CN206088461U - Non - road surface of on -vehicle remote control walking arrangement step on axle device - Google Patents

Abstract

The utility model discloses a non - road surface of on -vehicle remote control walking arrangement step on axle device, including mounting plate, bridge plate, the flexible pneumatic cylinder of bridge plate, bridge plate amplitude variation hydraulic cylinder, hydraulic power source and control part, the bridge plate includes basic bridge plate and at least a lesson retractile bridge board, still is equipped with that bilateral symmetry sets up, fore -and -aft direction on basic bridge plate and the retractile bridge board and stretches out the bridge plate side shield that is the riser structure to basic bridge plate and retractile bridge board upper surface outside, and shelves carpenters square between the bridge plate side shield cun cooperates the bridge plate side shield of basic bridge plate and the bridge plate side shield of retractile bridge board dislocation set on left right direction with wheel back gauge size on the fire -fighting robot left side right direction. This non - road surface of on -vehicle remote control walking arrangement step on axle device can realize that the non - road surface walking arrangement anytime and anywhere of remote control steadily gets into the interior fast, and then realizes quick response's purpose, and the specially adapted is like the car of stepping on of high -power fire -fighting robot, the non - road surface of the remote control walking arrangements such as machine people, detection robot of discharging fume.

Description

Vehicle-mounted remote-control non-road surface walking arrangement steps on vehicle bridge device

Technical field

The utility model is related to one kind and steps on vehicle bridge device, and specifically one kind is got on or off the bus suitable for the non-road surface walking arrangement of remote control Vehicle-mounted remote-control non-road surface walking arrangement step on vehicle bridge device, belong to special equipment handling transport field.

Background technology

For the transport that such as excavator etc. has tracked non-road surface walking arrangement is generally transported using haulage truck, But due to truck chassis apart from ground it is higher cause walking arrangement handling it is more difficult, existing handling mode generally adopt following three Kind：1st, fixed or movable loading platform, haulage truck is adopted to fall back to fixed loading platform position in handling place Movable loading platform is moved to the docking of haulage truck position by row docking, and non-road surface is walked by loading platform transition Equipment is loaded and unloaded, and the method is limited, can not loaded and unloaded whenever and wherever possible by handling place, and is operated more troublesome, time-consuming Arduously；2nd, loaded and unloaded using vehicle-mounted Hydraulic Pressure Trail Plank, Hydraulic Pressure Trail Plank is the equipment for needing entrucking by the way of vertically lifting Lift to concordant with plane on haulage truck chassis so that the personnel of loading and unloading are easy to handling, the method to be mainly used in the handling of goods, And for walking arrangement, because it is limited by bearing capacity and tailgate platform size, only can be suitably used for weight and size is less The handling of walking arrangement；3rd, loaded and unloaded using vehicle-mounted vehicle bridge of stepping on, be oblique using being formed between truck chassis and ground The mode in face, vehicle-mounted vehicle bridge of stepping on is easy to use, the most frequently used on non-road surface walking arrangement is transported at present.

Existing vehicle-mounted vehicle bridge of stepping on can be realized quickly stepping on for the non-road surface walking arrangement of the such as excavator of pilot steering Car and get off, but for the non-road surface walking main equipment of the remote controls such as such as fire-fighting robot, smoke robot, sniffing robot, by It is not usually to be controlled on equipment in robot operator, therefore controls its direction of travel often through range estimation or monitor Screen is carried out, and is in turn resulted in the non-road surface walking arrangement of such remote control and is controlled accurate direct of travel when vehicle bridge steps on car and be relatively stranded using stepping on Hold inaccurate or manipulate that gait of march control is bad sideslip is easily occurred and cause damage of dropping, therefore existing remote control in difficulty, direction Walking main equipment in non-road surface is generally adopted by the way of lifting not using stepping on by the way of vehicle bridge, but the mode for lifting is lifted The restriction in space, and hoisting process take it is larger, be not suitable for such as fire-fighting robot and need the non-road of the remote control of quick response Face walking main equipment；In addition, the non-road surface walking arrangement of the remote control such as powerful fire-fighting robot, smoke robot receives profile chi Very little and its function restriction causes it from great (about 2t), climbing capacity low (about 20 °), has both made using stepping on by the way of vehicle bridge, The angle of inclination for stepping on vehicle bridge is necessarily less than the ramp angle of equipment, so results in and steps on long vehicle bridge length, vehicle-mounted difficulty, handling The time of consuming is longer；And, if the non-road surface walking arrangement of high-power remote control breaks down during car is stepped on and cannot walk, Cannot complete to step on car.

The content of the invention

For the problems referred to above, what the utility model provided a kind of non-road surface walking arrangement of vehicle-mounted remote-control steps on vehicle bridge device, energy Enough realize that the non-road surface walking arrangement of remote control is steady whenever and wherever possible and be quickly advanced into interior certainly, and then realize the mesh of quick response , it is particularly well-suited to such as high-power fire-fighting robot, smoke robot, the non-road surface walking arrangement of sniffing robot remote control and steps on Car.

