A mounting vehicle lifting device, multi-directional mobile chassis assembly and control method

Abstract

A lifting device for a vehicle, a multi-directional moving chassis assembly, and a control method are disclosed, relating to the field of special-purpose work equipment technology. The lifting device includes multiple articulated boom lifting mechanisms symmetrically arranged on the side of the vehicle frame and a lifting platform within the vehicle frame that allows for vertical movement. The side of the lifting platform is hinged to a corresponding support shaft. When the linear drive mechanism extends or retracts, the swing arm rotates around its hinge point with the rotating arm, converting the thrust of the linear drive mechanism into a driving force on the swing arm, thereby raising or lowering the lifting platform. The articulated boom lifting mechanism of this invention utilizes its structural characteristics and corresponding dimensional control to achieve vertical lifting of the support shaft. The support shaft can be lowered to the ground or below, and its maximum lifting height is limited by the position of the guide wheel in the guide block, thus achieving a starting lifting height close to the ground while ensuring a large lifting stroke. This meets the requirements for flexible application in multiple scenarios in special operations such as aviation equipment maintenance.

Description

Technical Field

[0001] This invention relates to the field of specialized work equipment technology, and in particular to a vehicle lifting device, a multi-directional moving chassis assembly, and a control method. Background Technology

[0002] In specialized operations such as aviation equipment maintenance and missile mounting, installation vehicles, as core operational equipment, need to adapt to the operational requirements of different scenarios. Their usage modes are mainly divided into two categories: driving mode and mounting mode. Driving mode is primarily used for long-distance equipment transport operations, possessing basic straight-line and turning capabilities, enabling flexible transfer of the installation vehicle between different work areas. Mounting mode, on the other hand, is mainly used for precision operations such as missile mounting near aircraft, placing extremely high demands on the installation vehicle's lifting accuracy, operational stability, and mobility.

[0003] Currently, the lifting function of existing installation vehicles mainly relies on scissor lift structures or hydraulic lifting mechanisms. However, both of these structures have significant technical defects and cannot meet the diverse needs of dual-mode operations. Scissor lift structures, due to their structural stability and strong load-bearing capacity, are used in some lifting operations. However, their inherent structural limitations result in a relatively high initial lifting height, preventing them from descending to lower positions. In scenarios requiring close-range, low-altitude operations, such as missile mounting near aircraft, it is difficult to accurately align with the work position, affecting mounting efficiency and operational safety. While hydraulic lifting mechanisms can achieve lower-position lifting operations, their short lifting stroke prevents them from reaching higher work positions, making them unsuitable for some high-altitude mounting or equipment maintenance needs. Furthermore, hydraulic systems may experience oil leaks and other potential problems over long-term use, further affecting operational stability.

[0004] Furthermore, with the continuous development of aviation equipment maintenance technology, the requirements for precision, efficiency, and safety in operations such as missile mounting are increasing. The structural defects and chassis mobility limitations of existing installation vehicle lifting devices have become key factors restricting the improvement of operational quality. Therefore, to address the problems of poor adaptability of the lifting structure and insufficient chassis mobility in dual-mode operations of existing installation vehicles, there is an urgent need to develop a new type of installation vehicle lifting device to overcome the shortcomings of existing technology and meet actual operational needs. Summary of the Invention

[0005] To address the above problems, this invention provides a lifting device for an installation vehicle that features low-position starting advantage, large lifting stroke (up to 5m in both ground and downhill conditions), flexible movement, a multi-directional moving chassis assembly, and a control method.

[0006] The technical solution of this invention is: A vehicle lifting device includes: The articulated boom lifting mechanism has four sets, symmetrically arranged on the side of the vehicle frame; the articulated boom lifting mechanism includes a rotating arm, a swing arm and a linear drive mechanism. The cylinder of the linear drive mechanism is hinged to the vehicle frame; The rotating arm is hinged to the vehicle frame; the drive arm of the rotating arm is connected to the piston rod of the linear drive mechanism; and the extension arm of the rotating arm is hinged to the swing arm. One end of the swing arm is movably mounted on the vehicle frame, and the other end is provided with a support shaft; The lifting platform is vertically movable within the vehicle frame, with its side hinged to the corresponding support shaft. When the linear drive mechanism extends or retracts, the swing arm rotates around the hinge point with the rotating arm, converting the thrust of the linear drive mechanism into a driving force on the swing arm, thereby realizing the lifting of the lifting platform.

[0007] Specifically, the lifting platform includes a rectangular platform welding frame; The outer side of the platform welding frame is provided with multiple lifting connection holes that are hinged to the support shaft.

