Movable loading platform car with obstacle crossing function

Abstract

The utility model discloses a mobile loading platform car with an obstacle crossing function, which comprises a platform welding part, the platform welding part is of a ladder-shaped structure with a wide upper part and a narrow lower part in the length direction, and walking wheels are respectively arranged at four corners of the bottom of the platform welding part; telescopic oil cylinders are arranged at the four corners of the top of the platform welding piece correspondingly, and walking wheels are installed at the lower ends of plungers of the telescopic oil cylinders correspondingly. The upper portion of a cylinder body of each telescopic oil cylinder is fixed to the middle of an oil cylinder rotating shaft, the axes of the oil cylinder rotating shafts are parallel to one another, the oil cylinder rotating shafts on the same side are coaxial, the two sides of each oil cylinder rotating shaft are hinged to platform supporting lugs respectively, and the roots of the platform supporting lugs are fixed to the side wall of the upper portion of the platform welding part respectively. The oil cylinder rotating shafts on the same side are connected through intermediate shafts, intermediate shaft gears are installed in the middles of the intermediate shafts respectively, the intermediate shaft gears are meshed with driving gears respectively, and the driving gears are installed on output shafts of the swing driving mechanisms respectively. The mobile loading platform car is high in loading capacity, obstacle crossing capacity and maneuverability.

Description

TECHNICAL FIELD

[0001] The utility model relates to a load platform vehicle, especially a mobile load platform vehicle with obstacle crossing function, and belongs to the technical field of transport tools. BACKGROUND

[0002] The current obstacle crossing platform has two modes, one is to cross over the obstacle from above, which cannot be used if the obstacle itself cannot bear gravity. The other is to cross over, but the height of crossing is not high, and the platform itself has limited load capacity, which is greatly limited in working conditions.

[0003] The Chinese invention patent with the publication number CN 104477268B discloses an underactuated tracked mobile obstacle crossing platform, two support assemblies are symmetrically arranged on both sides of the vehicle body assembly, the two ends of the support assembly are respectively hinged with a front swing arm assembly and a rear swing arm assembly, the front swing arm assembly drives the rear swing arm assembly to swing synchronously through a synchronous belt assembly, and the front swing arm assembly and the rear swing arm assembly are connected through a track. The defect of the obstacle crossing platform is that the structure is tracked, which has certain requirements for the height and strength of the obstacle.

[0004] The Chinese utility model patent with the publication number CN 212172391U discloses an arc leg tracked composite obstacle crossing platform, the vehicle body is provided with a driving track on both sides in the advancing direction, and is also provided with an arc leg in a avoiding position with the driving track, the pair of arc legs are driven to move the vehicle body when rotating under the action of the driving device, and the rotation surface formed by the rotation of the arc leg is parallel to the length direction of the vehicle body. When the robot needs to cross over the obstacle, the arc leg movement mode is opened, the arc leg works, the robot easily crosses over the obstacle, ensures the normal driving work of the robot, and makes the robot better adapt to the complex environment. The obstacle crossing height and width of the platform are limited by the size of the arc leg, the load capacity of the platform is very limited, and the stability of walking is general. SUMMARY

[0005] This section aims to summarize some aspects of the embodiments of the utility model and briefly introduce some preferred embodiments. Some simplifications or omissions may be made in this section and the abstract of the specification and the utility model name to avoid obscuring the purpose of this section, the abstract of the specification and the utility model name, and such simplifications or omissions cannot be used to limit the scope of the utility model.

[0006] In view of the above and / or problems existing in the prior art, the utility model is proposed.

[0007] The utility model aims to overcome the problems existing in the prior art, provide a mobile load platform vehicle with obstacle crossing function, the load capacity of the platform is large, the obstacle crossing capacity and maneuverability are strong.

[0008] The utility model discloses a mobile load platform vehicle with obstacle surmounting function, which comprises a platform welding piece, the platform welding piece is in the length direction and presents the ladder shape structure of wide top and narrow bottom, and four corners of the bottom of the platform welding piece are respectively provided with walking wheels; four corners of the top of the platform welding piece are respectively provided with telescopic oil cylinders, and the lower end of the plunger of each telescopic oil cylinder is respectively provided with a walking wheel; the upper part of the cylinder body of each telescopic oil cylinder is fixed in the middle part of an oil cylinder rotating shaft, the axis of each oil cylinder rotating shaft is parallel to each other, and the oil cylinder rotating shafts on the same side are coaxial, and the two sides of each oil cylinder rotating shaft are respectively hinged on platform ears, and the root of each platform ear is respectively fixed on the upper side wall of the platform welding piece; the oil cylinder rotating shafts on the same side are connected through an intermediate shaft, the middle part of the intermediate shaft is respectively provided with an intermediate shaft gear, the intermediate shaft gears are respectively engaged with driving gears, and the driving gears are respectively installed on the output shaft of a swing driving mechanism.

