Overhead working truck chassis capable of adapting to various road conditions

Abstract

An overhead working truck chassis capable of adapting to various road conditions comprises a chassis assembly, a battery, first motors, second motors, supporting legs, idler wheels and a controller, the battery is arranged in the chassis assembly, the four vertex angles of the chassis assembly are each provided with a shaft hole, spline shafts are inserted into the shaft holes, the four vertex angles of the chassis assembly are each provided with a first motor fixing frame, and the second motors are arranged on the first motor fixing frames. A first motor is fixed to each first motor fixing frame, the output end of each first motor is connected with a spline shaft, frame-shaped frames are arranged at the four top corners of the chassis assembly, upper frames and lower frames of the frame-shaped frames are meshed with splines on the spline shafts through inner key grooves, the bottom ends of the supporting legs are rotationally connected with roller supports through rotating shafts, and the rotating shafts are driven by second motors. The spline shaft is matched with the frame-shaped frame coupling mechanism to be combined with the multi-stage telescopic hydraulic supporting leg, rotary adjustment and height stepless telescopic of the space posture of the supporting leg are achieved, complex terrain curved surfaces such as slopes, steps and soft foundations can be actively matched, and the adaptability of the terrain is improved.

Description

TECHNICAL FIELD

[0001] The utility model relates to high altitude operation vehicle technical field especially relates to a high altitude operation vehicle chassis that can adapt to various road conditions. BACKGROUND

[0002] As a special engineering vehicle, the stability, adaptability and control precision of the chassis system of the high-altitude operation vehicle are directly related to the safety and efficiency of high-altitude operation. The traditional high-altitude operation vehicle chassis adopts a design of fixed outriggers combined with rigid wheeled running mechanisms, but the conventional outrigger system can only realize vertical lifting adjustment and cannot compensate for the multi-dimensional posture of complex terrains such as slopes, soft foundations and steps. The wheeled chassis is prone to skidding and sinking on unpaved roads, has a large turning radius and is difficult to move flexibly in narrow spaces, and has insufficient adaptability to the terrain. Moreover, the existing hydraulic outriggers rely on a central hydraulic station for power supply, which has the problems of complex pipelines, response lag, high energy consumption and the like, and the diesel power system has the risk of tail gas pollution when operating in a closed space. SUMMARY

[0003] The utility model aims at solving the prior art's insufficient, and provides a high altitude operation vehicle chassis that can adapt to various road conditions.

[0004] To achieve the above-mentioned purpose, the utility model adopts the following technical scheme:

[0005] A high altitude operation vehicle chassis that can adapt to various road conditions, comprising a chassis assembly, a battery, a first motor, a second motor, an outrigger, a roller and a controller, the battery is arranged inside the chassis assembly, an axle hole is formed in each of the four corners of the chassis assembly, a spline shaft is inserted into the axle hole, a first motor fixing frame is arranged at each of the four corners of the chassis assembly, a first motor is fixed on each first motor fixing frame, the output end of the first motor is connected with the spline shaft, a frame-shaped frame is arranged at each of the four corners of the chassis assembly, the upper frame and the lower frame of the frame-shaped frame are engaged with the spline on the spline shaft through an inner key groove, the outrigger is connected to the web of the frame-shaped frame, the bottom end of the outrigger is rotatably connected to a roller support through a rotating shaft, the rotating shaft is driven by the second motor, the roller support is rotatably connected to the roller through a roller shaft, the first motor and the second motor are electrically connected with the battery and the controller, a terrain scanning module is arranged at the bottom of the chassis assembly, the terrain scanning module comprises a millimeter wave radar, a laser range finder and a panoramic camera, and the terrain scanning module is connected to the controller through a data fusion processor.

[0006] The bottom end of the outrigger is welded with an axle frame, a rotating shaft is inserted into the center of the axle frame, a second motor fixing frame is arranged on the outer side of the axle frame, a second motor is fixed on the second motor fixing frame, the output shaft of the second motor is connected with the rotating shaft, a driving gear is connected to the rotating shaft, a driven half gear is connected to the outer end of the axle frame, the toothed part of the driven half gear is engaged with the driving gear, and the non-toothed part of the driven half gear is connected to the roller support through a connecting block.