[0008] Specifically, the frame includes a pair of symmetrically arranged main longitudinal beams and a pair of cross beams; A pair of crossbeams are disposed between a pair of main longitudinal beams and are fixedly connected to the pair of main longitudinal beams.

[0009] A multi-directional mobile chassis assembly for a vehicle is provided, wherein the bottom of the chassis is provided with multiple steering wheel travel mechanisms; the steering wheel travel mechanism includes: The wheel assembly is driven to move in a straight line by a walking drive motor; The support base is fixedly connected to the side of the wheel assembly at its bottom and has a slewing bearing at its top; the outer ring of the slewing bearing is fixedly connected to the support base and the inner ring is fixedly connected to the vehicle frame. A steering reduction motor is fixedly mounted on the support base, and its rotating shaft is provided with a fixedly connected steering drive gear; the steering drive gear meshes with the outer ring teeth of the slewing bearing, and the rotation angle of the wheel assembly is controlled by the rotation of the steering reduction motor.

[0010] Specifically, the bottom of the support base is provided with a hinged traction connection seat; The front end of the traction connection seat is provided with a traction connection hole, and the rear end is hinged to the support seat. The support base is provided with a storage cavity adapted to the traction connecting seat. The traction connecting seat is confined within the storage cavity by a fixed shaft that extends into the storage cavity.

[0011] Specifically, the front end of the vehicle frame is provided with a tractor steering mechanism; the tractor steering mechanism includes: The traction steering connector has a power connection part at the front end and a frame connection part at the rear end; the power connection part and the frame connection part are respectively provided with pin holes. A pair of steering connecting rods are provided, distributed on both sides of the traction steering connecting seat; one end of the steering connecting rod is hinged to the traction steering connecting seat, and the other end is hinged to the traction connecting seat.

[0012] Specifically, the steering connecting rod includes a first ball joint lug, a long rod body, and a second ball joint lug connected in sequence; The first ball joint lug and the second ball joint lug are respectively fixedly and adjustablely connected to the long rod body by threads.

[0013] Specifically, the bottom of the vehicle frame is equipped with a parking lift mechanism; the parking lift mechanism includes: The parking lift linear drive mechanism is fixedly connected to the bottom of the vehicle frame at the top and has a fixedly connected ball joint end at the bottom. The parking fixed floor is located at the bottom of the parking lifting linear drive mechanism, and the top is provided with a ball head receiving cavity adapted to the ball head connection end; the ball head connection end is movable and limited within the ball head receiving cavity.

[0014] Specifically, the parking lift linear drive mechanism includes a screw lift, a parking hydraulic cylinder, or a parking air cylinder.

[0015] A control method for installing a multi-directional moving chassis assembly for a vehicle includes the following steps: Step 1, Towing mode of the tractor unit When the steering mechanism of the tractor is connected to the tractor, the installation vehicle is moved by driving the tractor; the bottom steering wheel travel mechanism of the frame acts as a follower wheel to complete long-distance transportation and can meet the functions of straight-line travel and turning. Step 2, Hanging mode When mounting various missiles near the aircraft, the front end of the tractor's steering mechanism disconnects from the tractor, and the battery power system on the mounting vehicle operates to drive the steering wheel travel mechanism, enabling self-driving straight, lateral, and diagonal travel. The steering wheel travel mechanism is controlled manually via remote control, allowing the mounting vehicle to move forward and backward, laterally, and diagonally. It can also control four articulated boom lifting mechanisms to operate simultaneously, achieving vertical and stable lifting of the platform. Specifically, this includes: In self-propelled mode, when the installation vehicle reaches the target area, multiple parking lifting mechanisms work simultaneously. The parking lifting linear drive mechanism pushes the parking fixed floor downwards so that it contacts the ground. The parking lifting linear drive mechanism continues to operate until the steering wheel travel mechanism leaves the ground, and the installation vehicle completes the parking action. The articulated boom lifting mechanism is driven by a linear drive mechanism to drive the connecting block to rotate the boom around the pivot, causing the guide wheel on the swing arm to roll along the guide groove in the guide block. At the same time, the support shaft at the other end of the swing arm moves up and down in the vertical direction. The articulated boom lifting mechanism achieves simultaneous lifting and lowering through the drive of the linear drive mechanism, thereby obtaining the vertical lifting action of the lifting platform.