For achieving the above object, the non-road surface walking arrangement of this vehicle-mounted remote-control step on vehicle bridge device including chassis of vehicle body, compartment, Step on vehicle bridge device and fire-fighting robot locating device assembly；

Described compartment is the enclosed construction for including platform floor, and compartment front portion is provided with fire-fighting robot command post, disappears Anti- robot commander interior is provided with the fire-fighting robot monitoring system including monitor screen, report control platform and controller, compartment rear portion Fire-fighting robot positioning storehouse is provided with, fire-fighting robot positioning storehouse rear end is provided with the rear door for fire-fighting robot turnover；Described Step on vehicle bridge device and fire-fighting robot locating device assembly be arranged on the platform floor inside fire-fighting robot positioning storehouse and Vehicle bridge device is stepped on positioned at the rear of fire-fighting robot locating device assembly；

Described steps on vehicle bridge device including mounting base, bridge plate, bridge plate telescopic hydraulic cylinder, bridge plate luffing hydraulic cylinder, hydraulic pressure Power source and operating element；Mounting base is arranged on platform floor, and mounting base is provided with bridge plate hinged seat and luffing hydraulic pressure Cylinder hinged seat, and bridge plate hinged seat is located at the rear of luffing hydraulic cylinder hinged seat；Bridge plate includes that basic bridge plate and at least one section are stretched Contracting bridge plate, the front end of basic bridge plate is hinged installation by being hinged otic placode and bridge plate hinged seat, and the rear end of basic bridge plate is opening knot Structure simultaneously coordinates the outside for being socketed in extension plank by being oriented to slipping mechanism, positioned at the outermost minor details retractile bridge of telescopic direction The end of plate is provided with the guide support block with wedge shape transition structure, and symmetrical setting is additionally provided with basic bridge plate and extension plank Put, fore-and-aft direction extend out to the bridge plate side shield of basic bridge plate and extension plank upper surface outside in riser structure, bridge plate side The wheel back gauge dimensional fits in span size and fire-fighting robot left and right directions between baffle plate, the bridge plate side shield of basic bridge plate Shift to install in the lateral direction with the bridge plate side shield of extension plank；Bridge plate telescopic hydraulic cylinder is arranged at the side position of bridge plate Put, the cylinder bottom end of bridge plate telescopic hydraulic cylinder is arranged on basic bridge plate, telescopic end is mounted on the outermost end of telescopic direction On section extension plank；The cylinder bottom end of bridge plate luffing hydraulic cylinder is hinged installation, bridge plate luffing hydraulic cylinder with luffing hydraulic cylinder hinged seat Telescopic end and basic bridge plate be hinged at installing and bridge plate luffing hydraulic cylinder is located at basic bridge with the pin joint of basic bridge plate The rear of the pin joint of plate and bridge plate hinged seat；Hydraulic power supply by the control valve group of operating element and fluid pressure line respectively with Bridge plate telescopic hydraulic cylinder and bridge plate luffing hydraulic cylinder connect；

Described fire-fighting robot locating device assembly includes prelocalization baffle plate, side positioning baffle and rear positioning baffle；Before Positioning baffle is fixedly mounted on platform floor and prelocalization baffle plate has the positioning ramp structure that fore-and-aft direction is obliquely installed； Side positioning baffle be symmetrical set, fore-and-aft direction extend out to riser structure outside platform floor upper surface, side positioning gear Wheel back gauge dimensional fits and side positioning baffle on span size between plate and fire-fighting robot left and right directions extend back and take It is connected on mounting base；Afterwards positioning baffle is the plate profile structure that front end is hingedly mounted on platform floor, the bottom of rear positioning baffle Plane overturns hydraulic cylinder and is articulated and connected with the rear positioning baffle that be arranged on below platform floor and chassis of vehicle body is articulated and connected, Afterwards positioning baffle upset hydraulic cylinder is connected by fluid pressure line with the control valve group of operating element.

Used as preferred version of the present utility model, the guiding slipping mechanism between described basic bridge plate and extension plank is It is arranged on basic bridge plate side, the Long Circle pilot hole along basic bridge plate length direction setting and is correspondingly arranged at extension plank side Face, arrange in left-right direction and Long Circle pilot hole dimensional fits lead column or guide roller.

Used as further improvement of the utility model scheme, the lead column or guide roller of described extension plank is along retractile bridge Two pieces is set at least on the length direction of plate.

Used as further improvement of the utility model scheme, described bridge plate hinged seat is arranged on behind mounting base baseplane The lower section at end.

Used as further improvement of the utility model scheme, described bridge plate hinged seat has the inclined-plane of inclined downward backward Structure, the hinge hole of bridge plate hinged seat is located at ramp structure rearward end.

As further improvement of the utility model scheme, it is equipped with auxiliary on described basic bridge plate and extension plank and steps on Mechanism of car, each auxiliary steps on mechanism of car, and in the longitudinal direction staggered floor is arranged, and auxiliary steps on mechanism of car including belt-driven drive roll, auxiliary Help and step on car and drive hydraulic motor, belt-driven driven voller and auxiliary to step on car conveyer belt, belt-driven drive roll and conveyer belt Driven voller is driven to be arranged in parallel in left-right direction, belt-driven drive roll is erected at basic bridge plate and stretches by bearing block respectively The rear portion of contracting bridge plate, belt-driven driven voller is erected at respectively the front portion of basic bridge plate and extension plank by bearing block, auxiliary Help and step on car conveyer belt and be wrapped in a ring on belt-driven drive roll and belt-driven driven voller and aid in stepping on car conveyer belt Upper surface be respectively higher than the upper surface of basic bridge plate and extension plank, auxiliary is stepped on car and drives hydraulic motor to be coaxially mounted to transmission Shaft end with drive roll is driven, auxiliary is stepped on car and drives hydraulic motor to be connected with the control valve group of operating element by fluid pressure line respectively Connect.