[0007] The support leg adopts a multi-stage telescopic hydraulic cylinder structure, a displacement sensor is arranged in the hydraulic cylinder, the displacement sensor is electrically connected with a controller arranged on the chassis assembly, and the controller controls the telescopic synchronization of each support leg through a hydraulic proportional valve.

[0008] An angle encoder is arranged between the roller support and the rotating shaft, a shockproof support is connected to a detection end of the angle encoder, and a signal output end of the angle encoder is connected with a controller.

[0009] The battery adopts a bottom slide rail type mounting structure and comprises a quick replacement interface and a hydraulic locking device.

[0010] The utility model discloses a spline shaft cooperation frame-shaped frame coupling mechanism combines multi-stage telescopic hydraulic support leg, realizes the rotation adjustment and height stepless telescopic of support leg space posture, can actively match complex terrain curved surface such as slope, step, soft base, and the dynamic optimization distribution of support point position improves the adaptability of terrain, and distributed double motor drive architecture will support leg posture and walking control decoupling, eliminates the energy consumption of hydraulic system pipeline, and the energy utilization rate is greatly improved under the direct power supply mode of battery. BRIEF DESCRIPTION OF DRAWINGS

[0011] Figure 1 It is the structural schematic diagram of the utility model;

[0012] Figure 2 It is the top view of the utility model;

[0013] Figure 3 It is Figure 1 It is the local enlarged schematic diagram of A place in the middle;

[0014] In the drawing: 1-chassis assembly; 2-battery; 3-spline shaft; 4-first motor fixed frame; 5-first motor; 6-frame-shaped frame; 7-support leg; 8-second motor fixed frame; 9-second motor; 10-rotating shaft; 11-shaft frame; 12-driving gear; 13-driven half gear; 131-toothed portion; 14-connection block; 15-roller support; 16-roller; 17-roller shaft; 18-controller; 19-angle encoder; 20-shockproof support; 21-terrain scanning module;

[0015] The embodiment of the utility model will be described in detail below with reference to the drawings. DETAILED DESCRIPTION

[0016] The utility model will be further described below in combination with the drawings and embodiments:

[0017] The high-altitude operation vehicle chassis can adapt to various road conditions, comprising a chassis assembly 1, a battery 2, a first motor 5, a second motor 9, a support leg 7, a roller 16 and a controller 18, the battery 2 is arranged inside the chassis assembly 1, an axle hole is formed in each of the four top corners of the chassis assembly 1, a spline shaft 3 is inserted into the axle hole, a first motor fixing frame 4 is arranged at each of the four top corners of the chassis assembly 1, a first motor 5 is fixed on each first motor fixing frame 4, the output end of the first motor 5 is connected with the spline shaft 3, a frame-shaped frame 6 is arranged at each of the four top corners of the chassis assembly 1, the upper frame and the lower frame of the frame-shaped frame 6 are engaged with the spline on the spline shaft 3 through an inner key groove, the support leg 7 is connected to the web of the frame-shaped frame 6, the bottom end of the support leg 7 is rotatably connected with a roller support 15 through a rotating shaft 10, the rotating shaft 10 is driven by the second motor 9, the roller support 15 is rotatably connected with the roller 16 through a roller shaft 17, the first motor 5 and the second motor 9 are electrically connected with the battery 2 and the controller 18, a terrain scanning module 21 is arranged at the bottom of the chassis assembly 1, the terrain scanning module 21 comprises a millimeter wave radar, a laser range finder and a panoramic camera, and the terrain scanning module 21 is connected with the controller 18 through a data fusion processor.

[0018] The bottom end of the support leg 7 is welded with an axle frame 11, the rotating shaft 10 is inserted into the center of the axle frame 11, the second motor fixing frame 8 is arranged on the outer side of the axle frame 11, the second motor 9 is fixed on the second motor fixing frame 8, the output shaft of the second motor 9 is connected with the rotating shaft 10, the driving gear 12 is connected on the rotating shaft 10, the driven half gear 13 is connected on the outer end of the axle frame 11, the tooth-shaped part 131 of the driven half gear 13 is engaged with the driving gear 12, and the non-tooth-shaped part of the driven half gear 13 is connected with the roller support 15 through the connecting block 14.