[0016] This invention relates to a vehicle lifting device comprising a crank arm lifting mechanism and a lifting platform. The crank arm lifting mechanism is symmetrically arranged on the side of the vehicle frame. It includes a rotating arm, a swing arm, and a linear drive mechanism. The linear drive mechanism drives a connecting block to rotate the rotating arm around its axis, causing the guide wheel on the swing arm to roll along a guide groove in the guide block. Simultaneously, the support shaft at the other end of the swing arm moves vertically up and down. Driven by the linear drive mechanism, the crank arm lifting mechanism achieves simultaneous lifting and lowering, thus obtaining the vertical lifting action of the lifting platform. This invention utilizes its structural characteristics and corresponding dimensional control to achieve vertical lifting of the support shaft. The support shaft can be lowered to the ground or below, and its maximum lifting height is limited by the position of the guide wheel in the guide block, thereby achieving a starting lifting height close to the ground while ensuring a large lifting stroke. This invention, as a novel vehicle lifting structure, transforms horizontal movement into vertical movement through structural design, eliminating the need for an additional vertical movement guide mechanism, resulting in a more compact overall structure. It meets the needs of flexible application in multiple scenarios in special operations such as aviation equipment maintenance and missile loading. Attached Figure Description

[0017] Figure 1 This is a three-dimensional structural schematic diagram of the present invention; Figure 2 This is a three-dimensional structural diagram of the installation state of the four sets of articulated boom lifting mechanisms; Figure 3 This is a three-dimensional structural diagram of the same-side articulated boom lifting mechanism in its installation state; Figure 4 This is a schematic diagram of the three-dimensional structure of the lifting platform; Figure 5 It is a three-dimensional steering wheel travel mechanism Figure 1 ; Figure 6 This is a 3D view of the steering wheel travel mechanism traction connection seat in its stored state; Figure 7 This is a 3D view of the steering wheel travel mechanism traction connection seat in a flat position; Figure 8 This is a three-dimensional structural diagram of the steering mechanism of the tractor unit; Figure 9 This is a schematic diagram of the three-dimensional structure of the parking lift mechanism; Figure 10This is a schematic diagram of the wheel direction in forward or backward movement under traction mode; Figure 11 This is a diagram showing the wheel direction when turning in traction mode; Figure 12 This is a schematic diagram showing the direction of the wheels when moving forward or backward in the mounted mode; Figure 13 This is a schematic diagram showing the direction of the wheels when moving left or right in the mounting mode; Figure 14 This is a schematic diagram of the wheel orientation when traveling at an angle in the mounted mode; Figure 15 This is a schematic diagram of the left and right lateral roll fine adjustment of the parking jacking mechanism; Figure 16 This is a schematic diagram of the pitch adjustment of the parking jacking mechanism; Figure 17 This is a schematic diagram illustrating the design principles of the rotary arm and swing arm; In the diagram, 100 represents the frame, 101 represents the guide block, 110 represents the main longitudinal beam, and 120 represents the crossbeam. 200 is the articulated boom lifting mechanism, 210 is the rotary arm, 211 is the drive arm, 220 is the swing arm, 221 is the support shaft, 230 is the linear drive mechanism, and 240 is the rotating shaft. 300 refers to the lifting platform, and 310 refers to the platform welding frame. 400 is the steering wheel travel mechanism, 410 is the wheel assembly, 420 is the travel drive motor, 430 is the support base, 440 is the slewing bearing, 450 is the steering reduction motor, 460 is the traction connection base, and 461 is the fixed shaft. 500 is the tractor steering mechanism, 510 is the traction steering connector, 511 is the power connection part, 512 is the frame connection part, 520 is the steering connecting rod, 521 is the first ball joint lug, 522 is the long rod, and 523 is the second ball joint lug. 600 is the parking lift mechanism, 610 is the parking lift linear drive mechanism, and 620 is the parking fixed floor. Detailed Implementation

[0018] Embodiments of the present invention are described in detail below. Examples of these embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals denote the same or similar elements or elements having the same or similar functions throughout. The embodiments described below with reference to the accompanying drawings are exemplary and are only used to explain the present invention, and should not be construed as limiting the present invention.

[0019] In the description of this invention, it should be understood that the terms "upper," "lower," "left," "right," "vertical," and "horizontal," etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings, and are only for the convenience of describing the invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of the invention. In the description of this invention, unless otherwise stated, "a plurality of" means two or more.

[0020] In the description of this invention, it should be noted that, unless otherwise explicitly specified and limited, the terms "installation," "connection," and "linking" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal connection of two components. Those skilled in the art can understand the specific meaning of the above terms in this invention based on the specific circumstances.

[0021] The following is for reference. Figure 1-17 Description of embodiments according to the present invention; A multi-directional moving chassis assembly for mounting vehicles, including a frame 100; The frame 100 includes a pair of symmetrically arranged main longitudinal beams 110 and a pair of cross beams 120; the pair of cross beams 120 are arranged between the pair of main longitudinal beams 110 and are fixedly connected to the pair of main longitudinal beams by welding to form a four-sided cross beam frame structure.