As further improvement of the utility model scheme, described basic bridge plate and/or positioned at minor details extension plank with The rear end lateral location or baseplane back-end location of the extension plank between basic bridge plate is provided with cylinder bottom and is hinged peace with basic bridge plate The Auxiliary support hydraulic leg of dress, the telescopic end of Auxiliary support hydraulic leg is provided with support base, Auxiliary support hydraulic leg It is connected with the control valve group of operating element by fluid pressure line.

Used as further improvement of the utility model scheme, described vehicle bridge device of stepping on is symmetrical two parts, often A part includes mounting base, bridge plate, bridge plate telescopic hydraulic cylinder and bridge plate luffing hydraulic cylinder, the width dimensions of bridge plate and fire-fighting The width dimensions of robot ambulation wheel or crawler belt coordinate.

Used as further improvement of the utility model scheme, the described symmetrically arranged mounting base of vehicle bridge device of stepping on leads to The mounting base guiding mechanism for crossing left and right directions setting is connected with platform floor installation, and stepping on vehicle bridge device is also included between mounting base Distance regulating mechanism.

Compared with prior art, the non-road surface walking arrangement of this vehicle-mounted remote-control steps on vehicle bridge device due to including bridge plate, bridge plate Telescopic hydraulic cylinder and bridge plate luffing hydraulic cylinder, and bridge plate includes basic bridge plate and at least one section extension plank, therefore by control The flexible fore-and-aft direction upset luffing storage that can realize bridge plate of bridge plate luffing hydraulic cylinder is stretched with expansion, by controlling bridge plate The flexible collapsing length change that can realize bridge plate of hydraulic cylinder, so realize it is identical step on height in the case of bridge plate stretch out simultaneously The angle of inclination that is supported in ground is less, suitable for the less powerful fire-fighting robot of ramp angle, smoke robot etc. The non-road surface walking arrangement of remote control carries out stepping on car；It is being symmetrical set, in front and back due to being additionally provided with basic bridge plate and extension plank Direction extend out to the bridge plate side shield of basic bridge plate and extension plank upper surface outside in riser structure, therefore the non-road surface row of remote control Walk equipment step on during car bridge plate side shield can the non-road surface walking arrangement of remote control be carried out stepping on car be oriented to and it is spacing, can prevent because The damage situation that drops that the non-road surface walking arrangement direction skew of remote control is caused；Put down because bridge plate hinged seat is arranged on mounting base bottom The lower section of surface rear end, therefore the length of basic bridge plate and extension plank is extended in the case of identical height of wagon, so as to can To realize reducing the number of extension plank, ensure the overall preferably support strength of bridge plate；Under having backward due to bridge plate hinged seat The hinge hole of the inclined ramp structure in side and bridge plate hinged seat is located at ramp structure rearward end, therefore bridge plate stretches out and is supported in Its upper surface is butted into the ramp structure of bridge plate hinged seat and entirely creep inclined-plane behind ground, so as to realize mutually level situation Lower bridge plate stretch out and be supported in ground angle of inclination it is less；Car machine is stepped on due to being equipped with auxiliary on basic bridge plate and extension plank Structure, and auxiliary step on mechanism of car including belt-driven drive roll, auxiliary step on car drive hydraulic motor, belt-driven driven voller and Auxiliary steps on car conveyer belt, thus the non-road surface walking arrangement of remote control while independently step on car auxiliary step on car conveyer belt remote control can be driven non- Road surface walking arrangement is ramped up movement, so as to realize accelerating stepping on vehicle speed, improving quick for the non-road surface walking arrangement of remote control Responding ability, at the same can realize when during the non-road surface walking arrangement of remote control steps on car failure cannot step on car in the case of complete to step on Car；The rear end lateral location of the extension plank due to basic bridge plate and/or between minor details extension plank and basic bridge plate or Baseplane back-end location is provided with cylinder bottom and is hinged the Auxiliary support hydraulic leg of installation with basic bridge plate, therefore in the non-road surface row of remote control Walk equipment step on Auxiliary support hydraulic leg during car bridge plate can be carried out Auxiliary support, increase bridge plate support strength, prevent Bridge plate it is pressurized it is excessive cause deformation；The non-road surface walking arrangement of this vehicle-mounted remote-control steps on vehicle bridge device and can realize the non-road surface row of remote control Walk equipment steady quick whenever and wherever possible from being advanced into interior, and then realize the purpose of quick response, be particularly well-suited to as big The remote controls such as power fire-fighting robot, smoke robot, sniffing robot non-road surface walking arrangements steps on car.

Description of the drawings

Fig. 1 is three dimensional structure diagram when the utility model is arranged on fire-fighting command comprehensive operation vehicle；

Fig. 2 is structural representation when the utility model is arranged on fire-fighting command comprehensive operation vehicle；

Fig. 3 is the structural representation of the utility model deployed condition；

Fig. 4 is the structural representation of the utility model receiving state；

Fig. 5 is the top view of Fig. 3.

In figure：1st, chassis of vehicle body, 2, compartment, 21, fire-fighting robot command post, 22, fire-fighting robot positioning storehouse, 3, step on car Biodge device, 31, mounting base, 311, bridge plate hinged seat, 312, luffing hydraulic cylinder hinged seat, 32, bridge plate, 321, basic bridge plate, 322nd, extension plank, 33, bridge plate telescopic hydraulic cylinder, 34, bridge plate luffing hydraulic cylinder, 35, hydraulic power supply, 36, operating element, 37th, auxiliary steps on mechanism of car, 371, belt-driven drive roll, 372, auxiliary step on car and drive hydraulic motor, 373, belt-driven Driven voller, 374, auxiliary step on car conveyer belt, 38, Auxiliary support hydraulic leg, 4, fire-fighting robot locating device assembly, 41, front Positioning baffle, 42, side positioning baffle, 43, rear positioning baffle.

