CN113086035A - Anti-tipping walking device for forest fire engine - Google Patents
Anti-tipping walking device for forest fire engine Download PDFInfo
- Publication number
- CN113086035A CN113086035A CN202110402778.5A CN202110402778A CN113086035A CN 113086035 A CN113086035 A CN 113086035A CN 202110402778 A CN202110402778 A CN 202110402778A CN 113086035 A CN113086035 A CN 113086035A
- Authority
- CN
- China
- Prior art keywords
- truss
- frame body
- belt wheel
- driving
- walking
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
Images
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D55/00—Endless track vehicles
- B62D55/06—Endless track vehicles with tracks without ground wheels
- B62D55/065—Multi-track vehicles, i.e. more than two tracks
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D55/00—Endless track vehicles
- B62D55/08—Endless track units; Parts thereof
- B62D55/10—Bogies; Frames
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D55/00—Endless track vehicles
- B62D55/08—Endless track units; Parts thereof
- B62D55/104—Suspension devices for wheels, rollers, bogies or frames
- B62D55/108—Suspension devices for wheels, rollers, bogies or frames with mechanical springs, e.g. torsion bars
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D55/00—Endless track vehicles
- B62D55/08—Endless track units; Parts thereof
- B62D55/30—Track-tensioning means
Landscapes
- Engineering & Computer Science (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Handcart (AREA)
Abstract
The invention relates to the technical field of vehicle traveling, in particular to an anti-tipping traveling device for a forest fire engine, which comprises a traveling frame body, a driving belt wheel, a tensioning belt wheel, an elastic suspension, a bearing belt wheel, a crawler and a driving assembly, wherein the traveling frame body is provided with a driving belt wheel; a first truss and a second truss are arranged on the opposite sides of the walking frame body; the driving belt wheel and the tensioning belt wheel are arranged on the first truss and the second truss; the elastic suspension is arranged at the bottom ends of the first truss and the second truss, the bottom end of the driving belt wheel comprises a plurality of elastic rollers, and the bearing belt wheel is rotatably arranged on the elastic rollers; the crawler belt is annularly sleeved on the driving belt wheel, the tensioning belt wheel and the bearing belt wheel; the driving assembly is arranged on the walking frame body, the output end of the driving assembly is in transmission connection with the single driving belt wheel, and the four independent rotating crawler belts are arranged on the two sides of the walking frame body through the first truss and the second truss, so that the power of the walking frame body is improved, meanwhile, the small vibration force of the fire-fighting vehicle body due to ground obstacles is ensured through the elastic suspension, and the vehicle body can be effectively prevented from tipping.
Description
Technical Field
The invention relates to the technical field of vehicle walking, in particular to an anti-tipping walking device for a forest fire engine.
Background
The fire can seriously threaten the life safety of people, and the forest fire is a great disaster with extremely strong destructiveness. However, due to the bush and uneven terrain in the forest, various existing fire fighting vehicles are difficult to drive in the forest, often cannot reach the fire extinguishing place in time, and effective fire extinguishing measures are taken to control the fire. Thus, a crawler-type fire engine has emerged;
based on the structural analysis of the prior tracked vehicle, the conditions of large dynamic load, power loss and the like of the walking device among main components can be known, and the maneuvering performance of the vehicle is greatly limited. Through research on the influence of the performance of the crawler vehicle walking device on various aspects such as arrangement space, weight limit, current material performance and the like, the current common practice is to adopt active control to improve the suspension performance under the existing mechanism form. However, the introduction of active control tends to increase the complexity of the system, increase the weight and power consumption of the mobile system and reduce its reliability; that is, the existing crawler-type fire engine still has the risk of tipping when walking in the forest with complex terrain, so that an anti-tipping walking device for the forest fire engine is needed.
Chinese patent CN201921653286.8 discloses a crawler traveling device, which mainly comprises an inducer assembly, a crawler tensioning oil-gas cylinder, a carrier wheel, a traveling device truss, a driving wheel assembly, a cantilever suspension, a balance suspension and an oil-gas spring. The crawler traveling device of the utility model adopts a cantilever suspension and balance suspension combination mode to replace the traditional balance shaft and loading wheel form, is arranged on a traveling device truss, reduces the number of the suspension and the elastic damping element under the condition of meeting the same ground length of the crawler, simplifies the structure and lightens the system weight; the balance suspension provided with the double-row small-diameter bogie wheels has a certain swing angle, and the vibration caused by the concave-convex road surface is transmitted to the vehicle body less, so that the adaptability of the complex road surface of the vehicle is improved, and the vehicle has better maneuvering performance.
However, one side of the walking device is driven by only one driving wheel assembly, so that the problem of insufficient power is easily caused, and when the crawler belt on one side is damaged, the walking device cannot move completely.