[0022] The end of the frame 100 is equipped with a power supply module installation station adapted to the power supply module. The frame 100 is equipped with an independent battery power supply / charging system, which can power the steering wheel travel mechanism 400 for self-propelled movement, and can also drive the movement of mechanisms such as the articulated boom lifting mechanism 200 and the parking jack lifting mechanism 600. This project uses a lithium iron phosphate battery pack as the power source, with a total battery pack capacity of 22.5kWh, consisting of three 300V-25Ah batteries. When the battery pack's power is insufficient, a matching on-board charger is used to charge the battery pack, converting the externally input 220V AC power to 300V AC power for battery charging. The power adapter outputs a maximum current of 25A, and the charger has a maximum output power of 7.5kW, which can fully charge the battery in 3 hours. When the charging system malfunctions or there is no external power source available, initiate the battery swapping process: Open the locking quick-release buckle, remove the top cover of the battery compartment, disconnect the battery from the charging system and electrical equipment, use an external hoisting mechanism to remove the entire depleted lithium battery pack, and replace it with a new fully charged battery pack; reconnect all system interfaces, reinstall the top cover of the battery compartment, and the battery swapping process is complete.

[0023] To increase the lifting range of the vehicle, the vehicle lifting device mounted on the vehicle frame 100 in this case includes: The articulated boom lifting mechanism 200 has two pairs, totaling four sets, and is symmetrically arranged at the four corners of the vehicle frame 100; the articulated boom lifting mechanism 200 includes a rotating arm 210, a swing arm 220, and a linear drive mechanism 230. Specifically, this case uses four sets of 200 articulated boom lifting mechanisms, distributed at each corner of the lifting platform.

[0024] The cylinder of the linear drive mechanism 230 is hinged to the frame 100. Specifically, the linear drive mechanism 230 in this case includes a hydraulic cylinder, a pneumatic cylinder, or an electric cylinder. In this case, an electric cylinder is preferred. The electric cylinder is hinged to the lower support, and the lower support is fixed below the frame 100. The piston end of the electric cylinder is provided with a fixedly connected connecting block, and the connecting block is provided with a hinged lower connecting shaft, which is hinged to the swing arm 210.

[0025] The swing arm 210 has a V-shaped cross-section. The top connecting end of the swing arm 210 is hinged to the frame via a pivot 240 and rotates around the center of the pivot 240. The drive arm 211 of the swing arm 210 is connected to the piston rod of the linear drive mechanism 230. The extension arm of the swing arm 210 is hinged to the swing arm 220. Specifically, the frame 100 is provided with a fixed support seat, and the top connecting end of the swing arm 210 is hinged to the support seat through a pivot 240; One end of the swing arm 220 is movably mounted on the frame 100, and the other end is provided with a support shaft 221 that is hinged to the lifting platform. Specifically, the frame 100 is provided with a fixedly connected guide block 101; the guide block 101 is provided with a sliding groove; one end of the swing arm 220 is provided with a guide wheel that is adapted to the sliding groove, the guide wheel extends into the sliding groove, and the swing arm 210 drives the guide wheel of the swing arm 220 to slide in the guide block 101.

[0026] The lifting platform 300 is vertically movable within the frame 100, and its side is hinged to the corresponding support shaft 221. When the linear drive mechanism 230 extends or retracts, the swing arm 220 rotates around the hinge point with the rotating arm 210, converting the thrust of the linear drive mechanism 230 into a driving force on the swing arm 220, thereby realizing the lifting of the lifting platform 300. No additional guide mechanism is required, and the overall structure is compact and efficient.

[0027] Specifically, the lifting platform 300 includes a rectangular platform welding frame 310; the outer side of the platform welding frame 310 is provided with a plurality of lifting connection holes that are hinged to the support shaft 221.

[0028] The platform welding frame 310 in this case is provided with four lifting connection holes, which are connected to four crank arm lifting mechanisms 200. The vertical lifting of the upper platform is achieved by the simultaneous action of the four crank arm lifting mechanisms 200.

[0029] like Figure 17 As shown, the hinge point D between the rotating arm 210 and the swing arm 220, the hinge point B between the rotating arm 210 and the frame 100, and the movable connection point A between the swing arm 220 and the frame 100 maintain an isosceles triangle structure during the lifting and lowering process. The hinge point C between the swing arm 220 and the platform welding frame 310 forms a right angle with ∠CBA during the lifting and lowering process. The line connecting point C with points B and D forms an isosceles triangle during the lifting and lowering process.

