the drive of the lifting drive 531. In different scenarios, the height of the self-driving auxiliary wheel 54 needs to be adjusted to achieve different application scenarios. In this embodiment, the lifting drive 531 can drive the self-driving auxiliary wheel 54 to move up and down, thereby meeting the needs of different scenarios and improving its applicability.

[0081] Specifically, the lifting drive device 531 includes a lifting cylinder, and the center of the positioning block 533 has a through-hole structure. The positioning block 533 is fixedly connected to the cylinder body of the lifting cylinder. The piston rod of the lifting cylinder is fixedly connected to the connecting bracket 532. The positioning shaft 534 is passed through the through-hole structure and slides with the positioning block 533 for guidance, so that the self-driven auxiliary wheel 54 is more stable when moving in the vertical direction.

[0082] According to some embodiments provided by the present invention, Figure 11 As shown, the bottom of the chassis structure is provided with a front axle and a rear axle 12. Steering knuckles 13 are provided at both ends of the front axle and rear axle 12. Each steering knuckle 13 is provided with a self-driving driving wheel 11. Furthermore, each steering knuckle 13 is connected to a steering drive device 14 for driving the steering knuckle 13. By providing a steering knuckle 13 on each self-driving driving wheel 11, the vehicle can have a variety of movement modes.

[0083] Specifically, the front axle is arranged at the front side of the chassis structure, and the rear axle 12 is arranged at the rear side of the chassis structure. Each self-driving driving wheel 11 is steered through a steering knuckle 13 and a steering drive device 14, thereby improving the flexibility of the work vehicle.

[0084] When setting specific Figure 8 As shown, the steering drive device 14 includes a steering cylinder, the cylinder body of the steering cylinder is connected to the chassis structure, and the piston rod of the steering cylinder is connected to the steering knuckle 13. The steering knuckle 13 can drive each set of self-driving driving wheels 11 to rotate, thereby realizing the linkage control of each set of self-driving driving wheels 11. That is, the self-driving driving wheels 11 on both sides of the front end of the chassis structure are regarded as one set of linkage control, and the self-driving driving wheels 11 on both sides of the rear end of the chassis structure are regarded as another set of linkage control. Each set realizes linkage control through its own steering cylinder, as shown in FIG. Figure 10 、 Figure 11shown.

[0085] like Figure 9-11 As shown, this embodiment enables multiple mobility modes through the cooperation of the self-propelled auxiliary wheels 54 and the outrigger support mechanism 50, enriching the mobility modes of the work vehicle and improving its adaptability. For example, by deploying the outrigger support mechanism 50 until it is perpendicular to the chassis structure, the self-propelled auxiliary wheels 54 can now drive the vehicle vertically, thus enriching the mobility modes of the work vehicle.

[0086] For example Figure 10 、 Figure 11 As shown, different movement modes can be achieved by controlling each self-driving driving wheel 11. For example, Figure 10 In the embodiment, each self-driving driving wheel 11 is controlled to deviate to one side of the outside so as to realize the crab walking mode. Figure 11 By controlling each self-driving wheel to deflect in the counterclockwise direction, four-wheel steering can be achieved.

[0087] It can be understood that the self-driving driving wheel 11 is the same as the self-driving auxiliary wheel 54 and is also provided with a self-driving device to drive each self-driving driving wheel 11 to rotate.

[0088] In some specific embodiments, the chassis system 10 is also equipped with multiple power-off sensors, controllers, and alarm devices. When the distance between the device and nearby charged objects falls below a set safety distance, the alarm device will issue an alarm signal to alert the operator and, if necessary, shut down the vehicle control system, rendering the device in a static state.

[0089] like Figures 12-18 As shown, the specific obstacle crossing process is explained.

[0090] Step 1: The equipment moves to a ditch or an obstacle; at this time, the self-driving driving wheel 11 on the chassis cannot cross the obstacle, such as Figure 12 shown.

[0091] Step 2: Expand the leg support mechanism 50 so that it is parallel to the longitudinal axis of the device and the front leg mechanism passes over the groove or obstacle, such as Figure 13 shown.

[0092] Step 3: The self-driving auxiliary wheel 54 is brought into contact with the ground by the action of the lifting assembly 53, and the chassis system 10 is lifted. At this time, the self-driving driving wheel 11 is at a certain height from the ground, such as Figure 4 shown.

[0093] Step 4: Start the self-driving auxiliary wheel 54 to rotate, so that the entire device moves forward until the self-driving driving wheel 11 at the rear end of the chassis system 10 passes over the groove or obstacle, such as Figure 15-16 shown.

[0094] Step 5: The self-driving auxiliary wheel 54 is lifted off the ground by the action of the lifting assembly 53, and the self-driving driving wheel 11 is brought into contact with the ground. Figure 17 shown.

[0095] Step 6: Fold the outrigger support mechanism 50 so that the outrigger support mechanism 50 is located on both sides of the chassis system 10, thus achieving the overall obstacle-crossing operation. Figure 18 shown.