Disclosure of Invention
In order to solve the technical problem, the anti-tipping walking device for the forest fire fighting truck is provided.
In order to achieve the above purposes, the technical scheme adopted by the invention is as follows:
an anti-tipping walking device for a forest fire engine comprises a walking frame body, a driving belt wheel, a tensioning belt wheel, an elastic suspension, a bearing belt wheel, a crawler belt and a driving assembly; a first truss and a second truss are arranged on the opposite sides of the walking frame body; the driving belt wheel is rotatably arranged on the first truss and the second truss; the tensioning belt wheel is rotationally arranged on the first truss and the second truss; the elastic suspension is arranged at the bottom ends of the first truss and the second truss, the bottom end of the driving belt wheel comprises a plurality of elastic rollers which are arranged along the horizontal direction and are coaxial with the driving belt wheel, and the bearing belt wheel is rotatably arranged on the elastic rollers of the elastic suspension; the crawler belt is annularly sleeved on the driving belt wheel, the tensioning belt wheel and the bearing belt wheel, and the bearing belt wheel is elastically abutted against the inner side of the crawler belt; the driving assembly is arranged on the walking frame body, and the output end of the driving assembly is in transmission connection with the single driving belt wheel.
Preferably, the walking frame further comprises an electronic level bubble, the electronic level bubble is horizontally arranged at the gravity center of the walking frame body and electrically connected with the controller, and the elastic suspension is movably arranged at the bottom ends of the first truss and the second truss along the vertical direction.
Preferably, the hydraulic support device further comprises a first electric hydraulic pushing cylinder, the output end of the first electric hydraulic pushing cylinder is hinged to the top end of the elastic suspension, and the end of the cylinder body of the first electric hydraulic pushing cylinder is hinged to the bottom end of the first truss or the bottom end of the second truss.
Preferably, the first girder is movable in a horizontal direction at both sides of the traveling frame body.
Preferably, still including guide rail and the electronic hydraulic pressure of second and push away the jar, first truss passes through the guide rail and slides along the horizontal direction and set up walking support body both sides, the electronic hydraulic pressure of second pushes away the jar and fixedly sets up in walking support body both sides along the horizontal direction, and the output of the electronic hydraulic pressure of second pushes away the inboard fixed connection of jar and first truss.
Preferably, the second girder is movable in a horizontal direction at both sides of the traveling frame body.
Preferably, the truss walking device further comprises a guide rail and a second electric hydraulic pushing cylinder, the second truss is arranged on two sides of the walking frame body in a sliding mode along the horizontal direction through the guide rail, the second electric hydraulic pushing cylinder is fixedly arranged on two sides of the walking frame body along the horizontal direction, and the output end of the second electric hydraulic pushing cylinder is fixedly connected with the inner side of the second truss.
Preferably, the walking frame further comprises a flexible transmission component, the driving belt wheel is in synchronous transmission connection with the output end of the driving assembly through the flexible transmission component, and when the driving belt wheel moves along the horizontal direction relative to the walking frame body, the output end of the driving assembly is in synchronous transmission connection with the driving belt wheel all the time through the flexible transmission component.
Preferably, flexible drive assembly is including drive roll, tension sprocket and synchronous chain, and drive pulley passes through the coaxial rotation of drive roll and sets up in first truss or the second truss outside, and drive pulley runs through walking support body both sides and can slide rather than following the horizontal direction, tension sprocket and drive roll are with the axial rotation setting inboard at walking support body, and synchronous chain is cyclic annular cover and establishes on output, drive roll and the tension sprocket of drive assembly, and drive pulley along the horizontal slip state under, synchronous chain receives external force elasticity butt inboard at synchronous chain.
Preferably, the flexible transmission assembly further comprises an oil-gas spring, the oil-gas spring is fixedly arranged on the inner side of the walking frame body along the radial direction of the tensioning chain wheel, and the tensioning chain wheel and the driving roller rotate coaxially at the working end of the oil-gas spring.
