Rescue vehicle

Abstract

This disclosure relates to a rescue vehicle, including a chassis (1), a working device (2), and multiple working implements (3). The working device (2) is mounted on the chassis (1), and the multiple working implements (3) are mounted on the chassis (1). The multiple working implements (3) are configured to be selectively mounted on the working device (2). The working implements (3) not mounted on the working device (2) serve as counterweights for the working device (2) to maintain the force balance of the chassis (1). The rescue vehicle of this disclosure has multiple operating functions. The remaining working implements not mounted on the working device can serve as counterweights for the working device to maintain the force balance of the chassis. Therefore, it is not necessary to configure a special counterweight for the working device, which greatly reduces the overall weight of the rescue vehicle. At the same time, saving counterweights also saves space resources, reserving more space for the arrangement of other components on the rescue vehicle.

Description

Technical Field

[0001] This disclosure relates to the field of engineering machinery technology, and in particular to a rescue vehicle. Background Technology

[0002] Excavators, as a type of general-purpose engineering machinery, are widely used in construction, mining, municipal engineering, and disaster relief. In emergency rescue operations following natural disasters such as earthquakes, mudslides, and building collapses, excavators often serve as the main equipment for disaster relief, undertaking critical tasks such as clearing debris, reopening roads, moving heavy objects, searching for and rescuing trapped personnel, and demolishing dangerous structures.

[0003] However, emergency rescue sites are often complex and ever-changing. The same rescue scenario usually requires the completion of various different types of operations, such as digging, grabbing, shearing, crushing, drilling, and jacking, either sequentially or alternately. Traditional excavators are only equipped with a working device at the front end and usually only carry a single working tool (such as a bucket). Their single operation function cannot meet the complex and ever-changing operational needs at disaster sites.

[0004] In addition, traditional excavators mainly consist of a traveling chassis, a slewing platform, a working device, and a tail counterweight. While the tail counterweight can balance the overturning moment generated by the working device and load during excavation, it occupies a large amount of mass and space resources of the whole machine, resulting in serious waste of resources. Summary of the Invention

[0005] This disclosure provides a rescue vehicle with multiple functions and no need for a dedicated counterweight, thus reducing the overall weight and saving space.

[0006] According to one aspect of this disclosure, a rescue vehicle is provided, comprising: Chassis; The working device is mounted on the chassis; and Multiple working tools are mounted on the chassis, and the multiple working tools are configured to be selectively mounted on the working device. The working tools not mounted on the working device serve as counterweights for the working device to maintain the force balance of the chassis.

[0007] In some embodiments, the horizontal distance between the working implement used as a counterweight and the working device is adjustable to adjust the center of gravity of the chassis.

[0008] In some embodiments, the rescue vehicle further includes a tool carrier platform, which includes a connecting part and a carrying part. The connecting part is connected to the chassis, and multiple working tools are mounted on the carrying part. The connecting part is connected to the carrying part, and the horizontal distance between the connecting part and the carrying part is adjustable.

[0009] In some embodiments, the connecting part includes a connecting rod, and the bearing part is provided with a mounting hole, into which the connecting rod can be telescopically inserted.

[0010] In some embodiments, the rescue vehicle further includes a sensor unit and a control device. The sensor unit is configured to detect the position and orientation of the working device and the work implement, and the horizontal distance between the work implement used as counterweight and the working device. The control device is signal-connected to the sensor unit to calculate the center of gravity position of the chassis based on the detection results of the sensor unit, and adjust the horizontal distance between the work implement used as counterweight and the working device based on the center of gravity position.

[0011] In some embodiments, the rescue vehicle further includes a tool carrier platform and a first slewing mechanism. Multiple working tools are mounted on the tool carrier platform, and the tool carrier platform is mounted on the chassis via the first slewing mechanism so that the tool carrier platform can rotate relative to the chassis.

[0012] In some embodiments, the rescue vehicle further includes a slewing platform and a second slewing mechanism. The working device is mounted on the slewing platform, and the slewing platform is mounted on the tool carrier via the second slewing mechanism, so that the slewing platform and the tool carrier can rotate relative to the rotating chassis, and the tool carrier can rotate relative to the slewing platform.

[0013] In some embodiments, the working device includes a boom and a boom cylinder. The boom is connected to a slewing platform, the boom cylinder is connected to a boom drive, and the boom cylinder is installed inside the slewing platform so that the implement support can rotate to the bottom of the working device, thereby connecting the working implement with the working device.

[0014] In some embodiments, the rescue vehicle further includes a sensor unit, a control device, and a vision recognition unit. The sensor unit is configured to detect the position and orientation of the working device and the work implement, the distance between the work implement used as a counterweight and the working device, and the installation status of the work implement on the chassis. The vision recognition unit is configured to identify the position and orientation of the work implement not installed on the working device. The control device is signal-connected to the sensor unit and the vision recognition unit to control the replacement of the work implement connected to the working device based on the detection results of the sensor unit and the vision recognition unit.

[0015] In some embodiments, the working device includes a quick-connect coupling, and the working tool includes a quick-connect device connected to the quick-connect coupling.

[0016] In some embodiments, the rescue vehicle further includes a tool carrier platform mounted on a chassis. The tool carrier platform includes multiple mounting seats on which working tools are mounted. The number of mounting seats is greater than or equal to the number of working tools.

[0017] In some embodiments, the tool carrier includes a locking mechanism configured to lock the working tool onto the tool carrier.

[0018] In some embodiments, the plurality of working implements include a bucket, hydraulic shears, a rock grabber, a cutting saw, and a hydraulic breaker.

[0019] Based on the above technical solution, the rescue vehicle in this embodiment includes multiple working tools 3, which have a variety of different operating functions and can adapt to the complex and ever-changing operational needs at the rescue site. Moreover, any one of the multiple working tools can be installed on the working device to achieve the corresponding function, while the remaining working tools not installed on the working device can be used as counterweights for the working device to maintain the force balance of the chassis. Thus, it is not necessary to configure a special counterweight for the working device, which greatly reduces the overall weight of the rescue vehicle. At the same time, saving counterweights can also save space resources, reserving more space for the arrangement of other components on the rescue vehicle. Attached Figure Description

[0020] The accompanying drawings, which are included to provide a further understanding of this disclosure and form part of this application, illustrate exemplary embodiments of this disclosure and are used to explain this disclosure, but do not constitute an undue limitation of this disclosure. In the drawings: Figure 1 These are schematic diagrams illustrating the structure of some embodiments of the rescue vehicle provided in this disclosure.