[0030] To enhance the multi-condition mobility of the installation vehicle, the chassis 100 of this project is equipped with multiple steering wheel travel mechanisms 400 at its bottom. These steering wheel travel mechanisms 400 enable the installation vehicle to move forward and backward, laterally, and diagonally. Each steering wheel travel mechanism 400 includes: The wheel assembly 410 is a standard part that is procured and is driven to move in a straight line by the walking drive motor 420. The support base 430 is fixedly connected to the side of the wheel assembly 410 at the bottom and has a slewing bearing 440 at the top. The outer ring of the slewing bearing 440 is fixedly connected to the support base 430 and the inner ring is fixedly connected to the frame 100. The support base 430 in this case has an arc-shaped structure or a C-shaped structure in cross section, and the shock absorption effect of the frame can be improved by using a hydraulic damper.

[0031] A steering reduction motor 450 is fixedly mounted on a support base 430, and its rotating shaft is provided with a fixedly connected steering drive gear; the steering drive gear meshes with the outer ring teeth of the slewing bearing 440, and the rotation angle of the wheel assembly 410 is controlled by the rotation of the steering reduction motor 450.

[0032] The bottom of the support base 430 is provided with a hinged traction connecting seat 460; the traction connecting seat 460 has a U-shaped structure, with a traction connecting hole at the front end and a tail end hinged to the support base 430; the support base 430 is provided with a storage cavity adapted to the traction connecting seat 460, and the traction connecting seat 460 is confined in the storage cavity by a fixed shaft 461 extending into the storage cavity.

[0033] Specifically, the steering wheel travel mechanism 400 in this case has four wheels, distributed at the four corners of the bottom of the frame 100. The four servo-driven steering wheels can realize omnidirectional movement of the frame, including movement along the heading, lateral movement, and steering movement. To further improve the stability of the frame 100, multiple omnidirectional passive wheels can be added in the middle area of ​​the bottom of the frame 100 to distribute part of the load and prevent deformation of the frame due to excessive heading length. Polyurethane wheels are preferred as the travel wheels in this case because they have higher strength and can withstand greater loads compared to rubber wheels.

[0034] When the vehicle is in driving mode, the traction connector 460 is extended from the storage cavity to connect to the connecting shaft of the steering mechanism of the traction vehicle. The support base 430 is provided with a plug-in hole that matches the fixed shaft 461. When in self-propelled mode, the traction connector 460 needs to be stored. The fixed shaft 461 is inserted into the plug-in hole and passes through the U-shaped traction connector 460, thus achieving stable storage of the traction connector 460.

[0035] The existing chassis mobility structure design of the installation vehicle has shortcomings, resulting in low mobility. It can only perform basic straight-line and turning maneuvers, and cannot perform complex movements such as lateral movement. In the mounting mode, the working area is usually narrow, and precise docking with missile mounting points on the aircraft is required. Insufficient chassis mobility makes it difficult for the installation vehicle to quickly adjust to the optimal working position, which not only increases the operational difficulty for operators, but also may cause equipment collisions and other safety risks due to improper positioning, seriously affecting operational efficiency and safety. Therefore, this project includes a tractor steering mechanism 500.

[0036] The front end of the chassis 100 is provided with a tractor steering mechanism 500; the tractor steering mechanism 500 includes: The traction and steering connector 510 has a power connection part 511 at the front end and a frame connection part 512 at the rear end; the power connection part 511 and the frame connection part 512 are respectively provided with pin holes. A pair of steering connecting rods 520 are provided, distributed on both sides of the traction steering connecting seat 510; one end of the steering connecting rod 520 is hinged to the traction steering connecting seat 510, and the other end is hinged to the traction connecting seat 460.

[0037] The steering linkage 520 includes a first ball joint lug 521, a long rod body 522, and a second ball joint lug 523 connected in sequence. The first ball joint lug 521 and the second ball joint lug 523 are respectively adjustablely and fixedly connected to the long rod body 522 by threads.

[0038] Specifically, the traction steering connector 510 in this case has a mounting cavity with hollowed-out sides. The first ball joint lug 521 is hinged to the mounting cavity through the first connecting shaft, and the second ball joint lug 523 is hinged to the traction connector 460 through the second connecting shaft.