Compared with the prior art, the invention has the beneficial effects that:
1. according to the invention, through the first truss and the second truss, four independently rotating crawler belts are arranged on two sides of the walking frame body, so that the power of the walking frame body is improved, and meanwhile, the elastic suspension ensures that the fire-fighting truck body is subjected to smaller vibration force due to ground obstacle, and further the truck body can be effectively prevented from tipping;
2. according to the invention, the electronic level bubble and the elastic suspension capable of lifting can be used for keeping the vehicle body in a horizontal state all the time during running or parking, so that the vehicle body can be prevented from tipping, and the stability of the fire-fighting vehicle body can be improved;
3. according to the invention, through the first truss or the second truss which can relatively move along the horizontal direction, the stress area of the fire fighting truck can be increased, so that the truck body is stable during running;
4. according to the invention, the output end of the driving assembly can be stably connected with the driving belt wheel in a transmission manner through the tensioning chain wheel and the synchronous chain, so that the output end of the driving assembly can not be transmitted to the driving belt wheel when the first truss or the second truss relatively moves along the horizontal direction;
5. according to the invention, the tensioning chain wheel can be always elastically abutted against the inner side of the synchronous chain through the hydro-pneumatic spring, so that when the driving roller slides along the horizontal direction, the tensioning chain wheel always tightens the synchronous chain due to the elastic action of the hydro-pneumatic spring, thereby preventing the synchronous chain from being separated from the output end of the driving assembly, the driving roller and the tensioning chain wheel, and further improving the transmission stability of the walking device.
Drawings
FIG. 1 is a perspective view of a first embodiment of the present invention;
FIG. 2 is a front view of a first embodiment of the present invention;
FIG. 3 is a cross-sectional view at section H-H of FIG. 2;
FIG. 4 is a cross-sectional view at section I-I of FIG. 2;
figure 5 is a perspective view of the resilient suspension and load-bearing pulley of the present invention;
FIG. 6 is a perspective view of the first truss, drive pulley and tension pulley of the present invention;
FIG. 7 is a front view of the first truss, drive pulley and tension pulley of the present invention;
FIG. 8 is a cross-sectional view at section J-J of FIG. 2;
FIG. 9 is a perspective view of a first embodiment of the present invention;
fig. 10 is a top view of the present invention.
The reference numbers in the figures are:
a-a walking frame body; a1 — first truss; a2-second truss;
b-a driving pulley;
c-tensioning belt wheel;
d-elastic suspension;
e-a load-bearing pulley;
f, a crawler belt;
g-a drive assembly;
1-a first electro-hydraulic push cylinder;
2-a guide rail;
3-a second electro-hydraulic push cylinder;
4-a flexible transmission assembly; 4 a-a drive roll; 4 b-a tension sprocket; 4 c-synchronization chain; 4 d-hydro-pneumatic spring.
Detailed Description
The following description is presented to disclose the invention so as to enable any person skilled in the art to practice the invention. The preferred embodiments in the following description are given by way of example only, and other obvious variations will occur to those skilled in the art.
In order to solve the technical problem of insufficient power, namely shock absorption, of the unilateral crawler type walking device, as shown in figure 1, the following technical scheme is provided:
an anti-tipping walking device for a forest fire engine comprises a walking frame body A, a driving belt wheel B, a tensioning belt wheel C, an elastic suspension D, a bearing belt wheel E, a crawler F and a driving assembly G;
a first truss A1 and a second truss A2 are arranged on the opposite sides of the walking frame body A;
the driving pulley B is rotationally arranged on the first truss A1 and the second truss A2;
the tensioning pulley C is rotationally arranged on the first truss A1 and the second truss A2;
the elastic suspension D is arranged at the bottom ends of the first truss A1 and the second truss A2, the bottom end of the driving pulley B comprises a plurality of elastic rollers which are arranged along the horizontal direction and are coaxial with the driving pulley B, and the bearing pulley E is rotatably arranged on the elastic rollers of the elastic suspension D;
the crawler belt F is annularly sleeved on the driving belt wheel B, the tensioning belt wheel C and the bearing belt wheel E, and the bearing belt wheel E is elastically abutted against the inner side of the crawler belt F;
the driving assembly G is arranged on the walking frame body A, and the output end of the driving assembly G is in transmission connection with the single driving belt wheel B.
Specifically, a driving assembly G is started, a working end of the driving assembly G drives a single driving pulley B to rotate, the driving pulley B, a tensioning pulley C and a bearing pulley E are arranged on a first truss A1 and a second truss A2 respectively, two sides of a walking frame body A are moved through four crawler belts, driving force is improved, meanwhile, the situation that the walking frame body A cannot walk due to damage of the crawler belts on one side is prevented, in the moving process, an elastic suspension D is arranged at the bottom ends of the first truss A1 and the second truss A2, a plurality of elastic rollers are arranged at the bottom end of the elastic suspension D, the bearing pulley E is rotatably arranged on the elastic suspension D, when the walking frame body A crosses an obstacle, the crawler belts F deform towards the inner side, the elastic rollers on the elastic suspension D overcome elasticity, even vibration caused by ground obstacle is transmitted to a fire fighting vehicle body in a small mode, the vehicle body is prevented from overturning, and the crawler belt pulley C can always keep the tight state, the crawler belt F is prevented from being separated from the driving belt wheel B, the tensioning belt wheel C and the bearing belt wheel E;
through first truss A1 and second truss A2, can make walking frame body A both sides have four independent pivoted tracks F to when improving the power, ensure through elastic suspension D that the vibration power that the fire control automobile body received because of ground obstacle is less, and then can prevent effectively that the automobile body from overturning.