[0009] As an improvement of the utility model, the two ends of the intermediate shaft are respectively supported on an intermediate shaft support through intermediate shaft bearing seats, and the roots of the intermediate shaft supports are respectively fixedly connected to the upper side walls of the platform welding pieces.

[0010] As a further improvement of the utility model, the two ends of the intermediate shaft respectively extend from the intermediate shaft bearing seats and are respectively connected to the oil cylinder rotating shafts through universal joints.

[0011] As a further improvement of the utility model, the swing driving mechanism is respectively fixed on one of the intermediate shaft supports.

[0012] As a further improvement of the utility model, the swing driving mechanism is a swing oil cylinder, a hydraulic motor or a servo motor.

[0013] As a further improvement of the utility model, the swing range of the oil cylinder rotating shaft is 0°-90°.

[0014] As a further improvement of the utility model, the walking wheels at the four corners of the bottom of the platform welding piece are all AGV steering wheels.

[0015] As a further improvement of the utility model, the walking wheels at the lower ends of the plungers of each telescopic oil cylinder are all AGV steering wheels, or the walking wheels at the lower ends of the plungers of the front telescopic oil cylinders are AGV steering wheels, and the walking wheels at the lower ends of the plungers of the rear telescopic oil cylinders are universal wheels.

[0016] As a further improvement of the utility model, a battery pack, a hydraulic station and an electric control system are installed in the inner cavity of the platform welding piece.

[0017] As a further improvement of the utility model, the top cover of the platform welding piece is a load plane and extends above the platform ears.

[0018] Compared with the prior art, the utility model has the following beneficial effects: using multiple AGV rudders and four telescopic oil cylinders, the four telescopic oil cylinders can not only be telescopic, but also can swing a certain angle along with the oil cylinder rotating shaft to avoid obstacles, and the four rudders at the bottom continue to drive the platform to advance; when crossing the obstacles, the telescopic oil cylinders walk at this time eight wheels. BRIEF DESCRIPTION OF DRAWINGS

[0019] In order to more clearly illustrate the technical scheme of the embodiment of the utility model, the following will be briefly introduced the drawing needed to be used in the embodiment description, obviously, the drawing in the following description only some embodiments of the utility model, for the ordinary skilled person in the art, under the premise of not paying the creative labor, can also obtain other drawings according to these drawings, the drawing is only provided with reference and explanation, not to limit the utility model. Wherein:

[0020] Figure 1 It is the front view of the mobile load platform vehicle with obstacle crossing function of the utility model;

[0021] Figure 2 It is the left view of the utility model; Figure 1 It is the sectional view along A-A;

[0022] Figure 3 It is the left view of the utility model; Figure 1 It is the enlarged view of the left view of the utility model;

[0023] Figure 4 It is the three-dimensional view of the mobile load platform vehicle with obstacle crossing function of the utility model; Figure 1 ;

[0024] Figure 5 It is the three-dimensional view of the mobile load platform vehicle with obstacle crossing function of the utility model; Figure 2 ;

[0025] Figure 6 It is the state when crossing obstacles of the utility model; Figure 1 ;

[0026] Figure 7 It is the state when crossing obstacles of the utility model; Figure 2 ;

[0027] Figure 8 It is the state when crossing obstacles of the utility model; Figure 3 ;

[0028] Figure 9 It is the state when crossing obstacles of the utility model; Figure 4 ;

[0029] Figure 10 It is the state when crossing obstacles of the utility model; Figure 5;

[0030] In the figure: 1. Platform welding piece; 1a. Platform support lug; 1b. Intermediate shaft support; 2. Swing oil cylinder; 3. Driving gear; 4. Intermediate shaft gear; 5. Intermediate shaft; 6. Intermediate shaft bearing seat; 7. Universal joint; 8. Oil cylinder rotating shaft; 9. Telescopic oil cylinder; 10. AGV steering wheel; 11. Universal wheel; 12. Battery pack; 13. Hydraulic station; 14. Electric control system; 15. Obstacle. DETAILED DESCRIPTION

[0031] In the following description of the present application, the terms "upper", "lower", "front", "back", "left", "right", "inner", "outer" and the like indicate the orientation or positional relationship shown in the drawings, and are only for the convenience of describing the present application and simplifying the description, and do not mean that the device must have a particular orientation.

[0032] In order to make the technical means, creative features, purposes and effects realized by the present application easy to understand, the present application will be further described below in conjunction with specific drawings. Obviously, the described embodiments are only a part of the embodiments of the present application, not all.

[0033] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which the present application belongs. The terms used in the specification of the present application are only for the purpose of describing specific embodiments and are not intended to limit the present application.