[0039] The bottom of the chassis 100 is equipped with a parking lift mechanism 600; the parking lift mechanism 600 includes: The parking lift linear drive mechanism 610 is fixedly connected to the bottom of the vehicle frame 100 at its top and has a fixedly connected ball joint end at its bottom. The parking floor 620 is located at the bottom of the parking lift linear drive mechanism 610, and its top is provided with a ball joint receiving cavity adapted to the ball joint connection end. The ball joint connection end is movablely limited within the ball joint receiving cavity, and the limiting method is to restrict the ball joint end within the ball joint receiving cavity by a pressure cap, which is used to adapt the fit of the parking floor 620 to the ground. During installation, by adjusting the height of the four parking lift mechanisms 600, pitch fine-tuning (up and down swinging around its own left and right axis) and roll fine-tuning (rolling left and right and tilting rotation around its own front and rear axis) can be completed. Figure 15 This is a schematic diagram of the left and right roll adjustment of the parking lift mechanism. In the diagram, 5 degrees represents the tilt angle in the width direction of the vehicle frame. Figure 16 This is a schematic diagram of the pitch adjustment of the parking jack mechanism. In the diagram, 1 degree represents the tilt angle in the length direction of the vehicle frame.

[0040] The parking lift linear drive mechanism 610 includes a screw jack, a parking hydraulic cylinder or a parking air cylinder, and in this case, a screw jack is preferred.

[0041] A control method for installing a multi-directional moving chassis assembly for a vehicle includes the following steps: Step 1, Towing mode of the tractor unit When the steering mechanism 500 of the tractor is connected to the tractor, the installation vehicle is moved by driving the tractor; the bottom steering wheel travel mechanism 400 of the frame 100 only serves as a follower wheel to complete long-distance transportation and can meet the functions of straight-line travel and turning. Specifically, in tractor-trailer mode, the steering wheel travel mechanism 400 cannot be controlled independently and is in a driven state. The installation vehicle turns and travels under the traction of the tractor-trailer steering mechanism 500.

[0042] The traction steering connecting seat 510 of the tractor steering mechanism 500 is connected to the front end of the frame 100 via a pin. The second ball joint earring 523 is connected to the traction connecting seat 460 of the steering wheel travel mechanism 400 via the second connecting shaft. When the tractor turns, the traction steering connecting seat 510 rotates around the pin shaft, and the steering connecting rod 520 drags the traction connecting seat 460 of the steering wheel travel mechanism 400 to swing, thereby realizing the rotation of the two steering wheel travel mechanisms 400 at the front of the installation vehicle, and thus realizing the steering of the installation vehicle.

[0043] When towing by a tractor, if Figure 10 The front, rear, and middle wheels shown are oriented directly forward, allowing the vehicle to travel in a straight line during traction. Figure 11 As shown, the frame can turn 100 degrees by turning the front wheel to the right and the rear wheel to the left.

[0044] Step 2, Hanging mode When mounting various missiles near the aircraft, the front end of the tractor steering mechanism 500 is disconnected from the tractor, and the on-board battery power supply or charging system works to drive the steering wheel walking mechanism 400 to move, satisfying self-driven straight, lateral and diagonal walking modes. In self-propelled mode, the steering wheel travel mechanism 400 is controlled manually via remote control to enable the installation vehicle to move forward and backward, laterally, and diagonally. It can also control the four articulated boom lifting mechanisms 200 to work simultaneously, achieving stable vertical lifting of the upper platform 300. Specifically, this includes: In self-propelled mode, when the installation vehicle reaches the target area, multiple parking lifting mechanisms 600 work simultaneously. The parking lifting linear drive mechanism 610 pushes the parking fixed floor 620 downwards so that it contacts the ground. The parking lifting linear drive mechanism 610 (in this case, a screw lift) continues to operate until the steering wheel travel mechanism 400 leaves the ground, and the installation vehicle completes the parking action.

[0045] The articulated boom lifting mechanism 200 is driven by a linear drive mechanism 230 (an electric cylinder is used in this case) to drive the connecting block to push the rotating arm 210 to rotate around the rotating shaft 240, which drives the guide wheel on the swing arm 220 to roll along the guide groove (the guide groove is for motion limitation, not vertical guidance) in the guide block 101. At the same time, the support shaft 221 at the other end of the swing arm 220 moves up and down in the vertical direction. The articulated boom lifting mechanism 200 achieves simultaneous lifting and lowering through the drive of the linear drive mechanism 230, thereby obtaining the vertical lifting action of the upper platform 300.

[0046] The articulated boom lifting mechanism 200 in this case relies on its own structural form and precise dimensional proportions, such as Figure 17As shown, by limiting the assembly dimensions of the rotating arm 210 and the swing arm 220, and by utilizing the structural characteristics of an isosceles triangle (the lengths at the three points are marked as L), the sum of the included angles α and β is always 90 degrees. Regardless of the working posture of the rotating arm 210 and the swing arm 220, the vertical lifting of the support shaft 221 can be achieved. Furthermore, the support shaft 221 can be lowered to the ground or below. Its maximum lifting height is limited by the position of the guide wheel in the guide block 101.