[0021] Figure 2 This is a structural diagram of some embodiments of the rescue vehicle provided in this disclosure when changing work tools.

[0022] Figure 3 This is a schematic diagram of the structure of the equipment support platform in some embodiments of the rescue vehicle provided in this disclosure.

[0023] Figure 4 This is a schematic diagram of the chassis structure in some embodiments of the rescue vehicle provided in this disclosure.

[0024] Figure 5 This is a schematic diagram of the structure of the turning platform in some embodiments of the rescue vehicle provided in this disclosure.

[0025] Figure 6 This is a structural schematic diagram of the rear of the turning platform in some embodiments of the rescue vehicle provided in this disclosure.

[0026] Figure 7 This is a schematic diagram showing the installation of the working tools in some embodiments of the rescue vehicle provided in this disclosure.

[0027] Figure 8 This is a schematic diagram of the working device in some embodiments of the rescue vehicle provided in this disclosure.

[0028] Figure 9 This is a schematic diagram of the structure of the sensor unit in some embodiments of the rescue vehicle provided in this disclosure.

[0029] Figure 10 This is a schematic diagram of the structure of the visual recognition unit in some embodiments of the rescue vehicle provided in this disclosure.

[0030] In the picture: 1. Chassis; 11. Track beam; 12. Track; 13. Drive motor; 2. Working device; 21. Boom; 211. First linkage assembly; 22. Boom cylinder; 23. Stick sleeve; 24. Stick; 241. Second linkage assembly; 25. Stick cylinder; 26. Telescopic cylinder; 27. Tool cylinder; 28. Quick-connect coupling; 3. Working tools; 31. Tool body; 32. Quick-connect device; 321. Mechanical joint; 322. Hydraulic joint; 4. Tool support platform; 41. Connecting part; 411. Connecting rod; 42. Supporting part; 421. Mounting hole; 422. Mounting position; 423. Mounting base; 424. Locking mechanism; 43. Drive device; 44. Mounting hole; 5. Sensor unit; 51. Displacement sensor; 52. Encoded sensor; 53. Dual-axis tilt sensor; 54. Pressure sensor; 55. Docking sensor; 6. Control device; 7. First slewing mechanism; 71. First inner ring; 72. First outer ring; 73. First slewing mounting base; 74. First reducer; 8. Rotary platform; 81. First mounting base; 82. Second mounting base; 83. Third mounting base; 9. Second slewing mechanism; 91. Second inner ring; 92. Second outer ring; 93. Second slewing mounting base; 94. Second reducer; 10. Visual recognition unit; 101. Mounting bracket; 102. Infrared thermal imager; 103. Camera; 104. LiDAR; 105. Protective cover; 20. Control room; 30. Hydraulic power system. Detailed Implementation

[0031] The technical solutions in the embodiments of this disclosure will now be clearly and completely described with reference to the accompanying drawings. Obviously, the described embodiments are merely some embodiments of this disclosure, and not all embodiments. All other embodiments obtained by those skilled in the art based on the embodiments of this disclosure without creative effort are within the scope of protection of this disclosure.

[0032] In the description of this disclosure, it should be understood that the terms "center," "lateral," "longitudinal," "front," "rear," "left," "right," "upper," "lower," "vertical," "horizontal," "top," "bottom," "inner," and "outer," 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 this disclosure 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 on the scope of protection of this disclosure.

[0033] like Figure 1 and Figure 2 As shown, in some embodiments of the rescue vehicle provided in this disclosure, the rescue vehicle includes a chassis 1, a working device 2 and a plurality of working tools 3. The working device 2 is mounted on the chassis 1, and the plurality of working tools 3 are mounted on the chassis 1. The plurality of working tools 3 are configured to be selectively mounted on the working device 2. The working tools 3 not mounted on the working device 2 serve as counterweights for the working device 2 to maintain the force balance of the chassis 1.

[0034] In this embodiment, the rescue vehicle includes multiple working tools 3, each with different functions such as digging, grabbing, shearing, crushing, drilling, and jacking. Therefore, the rescue vehicle can perform multiple functions to adapt to the complex and ever-changing operational needs at the rescue site.

[0035] Moreover, in this embodiment, any one of the multiple working tools 3 can be installed on the working device 2 to achieve the corresponding function, while the remaining working tools 3 not installed on the working device 2 can serve as a counterweight for the working device 2 to maintain the force balance of the chassis 1. Thus, it is not necessary to configure a special counterweight for the working device 2, which greatly reduces the overall weight of the rescue vehicle. At the same time, saving counterweight can also save space resources, leaving more space for the arrangement of other components on the rescue vehicle.

[0036] In some embodiments, the horizontal distance between the working tool 3, which serves as a counterweight, and the working device 2 is adjustable to adjust the center of gravity of the chassis 1.

[0037] By setting the horizontal distance between the working tool 3 used as counterweight and the working device 2 to be adjustable, the center of gravity of the chassis 1 can be adjusted by adjusting the size of the horizontal distance between the working tool 3 used as counterweight and the working device 2, so as to maintain the balance of the chassis 1, prevent the chassis 1 from overturning, and ensure the working stability and safety of the rescue vehicle.

[0038] There are several ways to adjust the horizontal distance between the working tool 3 used as a counterweight and the working device 2.

[0039] like Figure 3 As shown, in some embodiments, the rescue vehicle also includes a tool carrier platform 4, which includes a connecting part 41 and a carrying part 42. The connecting part 41 is connected to the chassis 1, and multiple working tools 3 are installed on the carrying part 42. The connecting part 41 is connected to the carrying part 42, and the horizontal distance between the connecting part 41 and the carrying part 42 is adjustable.

[0040] By adjusting the horizontal distance between the connecting part 41 and the bearing part 42, the horizontal distance between the working tool 3 used as a counterweight and the working device 2 can be adjusted, thereby making the center of gravity position of the chassis 1 adjustable.