Further:
in order to solve the technical problem that the damping degree of the elastic roller of the elastic suspension D is small, as shown in FIG. 3, the following technical scheme is provided:
still including electronic level bubble, electronic level bubble level sets up in walking support body A focus department, and electronic level bubble and controller electricity are connected, and elastic suspension D along the portable bottom that sets up at first truss A1 and second truss A2 of vertical direction.
Specifically, the electronic level bubble is a circular level bubble or a tubular level bubble which is matched with special electrodes, liquid, coils, photoelectric emission and receiving combination and other principles to complete conversion between a horizontal inclination angle and electric quantity, in the walking device, the inclination degree of a walking frame body A in the walking process can be detected through the electronic level bubble, and then a signal is sent to a controller, when one corner or a plurality of corners of the walking frame body A are inclined relative to other corners, the controller controls an elastic suspension D on one side of the walking frame body A to lift one corner of the walking frame body A relative to a first truss A1 or a second truss A2, so that the vehicle body is ensured to be horizontal, and further the horizontal state can be kept in the fire fighting process or the vehicle body is ensured to be horizontal in the walking process, so that the vehicle is prevented from being overturned due to ground obstacles;
through electronic level bubble and the elastic suspension D that can go up and down, can make the automobile body remain the horizontality throughout when traveling or parking, and then can prevent that the automobile body from overturning to improve the stability of fire control automobile body.
Further:
in order to solve the technical problem of how the vertical height of the elastic suspension D can be adjusted between the first truss a1 and the second truss a2, as shown in fig. 3, 5, 6 and 7, the following technical solutions are provided:
the hydraulic support device is characterized by further comprising a first electric hydraulic pushing cylinder 1, the output end of the first electric hydraulic pushing cylinder 1 is hinged to the top end of the elastic suspension D, and the end portion of a cylinder body of the first electric hydraulic pushing cylinder 1 is hinged to the bottom end of the first truss A1 or the bottom end of the second truss A2.
Specifically, when the walking device crosses an obstacle to cause the vehicle body to be unstable and a corner of the walking frame body A needs to be lifted in the vertical direction, the first electro-hydraulic push cylinder 1 is started, so that the output shaft of the first electro-hydraulic push cylinder can push the elastic suspension D, namely the elastic suspension D is relatively far away from the first truss A1 or the second truss A2, namely, one corner or multiple corners of the vehicle body can be lifted, and the vehicle body is ensured to be horizontal and prevented from falling towards one side.
Further:
in order to solve the technical problem of improving the stability of the chassis of the walking device by increasing the stressed area of the chassis, as shown in fig. 1, the following technical solutions are provided:
the first girder a1 can move in the horizontal direction on both sides of the traveling frame body a.
Specifically, the first truss a1 can move in the horizontal direction on both sides of the traveling frame body a, that is, the distance between the first truss a1 and the second truss a2 can be controlled, that is, when the distance between the first truss a1 and the second truss a2 is increased, so that the stressed area of the vehicle body is increased, the fire fighting vehicle can stably travel in the forest land, and when the distance between the first truss a1 and the second truss a2 is reduced, the fire fighting vehicle can travel on the normal road surface;
by being able to move the first truss a1 in the horizontal direction with respect to the second truss a2, the force-receiving area of the fire engine can be increased, so that the vehicle body is stabilized while driving.
Further:
in the first embodiment, in order to solve the technical problem of how the first truss a1 moves horizontally on both sides of the traveling frame a, as shown in fig. 4, the following technical solutions are provided:
still including guide rail 2 and the electronic hydraulic pressure of second push cylinder 3, first truss A1 sets up in walking support body A both sides through 2 along the horizontal direction slides of guide rail, the electronic hydraulic pressure of second push cylinder 3 sets up in walking support body A both sides along the horizontal direction is fixed, and the inboard fixed connection of output and the first truss A1 of the electronic hydraulic pressure of second push cylinder 3.
Specifically, the guide rail 2 is used for constraining the first truss A1 to enable the first truss A1 to freely slide along the horizontal direction at two sides of the walking frame body A, and the second electric hydraulic pushing cylinder 3 is started, so that the output shaft of the second electric hydraulic pushing cylinder 3 can push the first truss A1 to move along the horizontal direction at two sides of the walking frame body A, the stressed area of the walking device is further increased, the fire fighting truck can be driven more stably in the forest land, and the fire fighting truck is prevented from tipping towards one side.