Specific embodiment

Below by taking fire-fighting robot and fire-fighting command comprehensive operation vehicle as an example and with the non-road surface walking arrangement of this vehicle-mounted remote-control The combinations of states accompanying drawing that vehicle bridge device is fully deployed of stepping on the utility model is described further (below with fire-fighting command synthesis The normally travel direction of Operation Van is front description).

As shown in Figure 1 and Figure 2, fire-fighting command comprehensive operation vehicle includes chassis of vehicle body 1, compartment 2, steps on vehicle bridge device 3 and fire-fighting Robotic positioning device's assembly 4.

Described compartment 2 is the enclosed construction for including platform floor, and the front portion of compartment 2 is provided with fire-fighting robot command post 21, the fire-fighting robot monitoring system including monitor screen, report control platform and controller, car are provided with fire-fighting robot command post 21 The rear portion of railway carriage or compartment 2 is provided with fire-fighting robot positioning storehouse 22, and the fire-fighting robot positioning rear end of storehouse 22 is provided with for after fire-fighting robot turnover Door；It is described to step on vehicle bridge device 3 and fire-fighting robot locating device assembly 4 is arranged inside fire-fighting robot positioning storehouse 22 Platform floor on and step on vehicle bridge device 3 positioned at fire-fighting robot locating device assembly 4 rear.

As shown in Figure 3, Figure 4, vehicle bridge device 3 is originally stepped on including mounting base 31, bridge plate 32, bridge plate telescopic hydraulic cylinder 33, bridge Plate luffing hydraulic cylinder 34, hydraulic power supply 35 and operating element 36；Mounting base 31 is arranged on platform floor, mounting base 31 Bridge plate hinged seat 311 and luffing hydraulic cylinder hinged seat 312 are provided with, and bridge plate hinged seat 311 is located at luffing hydraulic cylinder hinged seat 312 rear；Bridge plate 32 includes basic bridge plate 321 and at least one section extension plank 322, and the front end of basic bridge plate 321 is by hinge Ear connecting plate and bridge plate hinged seat 311 are hinged installations, and the rear end of basic bridge plate 321 is hatch frame and by guiding slipping mechanism Cooperation is socketed in the outside of extension plank 322, is provided with positioned at the end of the outermost minor details extension plank 322 of telescopic direction and has The guide support block of wedge shape transition structure, guide support block can stretch out in bridge plate 32 and overturn rear support on the ground, while Be easy to fire-fighting robot smoothly to climb up bridge plate 32, be additionally provided with basic bridge plate 321 and extension plank 322 it is being symmetrical set, Fore-and-aft direction extend out to the bridge plate side shield of basic bridge plate 321 and the upper surface of extension plank 322 outside in riser structure, bridge plate side The wheel back gauge dimensional fits in span size and fire-fighting robot left and right directions between baffle plate, base during to prevent bridge plate 32 from stretching The bridge plate side shield of plinth bridge plate 321 is interfered with the bridge plate side shield of extension plank 322, the bridge plate side shield of basic bridge plate 321 with The bridge plate side shield of extension plank 322 is shifted to install in the lateral direction；Bridge plate telescopic hydraulic cylinder 33 is arranged at the side of bridge plate 32 Face position, the cylinder bottom end of bridge plate telescopic hydraulic cylinder 33 is arranged on basic bridge plate 321, telescopic end is mounted on telescopic direction most On outside minor details extension plank 322, by controlling the flexible of bridge plate telescopic hydraulic cylinder 33 the flexible of bridge plate 32 can be realized；Bridge The lateral location of the correspondence bridge plate 32 of plate luffing hydraulic cylinder 34 is arranged, and cylinder bottom end and the luffing hydraulic cylinder of bridge plate luffing hydraulic cylinder 34 cut with scissors Joint chair 312 is hinged installation, and the telescopic end of bridge plate luffing hydraulic cylinder 34 is hinged at installation and bridge plate change with basic bridge plate 321 Width hydraulic cylinder 34 is located at the rear of basic bridge plate 321 and the pin joint of bridge plate hinged seat 311 with the pin joint of basic bridge plate 321, Luffing is overturn by controlling the flexible fore-and-aft direction that can realize bridge plate 32 of bridge plate luffing hydraulic cylinder 34；Hydraulic power supply 35 leads to The control valve group and fluid pressure line for crossing operating element 36 is connected respectively with bridge plate telescopic hydraulic cylinder 33 and bridge plate luffing hydraulic cylinder 34.

Described fire-fighting robot locating device assembly 4 includes prelocalization baffle plate 41, side positioning baffle 42 and rear positioning gear Plate 43；Prelocalization baffle plate 41 is fixedly mounted on platform floor and prelocalization baffle plate 41 is with determining that fore-and-aft direction is obliquely installed Position ramp structure；Side positioning baffle 42 be symmetrical set, fore-and-aft direction extend out to riser outside platform floor upper surface Wheel back gauge dimensional fits and side on structure, the span size between side positioning baffle 42 and fire-fighting robot left and right directions are fixed Position baffle plate 42 extends back and is overlapped on mounting base 31；Afterwards positioning baffle 43 is the plate that front end is hingedly mounted on platform floor Type structure, the rear positioning that the baseplane of rear positioning baffle 43 is articulated and connected be arranged on below platform floor and chassis of vehicle body 1 Baffle plate turning hydraulic cylinder is articulated and connected, and rear positioning baffle upset hydraulic cylinder is by fluid pressure line and the control valve group of operating element 36 Connection, after the control positioning baffle overturn hydraulic cylinder it is flexible can realize after positioning baffle 43 along its hinge with platform floor Spindle fore-and-aft direction overturns.