[0019] The support leg 7 adopts a multi-stage telescopic hydraulic cylinder structure, a displacement sensor is arranged in the hydraulic cylinder, the displacement sensor is electrically connected with the controller 18 arranged on the chassis assembly 1, and the controller 18 controls the telescopic synchronism of each support leg 7 through a hydraulic proportional valve.

[0020] An angle encoder 19 is arranged between the roller support 15 and the rotating shaft 10, the detection end of the angle encoder 19 is connected with a shockproof support 20, and the signal output end of the angle encoder 19 is connected with the controller 18.

[0021] The battery 2 adopts a bottom slide rail type mounting structure, comprising a quick replacement interface and a hydraulic locking device.

[0022] The utility model discloses a controller 18 automatic execution system self -inspection after power on, and controller 18 can select STM32 series singlechip, for example, STM32H743VIT6, and each hydraulic support leg 7 telescopic formation with the steering freedom of gyro wheel 16 is verified, and battery 2 power state is detected, and after self -inspection passes, topographic scanning module 21 starts, and millimeter wave radar and laser range finder component operation area three -dimensional point cloud map, and data fusion processor is based on finite element analysis algorithm calculation topographic bearing capacity and slope analysis, and the initial support strategy of production, and the angle of hydraulic support leg 7 is adjusted, and chassis posture dynamic adjustment is carried out, and the multidimensional of hydraulic support leg 7 is unfolded, and height adjustment: controller 18 is based on the preanalysis result, and through the synchronous extension of multistage telescopic hydraulic cylinder of hydraulic proportional valve control, and displacement sensor real -time feedback each hydraulic support leg 7 height, and ensure telescopic synchronization, and angle adjustment: first motor 5 drive spline shaft 3 rotation, and drive frame 6 rotation, and make the end of hydraulic support leg 7 adapt to the angle of slope or step. Gyro wheel all -direction positioning: second motor 9 drive rotating shaft 10 rotation, and through the meshing of driving gear 12 and driven half gear 13, and drive gyro wheel support 15 rotation, and the rotation range is in -180 ° ~ + 180 °, and angle encoder 19 real -time monitoring gyro wheel 16 deflection angle through shockproof support 20, and controller 18 adjusts to the preset steering mode, and dynamic leveling in operation, and real -time topographic compensation, and panoramic camera monitoring operation platform load change, and in combination with laser range finder data, and controller 18 dynamic correction hydraulic support leg 7 height and angle, and if detecting partial ground subsidence, such as soft foundation subsidence, and hydraulic proportional valve priority adjusts corresponding hydraulic support leg 7 telescopic amount, and synchronous trigger adjacent hydraulic support leg 7 pressure compensation, and prevent platform inclination.

[0023] When moving in narrow space, gyro wheel 16 switches to all -direction driving state, and second motor 9 controls gyro wheel support 15 deflection, and completes lateral translation or in -place rotation, and topographic scanning module 21 real -time updates obstacle position, and data fusion processor plans optimal path, and avoids hydraulic support leg 7 and peripheral obstacle collision, and when encountering certain height step, controller 18 preferentially lifts corresponding position hydraulic support leg 7, and other hydraulic support leg 7 drives obstacle crossing, and after obstacle crossing, gyro wheel 16 re-grounds, and continues to move.

[0024] In the description of the utility model, it is understood that the orientation or positional relationship indicated by the terms "center", "longitudinal", "transverse", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", "axial", "radial", "circumferential" is based on the orientation or positional relationship shown in the drawings, and is only for the convenience of describing the utility model and simplifying the description, and does not indicate or imply that the indicated device or element must have a particular orientation, be constructed and operated in a particular orientation, and therefore cannot be understood as a limitation on the utility model.

[0025] In addition, the terms "first", "second" are only for descriptive purpose, and cannot be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features. Therefore, the features defined with "first", "second" can explicitly or implicitly include at least one of the features. In the description of the present application, the meaning of "multiple" is at least two, such as two, three, etc., unless otherwise specifically limited.