[0041] like Figure 3 As shown, in some embodiments, the connecting part 41 includes a connecting rod 411, and the bearing part 42 is provided with a mounting hole 421, into which the connecting rod 411 can be telescopically inserted.

[0042] The connecting part 41 and the supporting part 42 are connected by a connecting rod 411 and a mounting hole 421. The horizontal distance between the connecting part 41 and the supporting part 42 can be adjusted by extending or retracting the connecting rod 411 relative to the mounting hole 421.

[0043] In some embodiments, the machine support platform 4 includes a drive device 43, the drive end of which is connected to the connecting part 41 or the support part 42 to drive the connecting rod 411 to extend and retract relative to the mounting hole 421, thereby adjusting the horizontal distance between the connecting part 41 and the support part 42.

[0044] In some embodiments, the rescue vehicle further includes a sensor unit 5 and a control device 6. The sensor unit 5 is configured to detect the position and orientation of the working device 2 and the work implement 3, and the horizontal distance between the work implement 3 used as counterweight and the working device 2. The control device 6 is signal-connected to the sensor unit 5 to calculate the center of gravity position of the chassis 1 based on the detection results of the sensor unit 5, and adjust the horizontal distance between the work implement 3 used as counterweight and the working device 2 based on the center of gravity position.

[0045] By setting up sensor unit 5, the position and attitude of working device 2 and working implement 3, as well as the horizontal distance between working implement 3 (used as counterweight) and working device 2, can be detected. Based on the position and attitude of working device 2 and working implement 3, and the horizontal distance between working implement 3 (used as counterweight) and working device 2, the center of gravity position of chassis 1 can be calculated. When the center of gravity position of chassis 1 deviates from the preset range, control device 6 can adjust the center of gravity position of chassis 1 by adjusting the horizontal distance between working implement 3 (used as counterweight) and working device 2, so that the center of gravity position of chassis 1 is kept within the preset range, preventing chassis 1 from overturning and affecting the working safety of rescue vehicle. Through sensor unit 5 and control device 6, real-time monitoring and automatic adjustment of the center of gravity position of chassis 1 can be realized.

[0046] In some embodiments, the control device 6 can be signal-connected to the drive device 43 on the tool carrier 4 to control the drive device 43 to drive the connecting rod 411 to extend and retract when it is necessary to adjust the horizontal distance between the working tool 3 used as counterweight and the working device 2, so as to adjust the horizontal distance between the connecting part 41 and the bearing part 42, thereby adjusting the horizontal distance between the working tool 3 used as counterweight and the working device 2, so as to achieve the purpose of adjusting the center of gravity position of the chassis 1.

[0047] In some embodiments, the sensor unit 5 includes a displacement sensor 51 for real-time detection of the positions of the working device 2 and the tool support platform 4, and for real-time detection of the horizontal distance between the working tool 3 used as a counterweight and the working device 2.

[0048] The sensor unit 5 includes an coded sensor 52 mounted on the rotary platform 8, which is used to detect the rotation angle of the rotary platform 8 in real time to obtain the position of the working device 2 and the tool carrier 4 in the circumferential direction.

[0049] The sensor unit 5 includes a dual-axis tilt sensor 53 mounted on the rotary platform 8, which is used to monitor the longitudinal and lateral tilt angles of the entire machine in real time.

[0050] The sensor unit 5 includes a pressure sensor 54 and a docking sensor 55 installed at the storage position of each working tool 3, used to detect whether the working tool 3 is in place, whether the locking mechanism 424 is locked, and whether the connection or disconnection of the working tool 3 is completed.

[0051] like Figure 4 As shown, in some embodiments, the rescue vehicle also includes a tool carrier platform 4 and a first slewing mechanism 7. Multiple working tools 3 are mounted on the tool carrier platform 4, and the tool carrier platform 4 is mounted on the chassis 1 through the first slewing mechanism 7 so that the tool carrier platform 4 can rotate relative to the chassis 1.

[0052] By setting the first slewing mechanism 7, the tool carrier 4 can rotate relative to the chassis 1, thereby driving the working tool 3 on the tool carrier 4 to rotate relative to the chassis 1 and the working device 2, so that the working tool 3 can dock with the working device 2 and realize the replacement of the working tool 3.

[0053] like Figure 5 and Figure 6 As shown, in some embodiments, the rescue vehicle also includes a slewing platform 8 and a second slewing mechanism 9. The working device 2 is mounted on the slewing platform 8, and the slewing platform 8 is mounted on the tool carrier platform 4 through the second slewing mechanism 9, so that the slewing platform 8 and the tool carrier platform 4 can rotate relative to the rotating chassis 1, and the tool carrier platform 4 can rotate relative to the slewing platform 8.

[0054] By setting up a rotary platform 8 and installing it on the tool carrier platform 4, the rotary platform 8 and the working device 2 on the rotary platform 8 can rotate together relative to the chassis 1 when the tool carrier platform 4 rotates relative to the chassis 1. This enables the tool carrier platform 4, the working tool 3, the rotary platform 8, and the working device 2 to rotate together during the working process, thus completing the rotary action during the working process. This avoids relative movement between the tool carrier platform 4 and the working tool 3 on it and the working device 2 during the working process, which would interfere with the rotary action of the working device 2.

[0055] By setting a second slewing mechanism 9 and placing it between the slewing platform 8 and the tool carrier 4, the tool carrier 4 can rotate relative to the slewing platform 8 via the second slewing mechanism 9. This allows the working tool 3 on the tool carrier 4 to rotate relative to the working device 2 on the slewing platform 8, in addition to the slewing platform 8, so as to achieve docking between the working tool 3 and the working device 2 and to realize the replacement of the working tool 3.

[0056] like Figure 8 As shown, in some embodiments, the working device 2 includes a boom 21 and a boom cylinder 22. The boom 21 is connected to the slewing platform 8, and the boom cylinder 22 is drivenly connected to the boom 21. The boom cylinder 22 is installed inside the slewing platform 8 so that the tool carrier 4 can rotate to the bottom of the working device 2, thereby realizing the connection between the working tool 3 and the working device 2.