Fire-fighting command comprehensive operation vehicle in the transition state of normally travel, close, fire-fighting robot is located at and disappears by rear door Positioning states are in anti-robot localization storehouse 22, now the anterior road wheel of fire-fighting robot or crawler belt act against prelocalization gear On plate 41, side positioning baffle 42 road wheel or crawler belt of fire-fighting robot are carried out from the left and right sides it is spacing on left and right directions, Afterwards positioning baffle upset hydraulic cylinder is in the road wheel for stretching out state, rear positioning baffle 43 in fire-fighting robot rear portion is acted against Or the upset erected state on crawler belt；Vehicle bridge device 3 is stepped in being totally turned over receiving state, now at bridge plate telescopic hydraulic cylinder 33 Extension plank 322 is set to be entirely retracted in basic bridge plate 321 in the state of being entirely retracted to, bridge plate luffing hydraulic cylinder 34 is in and contracts completely Entering state makes the upset of basic bridge plate 321 in the vertical state being accommodated in inside compartment 2.

When fire-fighting command comprehensive operation vehicle is connected to instruction into disaster relief scene and stagnates in closest to the suitable position of rescue point Postpone, start hydraulic power supply 35 after opening after door first and operate operating element 36 to make bridge plate luffing hydraulic cylinder 34 stretch out band Dynamic basis bridge plate 321 is turned over, while operating operating element 36 to make bridge plate telescopic hydraulic cylinder 33 stretch out drive extension plank 322 Stretch out in the basic bridge plate 321, when extension plank 322 is fully extended and basic bridge plate 321 is turned over to guide support block and Ground firm contact simultaneously operates after supporting operating element 36 to make the upset hydraulic cylinder retraction of rear positioning baffle, rear positioning baffle 43 i.e. to Upset afterwards is the level of state, and then fire-fighting robot operator can pass through fire-fighting machine in fire-fighting robot command post 21 People's monitoring system control fire-fighting robot is rearward moved and the bridge plate 32 by inclined shore in ground rolls compartment 2 away from and carries out Rescue, fire-fighting robot operator can directly pass through monitor screen, report control platform and control in the fire-fighting robot course of work Device processed is judged fire-fighting robot feedack, decision-making and control；After rescue is completed, fire-fighting robot manipulation Personnel control fire-fighting robot is travelled to just being climbed up in the position of the bridge plate 32 on ground and by guide support block to inclined shore Bridge plate 32, steps on during car and fire-fighting robot is controlled under the guiding and protective action of bridge plate side shield moves forward to enter compartment 2, continue control fire-fighting robot under the guide effect of side positioning baffle 42 into after compartment 2 and move forward to anterior walking Wheel or crawler belt stop control fire-fighting robot movement after acting against on prelocalization baffle plate 41, then operate operating element 36 fixed after making Position baffle plate turning hydraulic cylinder stretches out positioning baffle 43 after drive and overturns the road wheel or shoe for acting against fire-fighting robot rear portion forward The positioning for completing fire-fighting robot is taken, last operation operating element 36 makes bridge plate telescopic hydraulic cylinder 33 and bridge plate luffing hydraulic pressure The retraction of cylinder 34 drives the retraction of extension plank 322 to overturn forward in vertical shape to basic bridge plate 321 while basic 321 inside of bridge plate State, door after closing.

Guiding slipping mechanism between described basic bridge plate 321 and extension plank 322 can be provided in basic bridge plate Gathering sill and feather key on 321 between plane and the lower plane of extension plank 322, it is also possible to be provided in the He of basic bridge plate 321 Pilot hole and lead column between the side of extension plank 322, due to it is same realize being oriented to phorogenesis on the premise of the latter more It is easily worked making and the latter affects less to the support strength of basic bridge plate 321 and the plate face of extension plank 322, therefore preferably Guiding sliding between the latter, i.e. as preferred version of the present utility model, described basic bridge plate 321 and extension plank 322 Mechanism is provided in the side of basic bridge plate 321, the Long Circle pilot hole along the basic length direction of bridge plate 321 setting and is correspondingly arranged The side of extension plank 322, arrange in left-right direction and Long Circle pilot hole dimensional fits lead column or guide roller.

In order to ensure preferably to support and guide effect, used as further improvement of the utility model scheme, described stretches The lead column or guide roller of contracting bridge plate 322 sets at least to two pieces along the length direction of extension plank 322, sets at least to two The lead column or guide roller of part can not only be further ensured that the rectilinear direction of extension plank 322 is flexible and can provide more preferably Support effect.

In order to ensure bridge plate 32 stretch out and be supported in reduce on the premise of the angle of inclination on ground extension plank 322 Number, and then make bridge plate 32 overall with more preferable support strength, as further improvement of the utility model scheme, described bridge Plate hinged seat 311 is arranged on the lower section of the baseplane rear end of mounting base 31, and so arranging is located at the pin joint of basic bridge plate 321 The lower section of platform floor, and then realize extending basic bridge plate 321 and extension plank 322 in the case of identical height of wagon Length, can realize reducing the number of extension plank 322, ensure that bridge plate 32 is overall preferably so as to pass through rationally to arrange size Support intensity.