[0096] In another embodiment. Figure 19 As shown, the front and rear sides of the bottom of the chassis structure are both provided with a suspension mechanism 60. The suspension mechanism 60 includes a connecting support portion 61, a movable arm 62, and a retractable device 63. The connecting support portion 61 is connected to the chassis structure. One end of the movable arm 62 is hinged to the connecting support portion 61. The other end of the movable arm 62 is provided with a self-driving driving wheel 11. The output end of the retractable device 63 is hinged to the movable arm 62 and is close to one side of the self-driving driving wheel 11. The retractable device 63 is used to drive the self-driving driving wheel 11 to move in the vertical direction. When overcoming obstacles, in addition to adopting the up and down lifting of the self-driving auxiliary wheel 54 in the aforementioned embodiment, this embodiment also provides a solution, which realizes the up and down lifting of the self-driving driving wheel 11 through the suspension mechanism 60, thereby realizing obstacle overcoming operations. In this way, the flexibility of obstacle overcoming can be improved.

[0097] Specifically, when crossing an obstacle, it is necessary to make the self-driving driving wheel 11 leave the ground and make it suspended in the air. Figure 20 This avoids damage to the cable groove. In this embodiment, the suspension mechanism 60 is used to lift the self-driving column drive wheel off the ground. The self-driving auxiliary wheels 54 then support its movement, enabling it to overcome obstacles. This improves the maneuverability of the work vehicle. Of course, except for the replacement of the connection of the self-driving driving wheel 11, the other structures of this embodiment are consistent with the previous embodiment. For the specific structures of other components, please refer to the previous specific embodiments.

[0098] The retractable device 63 is a lifting cylinder, the piston rod of which is hingedly connected to the movable arm 62. When the lifting cylinder is in operation, it can drive the movable arm 62 to move vertically, thereby enabling the self-propelled driving wheel 11 to move up and down, thus achieving obstacle clearance. The structure of the self-propelled driving wheel 11 is similar to that of the self-propelled auxiliary wheel 54, and both are integrated with a self-propelled device that can drive the wheels to rotate.

[0099] In a further embodiment, a slewing device is provided between the self-driving auxiliary wheel 54 and the lifting assembly 53, so that the self-driving auxiliary wheel 54 can be rotated by the slewing device. The provision of the slewing device enables the self-driving auxiliary wheel 54 to rotate, thereby enriching the driving posture of the work vehicle and enabling it to have multiple movement modes.

[0100] like Figure 21 、 22 As shown, the angle of the self-driving auxiliary wheel 54 can be adjusted by adjusting the rotary device, and different modes of movement can be achieved by cooperating with the leg support mechanism 50. Figure 21 As shown, when horizontal or vertical movement is required, the outrigger support mechanism 50 is driven to expand to a certain angle, and then the self-driving auxiliary wheel 54 rotates, thereby driving the entire work vehicle to achieve vertical movement. This method enables the work vehicle to cope with various complex environments and improves its applicability. For example, Figure 22 As shown, the deployment angle of the outrigger support mechanism 50 is further expanded so that the four outrigger support mechanisms 50 extend in a diagonal direction. The rotation of the self-driving wheels is adjusted by the slewing device so that the entire work vehicle can move in a straight line, and this method makes the load-bearing stability higher.

[0101] like Figure 23-29 As shown, the specific obstacle-crossing process of another multifunctional deformable obstacle-crossing special operation side provided by the above embodiment is explained.

[0102] Step 1: The equipment moves to the trench or obstacle. Figure 23 shown.

[0103] Step 2: Expand the leg support mechanism 50 so that it is parallel to the longitudinal axis of the device. Figure 24 shown.

[0104] Step 3: Lift the self-driving driving wheel 11 through the suspension mechanism 60. At this time, the self-driving driving wheel 11 is at a certain height from the ground, and the self-driving auxiliary wheel 54 is in contact with the ground. Figure 25 shown.

[0105] Step 4: Use the self-driving auxiliary wheel 54 to continue moving the work vehicle forward until the self-driving driving wheel 11 on the rear side of the chassis system 10 passes over the groove or obstacle, such as Figures 26-27 shown.

[0106] Step 5: After the vehicle has passed the ditch or obstacle, the self-driving auxiliary wheels 54 on the front and rear sides are lowered by the retracting device 63 in the suspension mechanism 60 so that they are in contact with the ground. Figure 28 Step 6: Retract the outrigger support mechanism, as shown. Figure 29 As shown, obstacle crossing is achieved.

[0107] 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 it. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or make equivalent replacements for some of the technical features therein. However, these modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the various embodiments of the present invention.

Claims

1. A multifunctional, deformable obstacle-crossing special operation vehicle, characterized in that: include: A chassis system, a rotating platform and a telescopic arm, wherein the rotating platform is provided on the chassis system, the bottom of the telescopic arm is connected to the rotating platform so as to rotate under the drive of the rotating platform, and the top of the telescopic arm is provided with a working platform; The chassis system includes a chassis structure, and a plurality of leg support mechanisms are provided on the chassis structure, and the leg support mechanisms are used to selectively support the chassis system; Among them, the outrigger support mechanism includes an automatic telescopic frame, a rotation mechanism, a lifting assembly and a self-driving auxiliary wheel. One end of the automatic telescopic frame is connected to the chassis structure through the rotation mechanism, so that the automatic telescopic frame can be driven by the rotation mechanism to switch between a folded position and multiple deployed positions. The other end of the automatic telescopic frame is connected to the lifting assembly, and the lifting assembly is perpendicular to the automatic telescopic frame. The self-driving auxiliary wheel is provided at the bottom of the lifting assembly to drive the chassis system to move through the self-driving auxiliary wheel when it is necessary to overcome obstacles.