[0047] like Figure 12 As shown, the wheel assembly 410 front wheels (two at the top): the wheel body faces directly forward (vertically upward), and the wheel axle is in the horizontal direction.

[0048] Wheel assembly 410 Rear wheels (two at the bottom): The wheel body faces forward (vertically upward), in the same direction as the front wheels.

[0049] Middle wheels (two in the middle): The wheel body faces the same direction as the front and rear wheels, which is directly in front.

[0050] This orientation enables the vehicle to travel in a straight line in the forward and backward direction.

[0051] like Figure 13 As shown, Wheel assembly 410 front wheels (top two): wheel body orientation is horizontal to the left (perpendicular to the direction of travel).

[0052] Wheel assembly 410 Rear wheels (two at the bottom): The wheel body faces horizontally to the left (same direction as the front wheels).

[0053] The middle wheels (two in the middle): The wheels are also facing horizontally to the left.

[0054] This orientation allows the vehicle to move laterally in the left and right directions.

[0055] like Figure 14 As shown: Wheel assembly 410 front wheels (top two): wheel body orientation is oblique (approximately 45°, tilted to the left front / right rear), wheel axle is oblique.

[0056] Wheel assembly 410 Rear wheels (two at the bottom): The wheel body faces the same direction as the front wheels, at an angle (approximately 45°, parallel to the front wheels).

[0057] Middle wheels (two in the middle): The wheel body faces the same direction as the front and rear wheels, at an angle.

[0058] This orientation allows the vehicle to move diagonally (such as to the left front / right rear).

[0059] Regarding the information disclosed in this case, the following points need to be clarified: (1) The accompanying drawings of the embodiments disclosed in this case only involve the structures involved in the embodiments disclosed in this case. Other structures can refer to the general design. (2) Where there is no conflict, the embodiments and features disclosed in this case can be combined with each other to obtain new embodiments; The above are merely specific embodiments disclosed in this case, but the scope of protection of this disclosure is not limited thereto. The scope of protection disclosed in this case shall be determined by the scope of protection of the claims.

Claims

1. A vehicle lifting device, characterized in that, include: The articulated boom lifting mechanism (200) has four sets, symmetrically arranged on the side of the frame (100); the articulated boom lifting mechanism (200) includes a rotating arm (210), a swing arm (220) and a linear drive mechanism (230). The cylinder of the linear drive mechanism (230) is hinged to the vehicle frame (100); The rotating arm (210) is hinged to the frame (100); the drive arm (211) of the rotating arm (210) is connected to the piston rod of the linear drive mechanism (230); the extension arm of the rotating arm (210) is hinged to the swing arm (220). One end of the swing arm (220) is movably mounted on the frame (100), and the other end is provided with a support shaft (221). The lifting platform (300) is movably mounted inside the frame (100) and its side is hinged to the corresponding support shaft (221). When the linear drive mechanism (230) extends or retracts, the swing arm (220) rotates around the hinge point with the rotating arm (210), converting the thrust of the linear drive mechanism (230) into a driving force on the swing arm (220), thereby realizing the lifting of the lifting platform (300). The hinge point between the rotating arm (210) and the swing arm (220), the hinge point between the rotating arm (210) and the frame (100), and the movable connection point between the swing arm (220) and the frame (100) form an isosceles triangle when the arm is raised or lowered.

2. The vehicle lifting device according to claim 1, characterized in that, The lifting platform (300) includes a rectangular platform welding frame (310). The outer side of the platform welding frame (310) is provided with multiple lifting connection holes that are hinged to the support shaft (221).

3. The vehicle lifting device according to claim 1, characterized in that, The frame (100) includes a pair of symmetrically arranged main longitudinal beams (110) and a pair of cross beams (120); A pair of the crossbeams (120) are disposed between a pair of the main longitudinal beams (110) and are fixedly connected to the pair of the main longitudinal beams.

4. A multi-directional moving chassis assembly for an installation vehicle, comprising the installation vehicle lifting device as described in claim 1, characterized in that, The bottom of the frame (100) is provided with multiple steering wheel travel mechanisms (400); the steering wheel travel mechanism (400) includes: The wheel assembly (410) is driven to move in a straight line by a walking drive motor (420); The support base (430) is fixedly connected to the side of the wheel assembly (410) at its bottom and has a slewing bearing (440) at its top; the outer ring of the slewing bearing (440) is fixedly connected to the support base (430) and the inner ring is fixedly connected to the frame (100); A steering reduction motor (450) is fixedly mounted on the support base (430), and its rotating shaft is provided with a fixedly connected steering drive gear; the steering drive gear meshes with the outer ring teeth of the slewing bearing (440), and the rotation angle of the wheel assembly (410) is controlled by the rotation of the steering reduction motor (450).