In order to further reduce the angle of inclination that bridge plate 32 stretches out and is supported in ground, as of the present utility model further Improvement project, described bridge plate hinged seat 311 has the ramp structure of inclined downward backward, the hinge hole of bridge plate hinged seat 311 Positioned at ramp structure rearward end；Bridge plate 32 stretches out and is supported in the ramp structure of its upper surface and bridge plate hinged seat 311 behind ground Be butted into and entirely creep inclined-plane, and then realize extending the length of bridge plate 32, so as to realize identical height in the case of bridge plate 32 The angle of inclination for stretching out and being supported in ground is less.

In order to realize accelerating stepping on vehicle speed and then improving capability of fast response for the non-road surface walking arrangement of remote control, and can Realize when during the non-road surface walking arrangement of remote control steps on car failure cannot step on car in the case of complete to step on car, as the utility model Further improvement project, as shown in figure 5, being equipped with auxiliary on described basic bridge plate 321 and extension plank 322 steps on mechanism of car 37, each auxiliary steps on mechanism of car 37, and in the longitudinal direction staggered floor is arranged, and auxiliary steps on mechanism of car 37 including belt-driven drive roll 371st, auxiliary is stepped on car driving hydraulic motor 372, belt-driven driven voller 373 and auxiliary and steps on car conveyer belt 374, belt-driven Drive roll 371 and belt-driven driven voller 373 be arranged in parallel in left-right direction, and belt-driven drive roll 371 passes through respectively Bearing block is erected at the rear portion of basic bridge plate 321 and extension plank 322, and belt-driven driven voller 373 passes through respectively bearing block The front portion of basic bridge plate 321 and extension plank 322 is erected at, auxiliary is stepped on car conveyer belt 374 and is wrapped in belt-driven in a ring On drive roll 371 and belt-driven driven voller 373 and auxiliary is stepped on the upper surface of car conveyer belt 374 and is respectively higher than basic bridge plate 321 and the upper surface of extension plank 322, auxiliary is stepped on car and drives hydraulic motor 372 to be coaxially mounted to belt-driven drive roll 371 Shaft end, auxiliary is stepped on car and drives hydraulic motor 372 to be connected with the control valve group of operating element 36 by fluid pressure line respectively, when stretching When contracting bridge plate 322 is in retraction state, the auxiliary of basic bridge plate 321 steps on the auxiliary of car driving hydraulic motor 372 and extension plank 322 Help step on car drive hydraulic motor 372 be in state, when extension plank 322 in stretch out state when, basic bridge plate 321 it is auxiliary Helping the auxiliary for stepping on car driving hydraulic motor 372 and extension plank 322 to step on car drives hydraulic motor 372 to be in away from state；When distant Control non-road surface walking arrangement step on during car by operate operating element 36 control valve group start auxiliary step on car drive hydraulic pressure horse Up to 372, belt-driven drive roll 371 is to step on car conveyer belt 374 with dynamic auxiliary to do circulatory motion, and then realizes the non-road surface of remote control Auxiliary is stepped on the non-road surface walking arrangement of the drive remote control of car conveyer belt 374 and is ramped up movement while walking arrangement independently steps on car, So as to accelerate stepping on vehicle speed, improving capability of fast response for the non-road surface walking arrangement of remote control.

For the support strength for increasing bridge plate 32 during stepping on car in the non-road surface walking arrangement of remote control, as the utility model Further improvement project, described basic bridge plate 321 and/or between minor details extension plank 322 and basic bridge plate 321 The rear end lateral location or baseplane back-end location of extension plank 322 is provided with cylinder bottom and is hinged the auxiliary of installation with basic bridge plate 321 Support hydraulic pressure supporting leg 38, the telescopic end of Auxiliary support hydraulic leg 38 is provided with support base, and Auxiliary support hydraulic leg 38 leads to Cross fluid pressure line to be connected with the control valve group of operating element 36；Auxiliary support hydraulic leg 38 bridge plate 32 upset stretch out expansion or Because its own Action of Gravity Field remains vertical state during upset retraction storage, turn over when bridge plate 32 and stretch out expansion Auxiliary support hydraulic leg 38 is in hanging vertical state, operation behaviour to guide support block and ground firm contact and support Control part 36 make Auxiliary support hydraulic leg 38 extend out to support base be supported in behind ground stop stretch out, step in fire-fighting robot Auxiliary support hydraulic leg 38 can carry out Auxiliary support, the support strength of increase bridge plate 32 to bridge plate 32, prevent bridge during car Plate 32 it is pressurized it is excessive cause deformation.

In order to mitigate the overall weight for stepping on vehicle bridge device 3 of the non-road surface walking arrangement of this vehicle-mounted remote-control, and then reduce bridge plate 32 flexible and upset energy consumptions, as further improvement of the utility model scheme, the non-road surface walking arrangement of this vehicle-mounted remote-control It is symmetrical two parts to step on vehicle bridge device 3, and each section includes mounting base 31, bridge plate 32, bridge plate telescopic hydraulic cylinder 33 and bridge plate luffing hydraulic cylinder 34, the width dimensions of bridge plate 32 coordinate with the width dimensions of fire-fighting robot road wheel or crawler belt.