[0057] By connecting the boom 21 to the slewing platform 8 and installing the boom cylinder 22 inside the slewing platform 8, the position below the working device 2 can be avoided from being occupied by the boom cylinder 22, thereby freeing up the position below the working device 2, allowing the tool carrier 4 to rotate to the position below the working device 2, and providing operating space for connecting the working tool 3 and the working device 2.

[0058] Installing the boom cylinder 22 inside the slewing platform 8 also helps to protect the boom cylinder 22 and prevent it from being accidentally hit or damaged in other ways.

[0059] like Figure 9 and Figure 10 As shown, in some embodiments, the rescue vehicle further includes a sensor unit 5, a control device 6, and a vision recognition unit 10. The sensor unit 5 is configured to detect the position and orientation of the working device 2 and the work implement 3, the distance between the work implement 3 used as a counterweight and the working device 2, and the installation status of the work implement 3 on the chassis 1. The vision recognition unit 10 is configured to identify the position and orientation of the work implement 3 not installed on the implement support platform 4. The control device 6 is signal-connected to the sensor unit 5 and the vision recognition unit 10 to control the replacement of the work implement 3 connected to the working device 2 according to the detection results of the sensor unit 5 and the vision recognition unit 10.

[0060] By setting up sensor unit 5, the position and attitude of working device 2 and working tool 3, the distance between working tool 3 (used as counterweight) and working device 2, and the installation status of working tool 3 on chassis 1 can be detected to obtain information related to working device 2 and the working tool 3 to be replaced installed on working device 2. By setting up vision recognition unit 10, the position and attitude of working tool 3 not installed on tool carrier platform 4 can be identified to obtain relevant information about working tool 3 to be installed. Based on the detection results of sensor unit 5 and vision recognition unit 10, control device 6 can control the disassembly of working tool 3 connected to working device 2 and the connection of other working tools 3 on tool carrier platform 4 to working device 2.

[0061] In some embodiments, the visual recognition unit 10 includes an infrared thermal imager 102 for searching for heat sources of living organisms in dark environments.

[0062] The visual recognition unit 10 includes a camera 103, which is an industrial-grade high-definition camera with autofocus and fill light functions.

[0063] The visual recognition unit 10 includes a lidar 104, which is a solid-state lidar used to scan and acquire the three-dimensional point cloud data of each working tool 3 on the tool carrier platform 4.

[0064] In some embodiments, the working device 2 includes a quick connector 28, and the working tool 3 includes a quick connector 32, which is connected to the quick connector 28.

[0065] By setting a quick connector 28 on the working device 2 and a quick-connect device 32 on the working tool 3, the working tool 3 and the working device 2 can be quickly connected through the quick-connect device 32 and the quick connector 28.

[0066] The specific structures of quick-connect device 32 and quick-connect connector 28 can be selected in various ways.

[0067] like Figure 7 As shown, in some embodiments, the rescue vehicle also includes a tool carrier platform 4, which is mounted on the chassis 1. The tool carrier platform 4 includes a plurality of mounting seats 423, and the working tools 3 are mounted on the mounting seats 423. The number of mounting seats 423 is greater than or equal to the number of working tools 3.

[0068] By setting multiple mounting bases 423, a dedicated installation position can be provided for each working tool 3, ensuring that each working tool 3 can be installed on the tool carrier platform 4.

[0069] In some embodiments, the tool carrier 4 includes a locking mechanism 424 configured to lock the working tool 3 onto the tool carrier 4.

[0070] By setting the locking mechanism 424, the working tool 3 can be locked on the tool support platform 4, ensuring the stability of the working tool 3 on the tool support platform 4 and preventing the working tool 3 from falling accidentally during operation and causing a safety accident.

[0071] In some embodiments, the plurality of working implements 3 include a bucket, hydraulic shears, a rock grabber, a cutting saw, and a hydraulic breaker.

[0072] The following is in conjunction with the appendix Figures 1 to 10 The structure and operation of one embodiment of the rescue vehicle provided in this disclosure will be described: refer to Figures 1 to 10 As shown, the rescue vehicle includes a chassis 1, a working device 2, a working tool 3, a tool carrier platform 4, a sensor unit 5, a control device 6, a first slewing mechanism 7, a slewing platform 8, a second slewing mechanism 9, a vision recognition unit 10, an operator's cab 20, and a hydraulic power system 30.

[0073] like Figure 1 and Figure 2 As shown, the working device 2, the working tool 3, the tool support platform 4, the sensor unit 5, the control device 6, the first slewing mechanism 7, the slewing platform 8, the second slewing mechanism 9, the vision recognition unit 10, the operator's cab 20, and the hydraulic power system 30 are all mounted on the chassis 1. The control device 6 is installed inside the operator's cab 20, and the hydraulic power system 30 is installed at the rear of the operator's cab 20.

[0074] like Figure 1As shown, a working device 2 is equipped with a working tool 3 (bucket), and three working tools 3 are installed on the tool support platform 4. The working device 2 faces forward and the tool support platform 4 is behind. The three working tools 3 on the tool support platform 4 serve as counterweights for the working device 2 to maintain the force balance of the chassis 1.

[0075] like Figure 2 As shown, the tool carrier platform 4 rotates to the front, the working tool 3 (bucket) on the working device 2 is unloaded and falls onto the tool carrier platform 4, and the working device 2 can be connected to other working tools 3 on the tool carrier platform 4 to realize the replacement of working tools 3.

[0076] like Figure 3 As shown, the tool support platform 4 includes a connecting part 41, a support part 42, a drive device 43, and mounting holes 44. A connecting rod 411 is provided on the side of the connecting part 41 near the support part 42, and a mounting hole 421 is provided on the side of the support part 42 near the connecting part 41. The connecting rod 411 can be telescopically inserted into the mounting hole 421. The fixing part of the drive device 43 is mounted on the connecting part 41, and the drive part is connected to the support part 42 to drive the support part 42 to move relative to the connecting part 41, causing the connecting rod 411 to extend or retract, thus adjusting the horizontal distance between the connecting part 41 and the support part 42. The support part 42 has multiple mounting holes 44. The working tool 3 can be mounted on the support part 42 through the mounting holes 44.