2. The multifunctional deformable obstacle-crossing special operation vehicle according to claim 1, characterized in that: The telescopic arm includes a main support arm and an auxiliary lifting arm, the bottom of the main support arm is connected to the rotary platform, and the top of the main support arm is provided with the working platform; The auxiliary lifting arm is rotatably arranged on the top of the main support arm, so that when heavy objects need to be lifted, the auxiliary lifting arm can be unfolded to coincide with the extension direction of the main support arm to achieve the lifting of heavy objects.

3. The multifunctional deformable obstacle-crossing special operation vehicle according to claim 2, characterized in that: The auxiliary lifting arm includes a fixed arm and a telescopic lifting arm. The telescopic lifting arm is nested in the fixed arm. A connecting base is provided at one end of the fixed arm. A hinge part and a positioning part are provided on the connecting base. The hinge part is hinged to the main support arm. The positioning part is used to connect with the main support part when the auxiliary lifting arm is working.

4. The multifunctional deformable obstacle-crossing special operation vehicle according to claim 2, characterized in that: The auxiliary hoisting arm is provided with a pulley assembly, and the pulley assembly is used for winding the lifting hoisting cable.

5. The multifunctional deformable obstacle-crossing special operation vehicle according to claim 2, characterized in that: The working platform includes a load-bearing base, a hanging basket body, a connecting piece, a swinging device and a mounting frame. The mounting frame is connected to the main body support arm. The swinging device is arranged on the mounting frame. A swinging frame is provided on the output end of the swinging device. The load-bearing base is fixedly connected to the swinging frame through the connecting piece. The hanging basket body is connected to the load-bearing base so that the hanging basket body swings in the horizontal direction under the drive of the swinging device.

6. The multifunctional deformable obstacle-crossing special operation vehicle according to claim 5, characterized in that: The mounting frame is hinged to the main body support arm, and an angle adjustment device is provided between the mounting frame and the main body support arm. The angle adjustment device is used to drive the mounting frame to rotate so that the hanging basket body is always parallel to the horizontal plane.

7. The multifunctional deformable obstacle-crossing special operation vehicle according to claim 1, characterized in that: Both ends of the front side of the chassis structure and both ends of the rear side of the chassis structure are provided with rotation connection parts, and the rotation mechanism is provided in each of the rotation connection parts.

8. The multifunctional deformable obstacle-crossing special operation vehicle according to claim 7 is characterized in that: The automatic telescopic frame includes a telescopic drive device, a fixed support arm and a telescopic support arm, one end of the fixed support arm is connected to the rotating mechanism, the telescopic support arm is nested in the fixed support arm, the telescopic drive device is provided on the fixed support arm, the output end of the telescopic drive device is connected to the telescopic support arm to drive the telescopic support arm to move relative to the fixed support arm, and the lifting assembly is provided at the end of the telescopic support arm.

9. The multifunctional deformable obstacle-crossing special operation vehicle according to claim 8, characterized in that: The lifting assembly includes a lifting drive device, a connecting bracket, a positioning shaft and a positioning block. The positioning block is connected to the main body of the lifting drive device. The positioning shaft is arranged in the positioning block and can slide relative to the positioning block. The lifting drive device is connected to the telescopic support arm. The bottom of the connecting bracket is connected to the self-driving auxiliary wheel. The positioning shaft and the output end of the lifting drive device are both connected to the upper part of the connecting bracket, so that the connecting bracket moves in the vertical direction under the drive of the lifting drive device.

10. The multifunctional deformable obstacle-crossing special operation vehicle according to claim 1, characterized in that: A front axle and a rear axle are provided at the bottom of the chassis structure. Steering knuckles are provided at both ends of the front axle and both ends of the rear axle. Each steering knuckle is provided with a self-driving driving wheel; and each steering knuckle is connected to a steering drive device, which is used to drive the steering knuckle to move.

11. The multifunctional deformable obstacle-crossing special operation vehicle according to claim 1, characterized in that: The front and rear sides of the bottom of the chassis structure are both provided with suspension mechanisms, and the suspension mechanisms include a connecting support portion, a movable arm and a retractable device. The connecting support portion is connected to the chassis structure, one end of the movable arm is hinged to the connecting support portion, and the other end of the movable arm is provided with a self-driving driving wheel. The output end of the retractable device is hinged to the movable arm and is close to one side of the self-driving driving wheel. The retractable device is used to drive the self-driving driving wheel to move in the vertical direction.

12. The multifunctional deformable obstacle-crossing special operation vehicle according to claim 11, characterized in that: A rotating device is provided between the self-driving auxiliary wheel and the lifting assembly, so that the self-driving auxiliary wheel rotates through the rotating device.

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