For the ease of the non-road surface walking of the different remote control of the wheel back gauge width dimensions of road wheel in the lateral direction or crawler belt Equipment can be suitable for, and used as further improvement of the utility model scheme, described symmetrically arranged mounting base 31 leads to The mounting base guiding mechanism for crossing left and right directions setting is connected with platform floor installation, the non-road surface walking arrangement of this vehicle-mounted remote-control Stepping on vehicle bridge device 3 also includes mounting base distance regulating mechanism；Two can be realized by adjusting mounting base distance regulating mechanism Spacing change between the symmetrically arranged mounting base 31 of part, and then realize the wheel back gauge broad-ruler suitable for road wheel or crawler belt The non-road surface walking arrangement of very little different remote control carries out stepping on car.

The non-road surface walking arrangement of this vehicle-mounted remote-control steps on vehicle bridge device 3 due to including bridge plate 32, bridge plate telescopic hydraulic cylinder 33 With bridge plate luffing hydraulic cylinder 34, and bridge plate 32 includes basic bridge plate 321 and at least one section extension plank 322, therefore by controlling The flexible fore-and-aft direction upset luffing storage that can realize bridge plate 32 of bridge plate luffing hydraulic cylinder 34 with launch, by controlling bridge plate The flexible collapsing length change that can realize bridge plate 32 of telescopic hydraulic cylinder 33, and then realize identical stepping on bridge in the case of height Plate 32 stretch out and be supported in ground angle of inclination it is less, suitable for the less powerful fire-fighting robot of ramp angle, row The non-road surface walking arrangement of the remote controls such as cigarette robot carries out stepping on car；Due to being additionally provided with left and right on basic bridge plate 321 and extension plank 322 Symmetrically arranged, fore-and-aft direction extend out to the bridge plate side of basic bridge plate 321 and the upper surface of extension plank 322 outside in riser structure Baffle plate, therefore the non-road surface walking arrangement of remote control steps on bridge plate side shield during car and the non-road surface walking arrangement of remote control can be stepped on Car be oriented to and it is spacing, the damage situation that drops that causes because of the skew of remote control non-road surface walking arrangement direction can be prevented；Due to bridge plate hinge Joint chair 311 is arranged on the lower section of the baseplane rear end of mounting base 31, therefore extends basis in the case of identical height of wagon The length of bridge plate 321 and extension plank 322, such that it is able to realizing reducing the number of extension plank 322, ensureing that bridge plate 32 is overall more Good support strength；Because bridge plate hinged seat 311 has the hinge of the ramp structure of inclined downward and bridge plate hinged seat 311 backward Hole position is connect in ramp structure rearward end, therefore bridge plate 32 stretches out and is supported in its upper surface and bridge plate hinged seat 311 behind ground Ramp structure is butted into and entirely creep inclined-plane, so as to realize identical height in the case of bridge plate 32 stretch out and be supported in inclining for ground Rake angle is less；Mechanism of car 37 is stepped on due to being equipped with auxiliary on basic bridge plate 321 and extension plank 322, and auxiliary steps on mechanism of car 37 include that belt-driven drive roll 371, auxiliary step on car and drive hydraulic motor 372, belt-driven driven voller 373 and auxiliary to step on Car conveyer belt 374, thus the non-road surface walking arrangement of remote control while independently step on car auxiliary step on car conveyer belt 374 remote control can be driven non- Road surface walking arrangement is ramped up movement, so as to realize accelerating stepping on vehicle speed, improving quick for the non-road surface walking arrangement of remote control Responding ability, at the same can realize when during the non-road surface walking arrangement of remote control steps on car failure cannot step on car in the case of complete to step on Car；After extension plank 322 due to basic bridge plate 321 and/or between minor details extension plank 322 and basic bridge plate 321 End side surface position or baseplane back-end location are provided with cylinder bottom and are hinged the Auxiliary support hydraulic leg 38 of installation with basic bridge plate 321, Therefore Auxiliary support hydraulic leg 38 can carry out Auxiliary support to bridge plate 32, increase during the non-road surface walking arrangement of remote control steps on car Plus bridge plate 32 support strength, prevent bridge plate 32 it is pressurized it is excessive cause deformation；This vehicle-mounted remote-control non-road surface walking arrangement steps on car Biodge device can realize that the non-road surface walking arrangement of remote control is steady whenever and wherever possible and quickly be advanced into interior certainly, and then realize quick The purpose of response, is particularly well-suited to such as high-power fire-fighting robot, smoke robot, the non-road surface walking of sniffing robot remote control Equipment steps on car.

Claims (9)

1. a kind of non-road surface walking arrangement of vehicle-mounted remote-control steps on vehicle bridge device, including mounting base (31), bridge plate (32), bridge plate stretch Contracting hydraulic cylinder (33), bridge plate luffing hydraulic cylinder (34), hydraulic power supply (35) and operating element (36)；Characterized in that,

On platform floor, mounting base (31) is provided with bridge plate hinged seat (311) and becomes described mounting base (31) Width hydraulic cylinder hinged seat (312), and bridge plate hinged seat (311) is positioned at the rear of luffing hydraulic cylinder hinged seat (312)；

Described bridge plate (32) includes basic bridge plate (321) and at least one section extension plank (322), before basic bridge plate (321) End is hinged installation by being hinged otic placode with bridge plate hinged seat (311), and the rear end of basic bridge plate (321) is hatch frame and passes through It is oriented to slipping mechanism and coordinates the outside for being socketed in extension plank (322), positioned at the outermost minor details extension plank of telescopic direction (322) end is provided with the guide support block with wedge shape transition structure, on basic bridge plate (321) and extension plank (322) also It is provided be symmetrical set, fore-and-aft direction and extend out to basic bridge plate (321) and extension plank (322) upper surface outside in riser The bridge plate side shield of structure, the span size between bridge plate side shield is matched somebody with somebody with the wheel back gauge size on fire-fighting robot left and right directions Close, bridge plate side shield and the bridge plate side shield of extension plank (322) of basic bridge plate (321) are shifted to install in the lateral direction；