[0077] The two drive units 43 are arranged symmetrically on both sides. The bearing part 42 can be translated relative to the connecting part 41 by extending and retracting the hydraulic cylinder, thereby changing the relative position of the working tool 3 at the rear and adjusting the center of gravity of the whole vehicle.

[0078] like Figure 4 As shown, chassis 1 adopts a tracked structure with a symmetrical arrangement, possessing excellent off-road performance and the ability to traverse complex terrains. The traveling chassis 1 includes track beams 11, tracks 12, and a drive motor 13. Depending on the needs of different rescue scenarios, chassis 1 can also be configured as a wheeled chassis, a wheel-track interchangeable chassis, or a walking chassis. The wheeled chassis is suitable for rapid relocation on flat surfaces; the wheel-track interchangeable chassis can quickly switch between tracked and tire-based walking modes; and the walking chassis is supported by four independent hydraulic outriggers, making it suitable for complex terrains such as rubble, mud, and slopes.

[0079] like Figure 5 and Figure 6 As shown, the slewing platform 8 is provided with a first mounting seat 81 for mounting the boom 21 of the working device 2, a second mounting seat 82 for mounting the boom cylinder 22, and a third mounting seat 83 for mounting the power system (such as an engine). The slewing platform 8 also integrates mounting seats for components such as the engine, hydraulic pump set, fuel tank, cab, and cover assembly.

[0080] like Figure 3 , Figure 4 , Figure 5 and Figure 6 As shown, the first slewing mechanism 7 includes a first slewing bearing, a first slewing mounting base 73, and a first reducer 74. The first slewing bearing includes a first inner ring 71 and a first outer ring 72. The second slewing mechanism includes a second slewing bearing, a second slewing mounting base 93, and a second reducer 94. The second slewing bearing includes a second inner ring 91 and a second outer ring 92. Both the first reducer 74 and the second reducer 94 are mounted on the slewing platform 8.

[0081] The first slewing bearing is mounted on the track beam 11 of the chassis 1. The first inner ring 71 is fixedly mounted relative to the chassis 1, and the first outer ring 72 is rotatably mounted relative to the chassis 1. The first tool carrier 4 is fixedly mounted on the first outer ring 72 via a first slewing mounting seat 73. The second slewing bearing is mounted on the connecting part 41 of the tool carrier 4. The second inner ring 91 is fixedly mounted relative to the tool carrier 4, and the second outer ring 92 is rotatably mounted relative to the tool carrier 4. The tool carrier 4 is also provided with a first slewing mounting seat 73, which is fixedly mounted relative to the tool carrier 4. The slewing platform 8 is fixedly mounted on the second outer ring 92 via a second slewing mounting seat 93.

[0082] The first reducer 74 drives the tool carrier 4 and the slewing platform 8 to rotate 360° horizontally relative to the chassis 1. The second reducer 94 drives the tool carrier 4 to rotate 360° horizontally relative to the slewing platform 8 and the chassis 1.

[0083] like Figure 7 As shown, the support portion 42 of the tool carrier platform 4 also includes a mounting position 422, a mounting base 423, and a locking mechanism 424. Each mounting position 422 is provided with a mounting base 423, and the mounting base 423 is provided with a locking mechanism 424 for fixing the working tool 3. Each working tool 3 includes a tool body 31 and a quick-connect device 32. Each quick-connect device 32 includes a mechanical connector 321 and a hydraulic connector 322, which match the quick-connect connector 28 on the working device 2 to realize mechanical and hydraulic connection. When the quick-connect connector 28 is docked with the quick-connect device 32, the docking sensor 55 detects the docking signal, and the control device 6 controls the mechanical and hydraulic connection to be realized, completing the automatic connection of the working tool 3; when the working tool 3 is disengaged, the control device 6 controls the mechanical and hydraulic separation to be realized, completing the automatic disengagement of the working tool 3.

[0084] The locking mechanism 424 adopts a pressure plate type hydraulic clamping structure, which is supplied with oil by an auxiliary hydraulic pump. It can automatically unlock or lock under the control of the control device 6 to press and fix the stored work tools 3, preventing the work tools 3 from shifting when the equipment moves or rotates.

[0085] like Figure 8 As shown, the working device 2 includes a boom 21, a first linkage assembly 211, a boom cylinder 22, a stick sleeve 23, a stick 24, a second linkage assembly 241, a stick cylinder 25, a telescopic cylinder 26, a tool cylinder 27, and a quick-connect coupling 28. The boom cylinder 22 drives the boom 21 to rotate relative to the chassis 1. The boom 21 is connected to the stick sleeve 23 via the first linkage assembly 211. The stick 24 is telescopically installed within the stick sleeve 23. The stick cylinder 25 drives the first linkage assembly 211 to move, and the telescopic cylinder 26 drives the stick 24 to extend and retract relative to the stick sleeve 23. The stick 24 is connected to the quick-connect coupling 28 via the second linkage assembly 241, and the quick-connect coupling 28 is connected to the quick-connect device 32 of the working tool 3. The tool cylinder 27 drives the second linkage assembly 241 to move. The working device 2, from the slewing platform 8 to the end, includes four main degrees of freedom: boom pitch, stick pitch, stick extension and retraction, and implement pitch.

[0086] The control device 6 includes a human-machine interface, which is a touch screen display installed in the operator's room 20. It displays the overall machine posture, the rotation angle and translation position of the tool carrier 4, the status of each storage tool 3, the operation mode, fault alarms and other information. It also has selection buttons for bucket, rock grabber, hydraulic shears, cutting saw and breaker hammer and a one-button tool change start button.

[0087] like Figure 9 As shown, sensor unit 5 includes: Displacement sensors 51 installed on boom cylinder 22, stick cylinder 25, telescopic cylinder 26 and implement cylinder 27 are used to detect the position of each joint of the working device 2 and implement support platform 4 in real time. The coded sensor 52 installed on the first reducer 74 and the second reducer 94 on the rotary platform 8 is used to detect the rotation angle of the rotary platform 8 in real time. The displacement sensor 51, mounted on the drive unit 43, is used to detect the translational position of the bearing part 42 in real time. A dual-axis tilt sensor 53, installed on the rotary platform 8, is used to monitor the longitudinal and lateral tilt angles of the entire machine in real time; and Pressure sensors 54 and docking sensors 55 installed at the storage positions of each working tool 3 are used to detect whether the working tool 3 is in place, whether the hydraulic locking mechanism is locked, and whether the tool connection or disconnection is completed.

[0088] like Figure 10As shown, the visual recognition unit 10 includes a mounting bracket 101, an infrared thermal imager 102, a camera 103, a lidar 104, and a protective cover 105. The infrared thermal imager 102 can search for heat sources of living organisms in dark environments; the camera 103 is an industrial-grade high-definition camera with autofocus and supplementary lighting functions; the lidar 104 is a solid-state lidar used to scan and acquire the three-dimensional point cloud data of each working tool on the tool carrier platform 4.

[0089] The control device 6 fuses the three-dimensional point cloud with the two-dimensional image through a visual fusion algorithm to construct the six-degree-of-freedom pose information of the target working machine, calculates the position and attitude deviations between the working device 2 and the working machine 3, and generates correction commands.

[0090] The control device 6 can communicate with various sensors, actuators, and the human-machine interface via the CAN bus. The control device 6 has pre-stored various mass parameters, center-of-gravity parameters, and coordinate positions of each work tool 3 relative to the rotary platform 8. When a work tool 3 needs to be replaced, the control device 6 calculates the required translation target position based on the mass parameters of that work tool 3, and controls the drive device 43 to translate the tool carrier platform 4 to that target position, ensuring that the overall center of gravity of the machine is within a safe range after the work tool 3 is replaced.

[0091] The control device 6 is also used to monitor the overall center of gravity position of the machine in real time during operation. The calculation of the overall center of gravity position is based on: the posture of the slewing platform 8, the angles of each joint of the working device 2 and the mass of the mounted work tools, the slewing angle and translational position of the tool carrier 4, and the distribution mass of the tools in each storage position. When the overall center of gravity position exceeds the preset safety threshold, the control device 6 restricts movement in the dangerous direction and issues an alarm.

[0092] The workflow for the autonomous tool changing of the rescue vehicle embodiment provided in this disclosure is as follows: Step S1: The operator in the control room 20 clicks the corresponding button of the target working tool, such as "hydraulic shears", on the touch screen to issue a tool change command.

[0093] Step S2: After receiving the tool change command, the control device first controls the working device 2 to place the currently mounted tool 3 onto the corresponding empty mounting position 422 on the tool support platform 4. Specifically, the control device 6 controls the operation of each cylinder of the working device 2, causing the quick-connect coupling 28 to move the currently mounted tool 3 above the target storage position. The control device 6 then controls the mechanical connector 321 to disengage from the hydraulic connector 322, allowing the tool 3 to fall into the empty position, and the locking mechanism 424 to automatically lock.

[0094] Step S3: Control device 6 queries pre-stored parameters to obtain the storage location number and coordinates of the target work tool 3. Control device 6 calculates the required rotation angle and translation position of the tool carrier platform 4, controls the second reducer 94 to drive the tool carrier platform 4 to rotate to the target angle, and simultaneously controls the drive device 43 to translate the tool carrier platform 4 to the target position. During rotation and translation, the encoder sensor 52 and displacement sensor 51 provide real-time position information, and control device 6 corrects the position using a PID closed-loop algorithm to ensure alignment accuracy and angle.

[0095] Step S4: The control device 6 controls the operation of each cylinder of the working device 2, so that the quick connector 28 approaches the quick connector 32 on the target working tool 3.

[0096] Step S5: During the approach process, camera 103 acquires images of the target work equipment 3 in real time, and lidar 104 scans to obtain a three-dimensional point cloud. Control device 6 fuses the three-dimensional point cloud with the two-dimensional image through a visual recognition algorithm to construct the six-degree-of-freedom pose information of the target work equipment 3, and calculates the positional and attitude deviations between the working device 2 and the work equipment 3.

[0097] Step S6: The control device 6 generates a correction command based on the deviation information, and finely adjusts the pitch angle of the boom 21 and stick sleeve 23, the extension length of the stick 24, and the rotation angle and translation position of the machine carrier platform 4, so that the quick connector 28 is precisely aligned with the quick connector 32 on the target working machine 3.

[0098] Step S7: When the quick-connect coupling 28 comes into contact with the quick-connect device 32 on the target work tool 3 and the docking sensor 55 detects the positioning signal, the control device 6 controls the mechanical connector 321 to connect with the hydraulic connector 322. At the same time, the control device 6 controls the locking mechanism 424 of the storage position to unlock.

[0099] Step S8: Control device 6 controls the movement of each cylinder of working device 2, and the target working tool 3 leaves the tool support platform 4 along with working device 2, completing the automatic replacement.

[0100] Step S9: The control device 6 calculates the required translation compensation amount based on the mass parameters of the target working machine 3, and controls the drive device 43 to translate the machine carrier platform 4 to the compensation position so that the center of gravity of the whole machine returns to the safe range.

[0101] Depending on the rescue scenario, this rescue vehicle can quickly and autonomously switch between various work tools within the cab: the front end of the working device 2 is equipped with a bucket for rubble clearing, or it can be replaced with hydraulic shears to cut steel bars, a hydraulic breaker to break concrete, a rock grabber to move heavy objects, or a cutting saw to cut metal components, achieving seamless integration and multi-functionality of excavation, grabbing, shearing, cutting, and crushing. The independent rotation and translation functions of the tool carrier platform 4, combined with the telescopic capability of the boom, give the equipment strong adaptability in confined rescue spaces; the combination of full-sensor closed-loop control and visual recognition technology enables one-button autonomous tool switching within the cab, eliminating the need for personnel to enter dangerous areas and significantly improving the efficiency of rescue operations and the safety of operators at complex disaster sites.

[0102] The rescue vehicle embodiment provided in this disclosure can effectively improve the adaptability to complex and ever-changing emergency rescue operations and the integration of equipment functions. The rear-end tool carrier platform replaces the traditional counterweight and has independent rotation and lateral movement functions. The tool carrier platform is equipped with multiple tool storage positions, which can pre-store different working tools such as buckets, rock grabs, hydraulic shears, cutting saws, and breakers according to rescue needs. The working device adopts a telescopic excavator arm, and the stick has a telescopic function to expand the working radius. The front end is equipped with a quick-connect device, which can automatically connect and disconnect with the quick-connect joints of various working tools. The tool carrier platform can independently rotate and move to the bottom of the working device. The working device is equipped with a camera and a lidar, and together with displacement sensors and coded sensors configured in the telescopic cylinder and rotation mechanism, it can detect the status of the working device and the posture of the working tools in real time. Through visual recognition and closed-loop feedback control, the system autonomously determines the relative position of the working device and the target work tool, enabling one-button autonomous tool switching from the control room. The translation mechanism of the tool carrier platform can automatically adjust the lateral position of the platform according to the quality and type of the replaced tool, dynamically compensating for the overall center of gravity shift and ensuring the stability of the machine when different tools are in operation. Depending on different rescue scenarios, the equipment can quickly and autonomously switch between multiple work tools from the cab. The front telescopic boom can be equipped with a bucket for rubble clearing, or it can be replaced with hydraulic shears to cut steel bars, a hydraulic breaker to break concrete, a rock grabber to move heavy objects, or a cutting saw to cut metal components. This achieves seamless integration and multi-functionality of multiple operations such as digging, grabbing, shearing, cutting, and breaking, significantly improving the efficiency of rescue operations and the safety of operators at complex disaster sites.

[0103] The rescue vehicle embodiments provided in this disclosure have at least the following functions: 1. Integrated Functionality of Tail Counterweight and Autonomous Tool Replacement: By replacing the traditional tail counterweight with an independently rotating and translatable tool carrier platform, an integrated design of "counterweight balancing" and "tool storage / autonomous replacement" is achieved. The tail tool carrier platform can rotate to the bottom of the working device. Combined with the visual recognition and quick-change device on the working device, operators can autonomously identify, align, connect, and retrieve various tools with a single button from the control room. No manual entry into hazardous work areas is required, significantly shortening rescue response time and improving operational efficiency and personnel safety at complex disaster sites.

[0104] 2. Multi-functional and quick role switching: The tail-end tool carrier can pre-store various rescue attachments such as buckets, grabbers, hydraulic shears, cutting saws, and breakers. According to the needs of the rescue site, it can be quickly and autonomously switched in the control room, enabling a single piece of equipment to achieve seamless connection of multiple operation functions such as digging, grabbing, shearing, cutting, and breaking. This solves the pain point of traditional rescue equipment being equipped with only one type of work tool, which is difficult to meet the complex and ever-changing needs of disaster sites, and greatly reduces the time and space occupation for deploying multiple equipment.

[0105] 3. Dynamic Adaptive Center of Gravity Adjustment: The tail-end implement support platform has a lateral translation function, which can automatically adjust the longitudinal position of the platform according to the mass parameters and type of the implement being replaced, compensating for the overall center of gravity shift in real time, so that the overall center of gravity of the machine is always within a safe range. Combined with the tilt sensor of the slewing platform and the real-time center of gravity calculation module, dynamic stability is ensured when different implements are in operation, solving the problem of insufficient stability of traditional fixed counterweights when carrying implements of different masses.

[0106] 4. Extended boom expands operating range and adaptability: The working device adopts a telescopic excavator boom with a telescopic stroke of 800mm to 1500mm, significantly expanding the boom's operating radius while maintaining the machine's compact shape. Combined with the rotation and translation functions of the tail-end implement platform, the equipment has enhanced accessibility and posture adjustment capabilities in confined rescue spaces, enabling it to adapt to complex rescue environments such as narrow gaps created by collapsed buildings.

[0107] 5. Full-sensor closed-loop control and visual guidance: Displacement sensors are installed at each joint of the working device, an angle encoder is installed on the slewing mechanism of the tail tool carrier, displacement sensors are installed on the drive device, and cameras and LiDAR are mounted on the working device. All moving joints have real-time status detection capabilities. The control device uses a visual recognition algorithm to fuse 3D point clouds and 2D images to autonomously determine the positional relationship between the working device and the working tool, and corrects control commands in a closed loop, achieving high-precision autonomous alignment and tool changing.

[0108] 6. Diverse chassis types and scene adaptability: The mobile chassis can be flexibly configured as dual-track, wheeled, wheel-track interchangeable, or walking type according to the rescue scenario, which is suitable for various working conditions such as conventional ruins, rapid transfer on flat roads, and passage through complex terrain, significantly improving the environmental adaptability and deployment flexibility of the equipment.

[0109] 7. Standardized Interfaces and Modular Design: The quick-connect couplings on the working device and the quick-connect devices on various working tools adopt standardized mechanical and hydraulic interfaces. Each working tool can be independently designed and manufactured and quickly compatible through a unified interface. The tool storage position on the tail tool carrier platform adopts a hydraulic locking mechanism, which facilitates quick storage and retrieval on site, reducing maintenance difficulty and downtime.

[0110] In this embodiment, the first and second rotary mechanisms can be driven by a servo motor in conjunction with a planetary reducer, a direct-drive torque motor, or an electric slewing bearing, instead of a hydraulic motor; the drive device can be driven by a servo electric cylinder to drive a ball screw, a gear rack and pinion drive, or a chain drive, instead of a hydraulic cylinder, to achieve higher positioning accuracy and response speed.

[0111] The visual recognition unit can use a binocular stereo vision camera, a structured light 3D camera, or a TOF depth camera to replace LiDAR and obtain the 3D pose information of the working equipment; alternatively, ArUco codes or reflective markers can be placed on the tail of the equipment carrier platform, and the camera on the working device can realize pose estimation by recognizing the markers, thus reducing the algorithm complexity.

[0112] Quick-connect couplings and quick-connect devices can use magnetic quick-change devices, pneumatic locking quick-change devices, or multi-tool rotary switching devices to replace hydraulic locking pin quick-change devices; or the quick-connect device can be designed as a combination of electromagnetic adsorption and mechanical locking to improve tool changing speed and reliability.

[0113] The translation compensation method for the machine platform can be to use a modular counterweight automatic loading and unloading mechanism instead of a sliding translation mechanism, which can automatically change different combinations of counterweights according to the weight of the machine being loaded; or to use a telescopic platform body, which can change the tail lever arm by extending and retracting the whole to achieve center of gravity adjustment.

[0114] The telescopic boom can be replaced by a folding boom or a sleeve-type multi-stage telescopic boom to achieve a larger telescopic stroke; it can also be replaced by an electric push rod or a ball screw drive to achieve more precise telescopic position control.

[0115] The control device can use end-to-end visual servo control based on deep reinforcement learning to replace the traditional PID closed-loop + visual correction control, making the arm head autonomous alignment process more intelligent; or it can use virtual simulation pre-play control based on digital twins to plan and optimize the motion trajectory in a virtual environment before the actual tool change.

[0116] In this document, the control device may be a general-purpose processor, a programmable logic controller (PLC), a digital signal processor (DSP), an application-specific integrated circuit (ASIC), a field-programmable gate array (FPGA), or other programmable logic device, discrete gate or transistor logic device, discrete hardware component, or any suitable combination thereof for performing the functions described herein.

[0117] The description of the various embodiments above tends to emphasize the differences between the various embodiments. The similarities or similarities between them can be referred to, and for the sake of brevity, they will not be repeated here.

[0118] Those skilled in the art will understand that, in the methods described in the specific embodiments, the order in which the steps are written does not imply a strict execution order and does not constitute any limitation on the implementation process. The specific execution order of each step should be determined by its function and possible internal logic.

[0119] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of this disclosure and not to limit them; although this disclosure has been described in detail with reference to preferred embodiments, those skilled in the art should understand that modifications can still be made to the specific implementation of this disclosure or equivalent substitutions can still be made to some technical features without departing from the principles of this disclosure, and such modifications and equivalent substitutions should all be covered within the scope of the technical solutions claimed in this disclosure.

Claims

1. A rescue vehicle, characterized in that, include: Chassis (1); The working device (2) is mounted on the chassis (1); and Multiple working tools (3) are mounted on the chassis (1), and the multiple working tools (3) are configured to be selectively mounted on the working device (2). The working tools (3) not mounted on the working device (2) serve as counterweights for the working device (2) to maintain the force balance of the chassis (1).

2. The rescue vehicle according to claim 1, characterized in that, The horizontal distance between the working tool (3) used as a counterweight and the working device (2) is adjustable to adjust the center of gravity of the chassis (1).

3. The rescue vehicle according to claim 2, characterized in that, It also includes a tool carrier platform (4), which includes a connecting part (41) and a bearing part (42). The connecting part (41) is connected to the chassis (1), and a plurality of the working tools (3) are installed on the bearing part (42). The connecting part (41) is connected to the bearing part (42), and the horizontal distance between the connecting part (41) and the bearing part (42) is adjustable.

4. The rescue vehicle according to claim 3, characterized in that, The connecting part (41) includes a connecting rod (411), and the bearing part (42) is provided with a mounting hole (421). The connecting rod (411) can be telescopically inserted into the mounting hole (421).

5. The rescue vehicle according to claim 2, characterized in that, It also includes a sensor unit (5) and a control device (6). The sensor unit (5) is configured to detect the position and posture of the working device (2) and the working tool (3), and the horizontal distance between the working tool (3) used as a counterweight and the working device (2). The control device (6) is signal-connected to the sensor unit (5) to calculate the center of gravity position of the chassis (1) based on the detection result of the sensor unit (5), and adjust the horizontal distance between the working tool (3) used as a counterweight and the working device (2) based on the center of gravity position.

6. The rescue vehicle according to claim 1, characterized in that, It also includes a tool carrier platform (4) and a first slewing mechanism (7). Multiple working tools (3) are installed on the tool carrier platform (4). The tool carrier platform (4) is installed on the chassis (1) through the first slewing mechanism (7) so that the tool carrier platform (4) can rotate relative to the chassis (1).

7. The rescue vehicle according to claim 6, characterized in that, It also includes a slewing platform (8) and a second slewing mechanism (9). The working device (2) is installed on the slewing platform (8). The slewing platform (8) is installed on the tool carrier (4) through the second slewing mechanism (9) so that the slewing platform (8) and the tool carrier (4) can rotate relative to the rotating chassis (1) together, and the tool carrier (4) can rotate relative to the slewing platform (8).

8. The rescue vehicle according to claim 7, characterized in that, The working device (2) includes a boom (21) and a boom cylinder (22). The boom (21) is connected to the slewing platform (8). The boom cylinder (22) is driven to the boom (21) and is installed inside the slewing platform (8) so that the tool carrier (4) can rotate to the bottom of the working device (2) to realize the connection between the working tool (3) and the working device (2).

9. The rescue vehicle according to claim 1, characterized in that, It also includes a sensor unit (5), a control device (6), and a vision recognition unit (10). The sensor unit (5) is configured to detect the position and posture of the working device (2) and the working tool (3), the distance between the working tool (3) used as a counterweight and the working device (2), and the installation status of the working tool (3) on the chassis (1). The vision recognition unit (10) is configured to identify the position and posture of the working tool (3) not installed on the working device (2). The control device (6) is signal-connected to the sensor unit (5) and the vision recognition unit (10) to control the replacement of the working tool (3) connected to the working device (2) according to the detection results of the sensor unit (5) and the vision recognition unit (10).

10. The rescue vehicle according to claim 1, characterized in that, The working device (2) includes a quick connector (28), and the working tool (3) includes a quick connector (32), which is connected to the quick connector (28).

11. The rescue vehicle according to claim 1, characterized in that, It also includes a tool carrier platform (4), which is installed on the chassis (1). The tool carrier platform (4) includes multiple mounting seats (423), and the working tools (3) are installed on the mounting seats (423). The number of mounting seats (423) is greater than or equal to the number of working tools (3).

12. The rescue vehicle according to claim 11, characterized in that, The tool carrier (4) includes a locking mechanism (424) configured to lock the working tool (3) onto the tool carrier (4).

13. The rescue vehicle according to any one of claims 1 to 12, characterized in that, The various working implements (3) include buckets, hydraulic shears, stone grabbers, cutting saws and breakers.

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