Further:
in order to solve the technical problem of improving the stability of the chassis of the walking device by increasing the stressed area of the chassis, as shown in fig. 9, the following technical solutions are provided:
the second girder a2 can move in the horizontal direction on both sides of the traveling frame body a.
Specifically, the second truss a2 can move in the horizontal direction on both sides of the traveling frame body a, that is, the distance between the first truss a1 and the second truss a2 can be controlled, that is, when the distance between the first truss a1 and the second truss a2 is increased, so that the stressed area of the vehicle body is increased, the fire fighting vehicle can stably travel in the forest land, and when the distance between the first truss a1 and the second truss a2 is reduced, the fire fighting vehicle can travel on the normal road surface;
by being able to move the second truss a2 in the horizontal direction with respect to the first truss a1, the force-receiving area of the fire engine can be increased, so that the vehicle body is stabilized while driving.
Further:
in the second embodiment, in order to solve the technical problem of how the second truss a2 moves horizontally on both sides of the traveling frame a, as shown in fig. 4, the following technical solutions are provided:
still including guide rail 2 and the electronic hydraulic pressure of second push cylinder 3, second truss A2 sets up in walking support body A both sides through 2 along the horizontal direction slides of guide rail, the electronic hydraulic pressure of second push cylinder 3 sets up in walking support body A both sides along the horizontal direction is fixed, and the inboard fixed connection of output and the second truss A2 of the electronic hydraulic pressure of second push cylinder 3.
Specifically, the guide rail 2 is used for restraining the second truss A2 to enable the second truss A2 to freely slide along the horizontal direction at two sides of the walking frame body A, and the second electric hydraulic pushing cylinder 3 is started, so that the output shaft of the second electric hydraulic pushing cylinder 3 can push the second truss A2 to move along the horizontal direction at two sides of the walking frame body A, the stressed area of the walking device is further increased, the fire fighting truck can be driven more stably in the forest land, and the fire fighting truck is prevented from tipping towards one side.
Further:
in order to solve the technical problem of how the driving pulley B is driven by the driving assembly G when the first truss a1 or the second truss a2 can move in the horizontal direction on both sides of the undercarriage a, as shown in fig. 2 and 9, the following technical solutions are provided:
still including flexible drive assembly 4, driving pulley B is connected with drive assembly G's output synchronous drive through flexible drive assembly 4, and when driving pulley B moved along the horizontal direction relative walking support body A, drive assembly G's output was connected with driving pulley B synchronous drive through flexible drive assembly 4 all the time.
Specifically, when the first truss A1 or the second truss A2 moves in the horizontal direction at two sides of the walking frame A, the flexible transmission assembly 4 can ensure that the output end of the driving assembly G is always in synchronous transmission connection with the flexible transmission assembly 4 in the running process, so that the stress area of the walking device is increased conveniently, the power of the walking device can be improved, and the normal and stable running of the walking device can be ensured;
the driving assembly G and the driving pulley B on the first truss A1 or the second truss A2 which slides along the horizontal direction can be stably connected in a transmission way through the flexible transmission assembly 4, so that the walking device can be ensured to stably run.
Further:
in order to solve the technical problem of how to flexibly drive and connect the driving pulley B and the driving assembly G by the flexible transmission assembly 4, as shown in fig. 8, the following technical solutions are provided:
Specifically, the driving assembly G is started, so that the output shaft of the driving assembly G is transmitted to the synchronous chain 4c, and the synchronous chain 4c is annularly sleeved on the output end of the driving assembly G, the driving roller 4a and the tension sprocket 4B, so that the driving roller 4a is coaxially transmitted to the driving pulley B, so that the driving pulley B can normally and stably transmit the track F, and when the first truss a1 or the second truss a2 relatively moves along the horizontal direction, the tension sprocket 4B can always elastically abut against the inner side of the synchronous chain 4c, that is, the synchronous chain 4c can be ensured to be always in a tightened state, so that stable transmission to the driving pulley B is facilitated;
through the tension chain wheel 4B and the synchronous chain 4c, the output end of the driving assembly G can be stably connected with the driving belt wheel B in a transmission mode, and therefore when the first truss A1 or the second truss A2 moves relatively in the horizontal direction, the output end of the driving assembly G cannot be transmitted to the driving belt wheel B.
Further:
in order to solve the technical problem of how the synchronous chain 4c elastically abuts against the inner side of the synchronous chain 4c under the external force, as shown in fig. 8, the following technical solutions are provided:
the flexible transmission assembly 4 further comprises an oil-gas spring 4d, the oil-gas spring 4d is radially and fixedly arranged on the inner side of the walking frame body A along the tensioning chain wheel 4b, and the tensioning chain wheel 4b and the driving roller 4a rotate coaxially and are arranged at the working end of the oil-gas spring 4 d.