[0026] In the present application, unless otherwise specifically defined and limited, the terms "mounting", "connecting", "connecting", "fixing" and the like should be understood broadly, for example, it can be fixedly connected, or it can be detachably connected, or it can be integrated; it can be mechanically connected, or it can be electrically connected or communicate with each other; it can be directly connected, or it can be indirectly connected through an intermediate medium, it can be the internal communication of two elements or the interaction relationship between two elements, unless otherwise specifically limited. For those skilled in the art, the specific meaning of the above terms in the present application can be understood according to the specific circumstances.

[0027] The present application has been described above in conjunction with the drawings, and obviously the specific implementation of the present application is not limited by the above manner, as long as various improvements are made by using the method concept and technical solution of the present application, or directly applied to other occasions without improvement, all within the protection scope of the present application.

Claims

1. A chassis for aerial work platforms that can adapt to various road conditions, characterized in that, The chassis assembly includes a chassis assembly (1), a battery (2), a first motor (5), a second motor (9), hydraulic outriggers (7), rollers (16), and a controller (18). The battery (2) is located inside the chassis assembly (1). Each of the four corners of the chassis assembly (1) has a shaft hole, into which a splined shaft (3) is inserted. Each of the four corners of the chassis assembly (1) has a first motor mounting bracket (4), and each first motor mounting bracket (4) has a first motor (5) fixed on it. The output end of the first motor (5) is connected to the splined shaft (3). Each of the four corners of the chassis assembly (1) has a frame-shaped bracket (6), and the upper and lower edges of the frame-shaped bracket (6) are connected to the splined shaft through an inner keyway. The spline engagement on the shaft (3) is connected to the web of the frame (6). The bottom end of the hydraulic outrigger (7) is rotatably connected to the roller bracket (15) via the rotating shaft (10). The rotating shaft (10) is driven by the second motor (9). The roller bracket (15) is rotatably connected to the roller (16) via the roller shaft (17). The first motor (5) and the second motor (9) are electrically connected to the battery (2) and the controller (18). The bottom of the chassis assembly (1) is provided with a terrain scanning module (21). The terrain scanning module (21) includes a millimeter-wave radar, a laser rangefinder and a panoramic camera. The terrain scanning module (21) is connected to the controller (18) via a data fusion processor.

2. The aerial work platform chassis adaptable to various road conditions according to claim 1, characterized in that, The bottom end of the hydraulic outrigger (7) is welded with a shaft frame (11), and a rotating shaft (10) is connected through the center of the shaft frame (11). A second motor mounting bracket (8) is set on the outside of the shaft frame (11), and a second motor (9) is fixed on the second motor mounting bracket (8). The output shaft of the second motor (9) is connected to the rotating shaft (10). A drive gear (12) is connected on the rotating shaft (10). A driven half gear (13) is connected to the outer end of the shaft frame (11). The toothed part (131) of the driven half gear (13) meshes with the drive gear (12). The non-toothed part of the driven half gear (13) is connected to the roller bracket (15) through a connecting block (14).

3. The aerial work platform chassis adaptable to various road conditions according to claim 2, characterized in that, The hydraulic outrigger (7) adopts a multi-stage telescopic hydraulic cylinder structure. A displacement sensor is installed inside the hydraulic cylinder. The displacement sensor is electrically connected to the controller (18) installed on the chassis assembly (1). The controller (18) controls the telescopic synchronization of each hydraulic outrigger (7) through a hydraulic proportional valve.

4. The aerial work platform chassis adaptable to various road conditions according to claim 3, characterized in that, An angle encoder (19) is provided between the roller bracket (15) and the rotating shaft (10). The detection end of the angle encoder (19) is connected to the shockproof bracket (20), and the signal output end of the angle encoder (19) is connected to the controller (18).

5. A high-altitude work vehicle chassis adaptable to various road conditions according to claim 4, characterized in that, The battery (2) adopts a bottom sliding rail mounting structure, which includes a quick replacement interface and a hydraulic locking device.

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