[0034] As Figures 1 to 5 As shown in the figure, the mobile load platform vehicle with obstacle crossing function of the present application comprises a platform welding piece 1, which has a stepped structure with a wide upper part and a narrow lower part in the length direction. The inner cavity space of the platform welding piece 1 is divided and respectively installed with a battery pack 12, a hydraulic station 13 and an electric control system 14, etc.

[0035] Four corners of the bottom of the platform welding piece 1 are respectively provided with traveling wheels, and the traveling wheels of the four corners of the bottom preferably adopt AGV steering wheels 10. The AGV steering wheels 10 are integrated wheel groups integrating driving motors, steering mechanisms, encoders and sensors. The electric control system 14 controls the traveling direction and speed adjustment of each AGV steering wheel 10 through electric signals.

[0036] The platform welded component 1 has four telescopic cylinders 9 at its top corners, and each telescopic cylinder 9 has a traveling wheel mounted on its lower plunger. The traveling wheels on the lower plungers of each telescopic cylinder 9 are AGV steering wheels 10; or the traveling wheels on the lower plungers of the front telescopic cylinder 9 are AGV steering wheels 10, and the traveling wheels on the lower plungers of the rear telescopic cylinder 9 are driven swivel wheels 11. Under light load, the equipment can move with only the four wheels on the bottom touching the ground; under heavy load, it can move with all eight wheels supporting it; when crossing obstacles, it can have six or four wheels supporting it, greatly improving its load-bearing capacity.

[0037] The upper part of the cylinder body of each telescopic cylinder 9 is fixed to the middle of the cylinder shaft 8. The axes of the cylinder shafts 8 are parallel to each other, with the two front cylinder shafts 8 and the two rear cylinder shafts 8 being coaxial. The two sides of each cylinder shaft 8 are hinged to the platform lugs 1a. The root of the front platform lug 1a is fixed to the upper front side wall of the platform welded part 1, and the root of the rear platform lug 1a is fixed to the upper rear side wall of the platform welded part 1. The top cover of the platform welded part 1 is a loading plane and extends above the platform lugs 1a to increase the loading area.

[0038] The cylinder shafts 8 on the same side are connected by an intermediate shaft 5. The two ends of the intermediate shaft 5 are supported on the intermediate shaft bracket 1b by intermediate shaft bearing seats 6. The root of the intermediate shaft bracket 1b is fixedly connected to the upper side wall of the platform welded part 1. The two ends of the intermediate shaft 5 extend from the intermediate shaft bearing seats 6 and are connected to the cylinder shafts 8 by universal joints 7.

[0039] Intermediate shaft gears 4 are installed in the middle of intermediate shaft 5, and the intermediate shaft gears 4 mesh with drive gears 3 respectively. The drive gears 3 are respectively installed on the output shaft of the swing drive mechanism. The swing drive mechanism is a swing cylinder, hydraulic motor or servo motor 2, and the swing drive mechanism is fixed on one of the intermediate shaft brackets 1b.

[0040] For example, under the drive of the swing cylinder 2, the drive gear 3 drives the intermediate shaft gear 4 to rotate, the intermediate shaft gear 4 drives the intermediate shaft 5 to rotate, and the intermediate shaft 5 drives the cylinder shaft 8 to rotate through the universal joints 7 at both ends. The cylinder shaft 8 drives the telescopic cylinder 9 to swing within the range of 0° to 90°, that is, the telescopic cylinder 9 can swing from the vertical state to the horizontal state to achieve obstacle avoidance.

[0041] like Figure 6 As shown, when an obstacle 15 appears on the ground in front, the swing cylinder 2 on the front side causes the intermediate shaft gear 4 to rotate in the forward direction through the drive gear 3, and the intermediate shaft 5 on the front side rotates in the forward direction, causing the two telescopic cylinders 9 on the front side to swing forward from the vertical state and lift up. Then the platform vehicle continues to move forward, so that the telescopic cylinders 9 on the front side and the AGV steering wheel 10 below them can pass over the obstacle 15.

[0042] As Figure 7 shown, the front swing cylinder 2 reverses the intermediate shaft gear 4 through the drive gear 3, and the front intermediate shaft 5 reverses, so that the two front telescopic cylinders 9 fall from the horizontal state to the vertical state.

[0043] As Figure 8 shown, the front and rear telescopic cylinders 9 extend, and the platform welding piece 1 is lifted, so that the AGV rudders 10 at the four corners of the bottom of the platform welding piece 1 are lifted off the ground, and the lower edge is higher than the top of the obstacle 15; then the AGV rudders 10 below the front telescopic cylinders 9 and the universal wheels 11 in the rear side advance, so that the AGV rudders 10 at the four corners of the bottom pass over the obstacle 15.