Specifically, can make tensioning sprocket 4b elasticity butt inboard at synchronous chain 4c all the time through oil gas spring 4d to when drive roll 4a slides along the horizontal direction, tensioning sprocket 4b tightens synchronous chain 4c all the time because of oil gas spring 4d elastic action, thereby prevents that synchronous chain 4c from breaking away from drive assembly G's output, drive roll 4a and tensioning sprocket 4b, thereby can improve running gear's transmission stability.
The working principle of the invention is as follows:
the device realizes the functions of the invention through the following steps, thereby solving the technical problems provided by the invention:
step one, starting a driving assembly G to enable an output end of the driving assembly G to drive a single driving belt wheel B to rotate through a flexible transmission assembly;
step two, the second electric hydraulic pushing cylinder 3 is started, so that the output shaft of the second electric hydraulic pushing cylinder 3 can push the second truss A2 to move on the two sides of the walking frame body A along the horizontal direction, the stress area of the walking device is increased, and the fire fighting truck can run more stably in the forest land;
moving two sides of the walking frame body A through four crawler belts, so that the driving force is improved, and meanwhile, the situation that the walking frame body A cannot walk due to damage of the crawler belts on one side is prevented;
step four, the bearing belt wheel E is rotatably arranged on the elastic suspension frame D, so that when the walking frame body A crosses an obstacle, the crawler belt F deforms inwards, the elastic roller on the elastic suspension frame D overcomes elasticity, and vibration caused by ground obstacle is transmitted to a fire fighting vehicle body in a small amount;
and step five, the inclination degree of the walking frame body A in the walking process can be detected through the electronic level bubble, a signal is sent to the controller, when one corner or a plurality of corners of the walking frame body A are inclined relative to other corners, the controller controls the elastic suspension D on one side of the walking frame body A to lift one corner of the walking frame body A relative to the first truss A1 or the second truss A2, and therefore the vehicle body is ensured to be horizontal, and the horizontal state can be kept in the fire fighting process or the vehicle body can be ensured to be horizontal in the driving process.
The foregoing shows and describes the general principles, essential features, and advantages of the invention. It will be understood by those skilled in the art that the present invention is not limited to the embodiments described above, which are merely illustrative of the principles of the invention, but that various changes and modifications may be made without departing from the spirit and scope of the invention, which fall within the scope of the invention as claimed. The scope of the invention is defined by the appended claims and equivalents thereof.
Claims (10)
1. An anti-tipping walking device for a forest fire fighting truck comprises a walking frame body (A), a driving belt wheel (B), a tensioning belt wheel (C), an elastic suspension (D), a bearing belt wheel (E), a crawler belt (F) and a driving assembly (G);
the walking frame is characterized in that a first truss (A1) and a second truss (A2) are arranged on the opposite sides of the walking frame body (A);
the driving pulley (B) is rotationally arranged on the first truss (A1) and the second truss (A2);
the tensioning pulley (C) is rotationally arranged on the first truss (A1) and the second truss (A2);
the elastic suspension (D) is arranged at the bottom ends of the first truss (A1) and the second truss (A2), the bottom end of the driving pulley (B) comprises a plurality of elastic rollers which are arranged along the horizontal direction and are coaxial with the driving pulley (B), and the bearing pulley (E) is rotatably arranged on the elastic rollers of the elastic suspension (D);
the crawler belt (F) is annularly sleeved on the driving belt wheel (B), the tensioning belt wheel (C) and the bearing belt wheel (E), and the bearing belt wheel (E) is elastically abutted against the inner side of the crawler belt (F);
the driving assembly (G) is arranged on the walking frame body (A) and the output end of the driving assembly (G) is in transmission connection with the single driving belt wheel (B).
2. The anti-rollover walking device for the forest fire fighting vehicle as claimed in claim 1, further comprising an electronic level bubble horizontally arranged at the center of gravity of the walking frame body (a), wherein the electronic level bubble is electrically connected with the controller, and the elastic suspension (D) is movably arranged at the bottom ends of the first truss (a1) and the second truss (a2) along the vertical direction.
3. The anti-rollover walking device for the forest fire fighting truck as claimed in claim 2, further comprising a first electro-hydraulic push cylinder (1), wherein the output end of the first electro-hydraulic push cylinder (1) is hinged with the top end of the elastic suspension (D), and the cylinder body end of the first electro-hydraulic push cylinder (1) is hinged with the bottom end of the first truss (A1) or the second truss (A2).
4. The anti-rollover walking device for the forest fire fighting vehicle according to claim 1, wherein the first truss (a1) is movable in a horizontal direction on both sides of the walking frame body (a).