Described bridge plate telescopic hydraulic cylinder (33) is arranged at the lateral location of bridge plate (32), the cylinder bottom of bridge plate telescopic hydraulic cylinder (33) End is arranged on basic bridge plate (321), telescopic end is mounted on the outermost minor details extension plank (322) of telescopic direction；

The cylinder bottom end of described bridge plate luffing hydraulic cylinder (34) is hinged installation, bridge plate luffing with luffing hydraulic cylinder hinged seat (312) The telescopic end of hydraulic cylinder (34) is hinged at installation and bridge plate luffing hydraulic cylinder (34) and basic bridge with basic bridge plate (321) The pin joint of plate (321) is located at the rear of basic bridge plate (321) and the pin joint of bridge plate hinged seat (311)；

Described hydraulic power supply (35) by the control valve group and fluid pressure line of operating element (36) respectively with the flexible liquid of bridge plate Cylinder pressure (33) and bridge plate luffing hydraulic cylinder (34) connect.

2. vehicle-mounted remote-control according to claim 1 non-road surface walking arrangement steps on vehicle bridge device, it is characterised in that described Guiding slipping mechanism between basic bridge plate (321) and extension plank (322) is provided in basic bridge plate (321) side, along base Long Circle pilot hole and be correspondingly arranged at extension plank (322) side, in left-right direction that plinth bridge plate (321) length direction is arranged Lead columns or guide roller arrange and Long Circle pilot hole dimensional fits.

3. vehicle-mounted remote-control according to claim 2 non-road surface walking arrangement steps on vehicle bridge device, it is characterised in that described The lead column or guide roller of extension plank (322) sets at least to two pieces along the length direction of extension plank (322).

4. vehicle-mounted remote-control according to claim 1 non-road surface walking arrangement steps on vehicle bridge device, it is characterised in that described Bridge plate hinged seat (311) is arranged on the lower section of mounting base (31) baseplane rear end.

5. vehicle-mounted remote-control according to claim 4 non-road surface walking arrangement steps on vehicle bridge device, it is characterised in that described The ramp structure of (311) with inclined downward backward bridge plate hinged seat, the hinge hole of bridge plate hinged seat (311) is located at ramp structure Rearward end.

6. the non-road surface walking arrangement of vehicle-mounted remote-control according to claim 1 to 5 any claim steps on vehicle bridge device, its It is characterised by, is equipped with auxiliary on described basic bridge plate (321) and extension plank (322) and steps on mechanism of car (37), each auxiliary is stepped on In the longitudinal direction staggered floor is arranged mechanism of car (37), and auxiliary steps on mechanism of car (37) including belt-driven drive roll (371), auxiliary Stepping on car drives hydraulic motor (372), belt-driven driven voller (373) and auxiliary to step on car conveyer belt (374), belt-driven master Dynamic roller (371) and belt-driven driven voller (373) be arranged in parallel in left-right direction, and belt-driven drive roll (371) is respectively The rear portion of basic bridge plate (321) and extension plank (322) is erected at by bearing block, belt-driven driven voller (373) is respectively The front portion of basic bridge plate (321) and extension plank (322) is erected at by bearing block, auxiliary steps on car conveyer belt (374) in a ring It is wrapped on belt-driven drive roll (371) and belt-driven driven voller (373) and aids in step on car conveyer belt (374) Upper surface is respectively higher than the upper surface of basic bridge plate (321) and extension plank (322), and auxiliary is stepped on car and drives hydraulic motor (372) The shaft end of belt-driven drive roll (371) is coaxially mounted to, auxiliary is stepped on car and drives hydraulic motor (372) to pass through hydraulic tube respectively Road is connected with the control valve group of operating element (36).

7. the non-road surface walking arrangement of vehicle-mounted remote-control according to claim 1 to 5 any claim steps on vehicle bridge device, its It is characterised by, described basic bridge plate (321) and/or stretching between minor details extension plank (322) and basic bridge plate (321) The rear end lateral location or baseplane back-end location of contracting bridge plate (322) is provided with cylinder bottom and is hinged the auxiliary of installation with basic bridge plate (321) The telescopic end for helping support hydraulic pressure supporting leg (38), Auxiliary support hydraulic leg (38) is provided with support base, Auxiliary support hydraulic pressure Leg (38) is connected by fluid pressure line with the control valve group of operating element (36).

8. the non-road surface walking arrangement of vehicle-mounted remote-control according to claim 1 to 5 any claim steps on vehicle bridge device, its It is characterised by, the vehicle bridge device of stepping on of the non-road surface walking arrangement of this vehicle-mounted remote-control is symmetrical two parts, and each section is wrapped Include mounting base (31), bridge plate (32), bridge plate telescopic hydraulic cylinder (33) and bridge plate luffing hydraulic cylinder (34), the width of bridge plate (32) Size coordinates with the width dimensions of fire-fighting robot road wheel or crawler belt.

9. vehicle-mounted remote-control according to claim 8 non-road surface walking arrangement steps on vehicle bridge device, it is characterised in that described The mounting base guiding mechanism that symmetrically arranged mounting base (31) is arranged by left and right directions is installed with platform floor and is connected, The vehicle bridge device of stepping on of the non-road surface walking arrangement of this vehicle-mounted remote-control also includes mounting base distance regulating mechanism.