[0044] As Figure 9 shown, the front and rear telescopic cylinders 9 retract, and the platform welding piece 1 falls, so that the AGV rudders 10 at the four corners of the bottom of the platform welding piece 1 are supported on the ground again.

[0045] As Figure 10 shown, the rear swing cylinder 2 reverses the intermediate shaft gear 4 through the drive gear 3, and the rear intermediate shaft 5 reverses, so that the two rear telescopic cylinders 9 swing backward from the vertical state to lift up, and then the platform vehicle continues to advance backward, so that the rear telescopic cylinders 9 and the AGV rudders 10 below them pass over the obstacle 15.

[0046] Then the rear swing cylinder 2 rotates the intermediate shaft gear 4 forward through the drive gear 3, and the rear intermediate shaft 5 rotates forward, so that the two rear telescopic cylinders 9 fall from the horizontal state to the vertical state, so as to return to the initial state. Figure 1

[0047] The extension lengths of the front and rear telescopic cylinders 9 can be inconsistent, so that the top surface of the platform welding piece 1 is inclined, and a slope is formed to facilitate the downward sliding of the carried materials, or the slope is connected with other equipment.

[0048] The above only describes the preferred embodiments of the present application, and the basic principles, main features and advantages of the present application are shown and described, and the patent protection range of the present application is not limited by the above. It should be understood by those skilled in the art that the present application is not limited by the above embodiments. In addition to the above embodiments, other embodiments can be used without departing from the spirit and scope of the present application. The present application can have various changes and improvements, and any technical solution formed by equivalent replacement or equivalent transformation falls within the protection scope of the present application. The protection scope of the present application is defined by the appended claims and their equivalents. The technical features not described in the present application can be realized by or using the prior art, and will not be described here.​

Claims

1. A mobile load-bearing platform vehicle with obstacle-crossing capability, comprising a platform welded component, characterized in that, The platform welded component has a stepped structure that is wider at the top and narrower at the bottom in the length direction, and a walking wheel is installed at each of the four corners of the bottom of the platform welded component. The platform welded component has telescopic cylinders at the four corners of its top, and each telescopic cylinder has a walking wheel installed at the lower end of its plunger. The upper part of the cylinder body of each telescopic cylinder is fixed to the middle of the cylinder shaft. The axes of each cylinder shaft are parallel to each other and the cylinder shafts on the same side are coaxial. The two sides of each cylinder shaft are hinged to the platform support ears. The root of each platform support ear is fixed to the upper side wall of the platform welded component. The cylinder shafts on the same side are connected by an intermediate shaft. An intermediate shaft gear is installed in the middle of the intermediate shaft. The intermediate shaft gear meshes with the drive gear. The drive gear is installed on the output shaft of the swing drive mechanism.

2. The mobile load-bearing platform vehicle with obstacle-crossing function according to claim 1, characterized in that: The two ends of the intermediate shaft are respectively supported on the intermediate shaft bracket by intermediate shaft bearing seats, and the root of the intermediate shaft bracket is fixedly connected to the upper side wall of the platform welded part.

3. The mobile load-bearing platform vehicle with obstacle-crossing function according to claim 2, characterized in that: Both ends of the intermediate shaft extend from the intermediate shaft bearing housing and are connected to the cylinder shaft via universal joints.

4. The mobile load-bearing platform vehicle with obstacle-crossing function according to claim 2, characterized in that: The swing drive mechanism is fixed on one of the intermediate shaft supports.

5. The mobile load-bearing platform vehicle with obstacle-crossing function according to claim 1, characterized in that: The swing drive mechanism is a swing cylinder, a hydraulic motor, or a servo motor.

6. The mobile load-bearing platform vehicle with obstacle-crossing function according to claim 1, characterized in that: The swing range of the cylinder shaft is 0° to 90°.

7. The mobile load-bearing platform vehicle with obstacle-crossing function according to claim 1, characterized in that: The four corner wheels at the bottom of the platform's welded components are all AGV steering wheels.

8. The mobile load-bearing platform vehicle with obstacle-crossing function according to claim 1, characterized in that: The traveling wheels at the lower end of each telescopic cylinder plunger are AGV steering wheels; or the traveling wheels at the lower end of the front telescopic cylinder plunger are AGV steering wheels, and the traveling wheels at the lower end of the rear telescopic cylinder plunger are casters.

9. The mobile load-bearing platform vehicle with obstacle-crossing function according to any one of claims 1 to 8, characterized in that: The platform's welded components have a battery pack, a hydraulic station, and an electronic control system installed inside their cavity.

10. The mobile load-bearing platform vehicle with obstacle-crossing function according to any one of claims 1 to 8, characterized in that: The top cover of the platform welded component is a loading plane and extends above the platform support lug.

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