5. The anti-tipping walking device for the forest fire fighting truck as claimed in claim 4, further comprising a guide rail (2) and a second electro-hydraulic pushing cylinder (3), wherein the first truss (A1) is arranged on two sides of the walking frame body (A) in a sliding manner along the horizontal direction through the guide rail (2), the second electro-hydraulic pushing cylinder (3) is fixedly arranged on two sides of the walking frame body (A) along the horizontal direction, and the output end of the second electro-hydraulic pushing cylinder (3) is fixedly connected with the inner side of the first truss (A1).
6. The anti-rollover walking device for the forest fire fighting vehicle according to claim 1, wherein the second girders (a2) are movable in a horizontal direction on both sides of the walking frame body (a).
7. The anti-tipping walking device for the forest fire fighting truck as claimed in claim 6, further comprising a guide rail (2) and a second electro-hydraulic pushing cylinder (3), wherein the second truss (A2) is arranged on two sides of the walking frame body (A) in a sliding manner along the horizontal direction through the guide rail (2), the second electro-hydraulic pushing cylinder (3) is fixedly arranged on two sides of the walking frame body (A) along the horizontal direction, and the output end of the second electro-hydraulic pushing cylinder (3) is fixedly connected with the inner side of the second truss (A2).
8. The anti-tipping walking device for the forest fire fighting truck as defined in any one of claims 4 to 7, further comprising a flexible transmission assembly (4), wherein the driving pulley (B) is in synchronous transmission connection with the output end of the driving assembly (G) through the flexible transmission assembly (4), and when the driving pulley (B) moves in the horizontal direction relative to the walking frame body (A), the output end of the driving assembly (G) is in synchronous transmission connection with the driving pulley (B) through the flexible transmission assembly (4) all the time.
9. The anti-tipping walking device for the forest fire fighting truck as claimed in claim 8, wherein the flexible transmission assembly (4) comprises a driving roller (4a), a tension sprocket (4B) and a synchronous chain (4c), the driving pulley (B) is coaxially and rotatably arranged outside the first truss (A1) or the second truss (A2) through the driving roller (4a), the driving pulley (B) penetrates through two sides of the walking frame body (A) and can slide along the horizontal direction with the walking frame body, the tension chain wheel (4b) and the driving roller (4a) are coaxially and rotatably arranged on the inner side of the walking frame body (A), the synchronous chain (4c) is annularly sleeved on the output end of the driving assembly (G), the driving roller (4a) and the tension chain wheel (4b), and the synchronous chain (4c) is elastically abutted against the inner side of the synchronous chain (4c) under the external force when the driving belt wheel (B) slides along the horizontal direction.
10. The anti-tipping walking device for the forest fire fighting truck as claimed in claim 9, wherein the flexible transmission assembly (4) further comprises an oil-gas spring (4d), the oil-gas spring (4d) is radially and fixedly arranged on the inner side of the walking frame body (A) along the tension sprocket (4b), and the tension sprocket (4b) and the driving roller (4a) are coaxially and rotatably arranged at the working end of the oil-gas spring (4 d).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110402778.5A CN113086035B (en) | 2021-04-14 | 2021-04-14 | Anti-tipping walking device for forest fire engine |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110402778.5A CN113086035B (en) | 2021-04-14 | 2021-04-14 | Anti-tipping walking device for forest fire engine |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN113086035A true CN113086035A (en) | 2021-07-09 |
| CN113086035B CN113086035B (en) | 2021-11-16 |
Family
ID=76677760
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202110402778.5A Active CN113086035B (en) | 2021-04-14 | 2021-04-14 | Anti-tipping walking device for forest fire engine |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN113086035B (en) |
Citations (11)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106458276A (en) * | 2014-04-28 | 2017-02-22 | 洋马株式会社 | Travelling vehicle |
| JP2017178139A (en) * | 2016-03-31 | 2017-10-05 | コベルコ建機株式会社 | Translifter and use method of translifter |
| CN107554631A (en) * | 2017-10-13 | 2018-01-09 | 吉林大学 | A kind of leg for engineering machinery is carried out formula liftable and taken a step chassis and its control method |