5. The multi-directional mobile chassis assembly for an installation vehicle according to claim 4, characterized in that, The bottom of the support base (430) is provided with a hinged traction connecting base (460). The traction connecting seat (460) has a traction connecting hole at its front end and is hinged to the support seat (430) at its rear end; The support base (430) is provided with a storage cavity adapted to the traction connecting base (460). The traction connecting base (460) is confined in the storage cavity by a fixed shaft (461) that extends into the storage cavity.

6. The multi-directional mobile chassis assembly for an installation vehicle according to claim 5, characterized in that, The front end of the vehicle frame (100) is provided with a tractor steering mechanism (500); the tractor steering mechanism (500) includes: The traction steering connector (510) has a power connection part (511) at the front end and a frame connection part (512) at the rear end; the power connection part (511) and the frame connection part (512) are respectively provided with pin holes; A pair of steering connecting rods (520) are provided, distributed on both sides of the traction steering connecting seat (510); one end of the steering connecting rod (520) is hinged to the traction steering connecting seat (510), and the other end is hinged to the traction connecting seat (460).

7. The multi-directional mobile chassis assembly for an installation vehicle according to claim 6, characterized in that, The steering connecting rod (520) includes a first ball joint lug (521), a long rod body (522), and a second ball joint lug (523) connected in sequence. The first ball joint lug (521) and the second ball joint lug (523) are respectively fixedly and adjustablely connected to the long rod (522) by threads.

8. The multi-directional mobile chassis assembly for an installation vehicle according to claim 4, characterized in that, The bottom of the vehicle frame (100) is provided with a parking lift mechanism (600); the parking lift mechanism (600) includes: The parking lift linear drive mechanism (610) has its top fixedly connected to the bottom of the vehicle frame (100), and its bottom is provided with a fixedly connected ball joint connection end; The parking fixed floor (620) is located at the bottom of the parking lifting linear drive mechanism (610), and the top is provided with a ball head receiving cavity adapted to the ball head connecting end; the ball head connecting end is movablely limited in the ball head receiving cavity.

9. A multi-directional mobile chassis assembly for an installation vehicle according to claim 8, characterized in that, The parking lift linear drive mechanism (610) includes a screw lift, a parking hydraulic cylinder, or a parking air cylinder.

10. A control method for mounting a multi-directional moving chassis assembly for a vehicle, comprising the multi-directional moving chassis assembly for a vehicle as described in claim 8, characterized in that, Includes the following steps: Step 1, Towing mode of the tractor unit When the steering mechanism (500) of the tractor is connected to the tractor, the installation vehicle is moved by driving the tractor; the bottom steering wheel travel mechanism (400) of the frame (100) acts as a follower wheel to complete long-distance transportation and can meet the functions of straight-line travel and turning. Step 2, Hanging mode The front end of the tractor steering mechanism (500) is disconnected from the tractor, and the battery power supply system on the installation vehicle is activated to drive the steering wheel travel mechanism (400) to travel, satisfying self-driven straight, lateral, and diagonal travel modes; the steering wheel travel mechanism (400) is controlled by a manual remote control to realize the forward and backward movement, lateral movement, and diagonal travel of the installation vehicle, and can control the four crank arm lifting mechanisms (200) to work simultaneously to realize the vertical and stable lifting of the upper platform (300); specifically including: In self-propelled mode, when the installation vehicle reaches the target area, multiple parking lifting mechanisms (600) work simultaneously. The parking lifting linear drive mechanism (610) pushes the parking fixed floor (620) downward so that it contacts the ground. The parking lifting linear drive mechanism (610) continues to operate until the steering wheel walking mechanism (400) leaves the ground, and the installation vehicle completes the parking action. The articulated boom lifting mechanism (200) is driven by a linear drive mechanism (230) to rotate the boom (210) around the shaft (240), causing the guide wheel on the swing arm (220) to roll along the guide groove in the guide block (101). At the same time, the support shaft (221) at the other end of the swing arm (220) moves up and down in the vertical direction. The articulated boom lifting mechanism (200) achieves simultaneous lifting and lowering through the drive of the linear drive mechanism (230), thereby obtaining the vertical lifting action of the lifting platform (300).

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