| CN207737378U (en) * | 2018-01-22 | 2018-08-17 | 雷沃重工股份有限公司 | Endless-track vehicle chassis regulation and control system |
| CN108454718A (en) * | 2018-05-24 | 2018-08-28 | 河北工业大学 | A kind of passive adaptive robot of crawler type |
| CN109292015A (en) * | 2018-09-04 | 2019-02-01 | 东莞理工学院 | A kind of full landform multifunctional barrier-crossing rescue robot |
| CN208682963U (en) * | 2018-07-13 | 2019-04-02 | 苏州东珠龙旺消防器材有限公司 | A kind of Athey wheel vehicle |
| CN210258604U (en) * | 2019-08-06 | 2020-04-07 | 山东国兴智能科技股份有限公司 | All-terrain self-adaptive intelligent mobile platform |
| CN111114722A (en) * | 2020-01-19 | 2020-05-08 | 长沙矿山研究院有限责任公司 | Deep sea four-crawler hydraulic direct-drive self-adaptive all-terrain chassis |
| CN111993905A (en) * | 2020-09-14 | 2020-11-27 | 洛阳优特威车业有限公司 | Electric tractor with multiple power generation inputs |
| CN112810708A (en) * | 2021-01-05 | 2021-05-18 | 成都农业科技职业学院 | Electronic dolly of full topography of multi-functional agricultural |
-
2021
- 2021-04-14 CN CN202110402778.5A patent/CN113086035B/en active Active
Patent Citations (11)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106458276A (en) * | 2014-04-28 | 2017-02-22 | 洋马株式会社 | Travelling vehicle |
| JP2017178139A (en) * | 2016-03-31 | 2017-10-05 | コベルコ建機株式会社 | Translifter and use method of translifter |
| CN107554631A (en) * | 2017-10-13 | 2018-01-09 | 吉林大学 | A kind of leg for engineering machinery is carried out formula liftable and taken a step chassis and its control method |
| CN207737378U (en) * | 2018-01-22 | 2018-08-17 | 雷沃重工股份有限公司 | Endless-track vehicle chassis regulation and control system |
| CN108454718A (en) * | 2018-05-24 | 2018-08-28 | 河北工业大学 | A kind of passive adaptive robot of crawler type |
| CN208682963U (en) * | 2018-07-13 | 2019-04-02 | 苏州东珠龙旺消防器材有限公司 | A kind of Athey wheel vehicle |
| CN109292015A (en) * | 2018-09-04 | 2019-02-01 | 东莞理工学院 | A kind of full landform multifunctional barrier-crossing rescue robot |
| CN210258604U (en) * | 2019-08-06 | 2020-04-07 | 山东国兴智能科技股份有限公司 | All-terrain self-adaptive intelligent mobile platform |
| CN111114722A (en) * | 2020-01-19 | 2020-05-08 | 长沙矿山研究院有限责任公司 | Deep sea four-crawler hydraulic direct-drive self-adaptive all-terrain chassis |
| CN111993905A (en) * | 2020-09-14 | 2020-11-27 | 洛阳优特威车业有限公司 | Electric tractor with multiple power generation inputs |
| CN112810708A (en) * | 2021-01-05 | 2021-05-18 | 成都农业科技职业学院 | Electronic dolly of full topography of multi-functional agricultural |
Also Published As
| Publication number | Publication date |
|---|---|
| CN113086035B (en) | 2021-11-16 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN108454718B (en) | Crawler-type passive self-adaptive robot | |
| RU2302969C2 (en) | Crawler vehicle suspension system | |
| CN107521573A (en) | A kind of damping crawler-type unmanned mobile platform | |
| CN106494521A (en) | A kind of crawler belt Deformable walking mechanism | |
| CN113276976B (en) | Planet wheel type obstacle crossing robot | |
| CN214875226U (en) | Moving device of robot and robot | |
| CN211076111U (en) | Crawler belt walking device | |
| CN100418832C (en) | Mechanical booster walking system | |
| CN113173216A (en) | Moving device of robot and robot | |
| CN112298395A (en) | Six-wheel bionic chassis | |
| CN113086035B (en) | Anti-tipping walking device for forest fire engine | |
| CN107628136A (en) | A kind of crawler tractor side leveling device based on parallel four-bar suspension fork mechanism | |
| CN107380281A (en) | A kind of self-adapting type endless track installation and self-adapting type caterpillar robot | |
| US3107924A (en) | Load-bearing and transporting means constituting wheel and endless track substitute | |
| CN204150107U (en) | A kind of improved type individual soldier tank | |
| CN111572656B (en) | Suspension system with damping and buffering characteristics and crawler-type mobile platform | |
| CN213620020U (en) | Multi-wheel bionic chassis | |
| CN113247123A (en) | All-terrain combined type tire and crawler switchable dual-purpose wheel-track | |
| CN110435780B (en) | Wheel-track composite type stair-climbing cargo transporter | |
| CN112758210A (en) | Multifunctional quadruped robot | |
| CN106926910B (en) | A kind of triangle crawler belt assist device | |
| CN215245183U (en) | Caterpillar chassis posture adjusting device | |
| CN207106673U (en) | A kind of self-adapting type endless track installation and self-adapting type caterpillar robot | |
| CN212738326U (en) | Crawler-type outdoor chariot stair climbing device | |
| CN104309687A (en) | Improved individual tank |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |