CN210793325U

CN210793325U - Walking frame with multiple steering modes

Info

Publication number: CN210793325U
Application number: CN201921686673.1U
Authority: CN
Inventors: 陈立文; 周哲; 闫伟峰; 付秀丽
Original assignee: SHANDONG ROADWAY CONSTRUCTION MACHINERY MANUFACTURING CO LTD
Current assignee: SHANDONG ROADWAY CONSTRUCTION MACHINERY MANUFACTURING CO LTD
Priority date: 2019-10-10
Filing date: 2019-10-10
Publication date: 2020-06-19
Anticipated expiration: 2029-10-10

Abstract

A walking frame with multiple steering modes comprises a frame and walking steering wheels. The frame is provided with a controller, and the front end and the rear end of the frame are fixedly provided with a plurality of walking steering wheels. The upper end of the walking steering wheel is provided with a rotary motor, the upper part of the rotary motor is provided with an angle sensing mechanism, the side wall of the rotary motor is fixedly arranged with the frame, the lower end of the rotary motor is rotatably provided with a wheel fixing frame, the lower end of the wheel fixing frame is fixedly provided with a walking motor, and a power shaft of the walking motor is provided with wheels. The utility model overcomes prior art's defect provides a walking frame with multiple mode of turning to. Simple structure, occupation space are little, turn to the angle various, maneuverability is strong, when being applied to narrow and small space especially, dodge the barrier that can be nimble. And to the stabilizer blade that sets up frame both sides on complicated construction ground can play fine supporting role, maintain the stability of frame, prevent that the frame from appearing unpredictable heeling even side tumbling.

Description

Walking frame with multiple steering modes

Technical Field

The utility model relates to an engineering machine tool class frame field especially relates to a walking frame with multiple mode of turning to.

Background

Along with social development, engineering machinery is more and more applied to the engineering construction field, replaces partial manpower to produce, has accelerated the construction progress, has improved construction quality, has alleviateed workman intensity of labour. The current traveling steering modes of the engineering machinery are generally three: two-wheel steering, four-wheel steering, and crab steering. The (hydraulic) oil cylinder is generally adopted to push the wheel fixing frame to swing, the steering mechanism adopting the steering mode has the advantages of complex mechanical structure, large occupied space of the device and small provided steering angle, and especially when the steering mechanism is applied to narrow space, the traditional (hydraulic) oil cylinder steering mode cannot provide a large steering angle so as to achieve the purpose of accurately and quickly avoiding obstacles.

When construction operation is carried out on complex ground, most of the existing engineering machinery adopts a mode of directly supporting a tire. Because the existing tires are all inflatable tires and do not belong to rigid supporting components, when the supported weight is too large and the ground is uneven, the tires are easy to deform and even burst, so that the vehicle is likely to roll and even overturn.

SUMMERY OF THE UTILITY MODEL

An object of the utility model is to solve above-mentioned technical problem and provide a simple structure, it is big to turn to the angle, can carry out turning to of multiple mode and have the frame that the landing leg supported.

A walking frame with multiple mode of turning to, including frame and walking directive wheel. The frame is provided with a controller, and the front end and the rear end of the frame are fixedly provided with a plurality of walking steering wheels. The upper end of the walking steering wheel is provided with a rotary motor, the upper part of the rotary motor is provided with an angle sensing mechanism, the side wall of the rotary motor is fixedly arranged with the frame, the lower end of the rotary motor is rotatably provided with a wheel fixing frame, the lower end of the wheel fixing frame is fixedly provided with a walking motor, and a power shaft of the walking motor is provided with a wheel.

Preferably, the frame comprises a front beam, a rear beam and a connecting frame; and the two ends of the front beam and the rear beam are respectively provided with a front supporting leg and a rear supporting leg.

Preferably, the front end and the rear end of the connecting frame are respectively and fixedly arranged in the middle of the front beam and the rear beam; and a plurality of wheel supporting plates are fixedly arranged on the front beam and the rear beam.

Preferably, at least two wheel supporting plates are arranged on the side wall of one side of the front beam, and at least one wheel supporting plate is arranged on the side wall of one side of the rear beam; or the side wall of one side of the rear beam is provided with at least two wheel supporting plates, and the side wall of one side of the front beam is provided with at least one wheel supporting plate; the best setting mode is as follows: the side wall of the middle part of the rear beam is provided with a wheel supporting plate, and the side walls of the two ends of the front beam are correspondingly provided with two wheel supporting plates.

Preferably, the controller is divided into a circuit controller and a hydraulic control valve group; the circuit controller and the hydraulic control valve group are arranged on a connecting frame of the frame.

Preferably, the upper part of the rotary motor is provided with an angle sensing mechanism, the outer part of the rotary motor is provided with a motor stator, and the inner part of the rotary motor is rotatably provided with a motor rotor; the outer wall of the motor stator is fixedly provided with a fixed frame, and the fixed frame and the wheel supporting plate are fixedly arranged together; and a wheel fixing frame is fixedly arranged at the lower end of a motor rotor of the rotary motor.

Preferably, a sensor outer casing is arranged outside the angle sensing mechanism, the outer side wall of the top of the sensor outer casing is fixedly arranged with the motor stator through a sensor fixing plate, a cable sheath is arranged on one side of the sensor outer casing, an angle sensor is fixedly arranged on the inner side wall of the top of the sensor outer casing, a cable interface is arranged on one side of the angle sensor, an angle sensor magnetic block is arranged at a position below the angle sensor at a certain distance, and the angle sensor magnetic block is fixedly arranged on a sensor fixing seat; the upper end of the sensor fixing seat is rotatably connected with the sensor outer protecting shell through a bearing, and the lower end of the sensor fixing seat is fixedly arranged with the top end of the motor rotor; the cable interface is connected with a communication cable, and the communication cable penetrates out of the cable sheath.

Preferably, the rotary motor is a hydraulic motor, and a rotary motor oil pipe is arranged on the side wall of the rotary motor.

Preferably, the side wall of the wheel fixing frame is provided with an oil pipe hole; the walking motor adopts a hydraulic motor, and a walking motor oil pipe is arranged on the side wall of the walking motor.

Preferably, the oil pipe of the walking motor penetrates out of an oil pipe hole formed in the side wall of the wheel fixing frame.

The rotary motor and the traveling motor disclosed in the present invention may be motors that can be independently driven in any form, and for example, an electric motor or a hydraulic motor may be selected. The present invention is described with reference to a hydraulic motor. The hydraulic motor is a common hydraulic motor in the prior art, the utility model discloses in do not restrict hydraulic motor's specific kind, hydraulic motor's selection can be confirmed according to specific use situation and application scene by oneself. The hydraulic valve set of the hydraulic motor is a hydraulic control valve set for regulating the rotation of the hydraulic motor in the prior art, and for example, a throttling governing circuit or a volume throttling governing circuit can be adopted.

The utility model discloses a walking frame with multiple mode of turning to as a frame that bears the weight of the formula, the connected mode of its frame itself and its self and the connected mode who bears the weight of the part do not confine the content disclosed in the utility model. This frame part of walking frame's setting can be adjusted according to the actual demand of difference, and the scope of its adjustment still belongs to under the prerequisite that does not change the characteristic technique that the frame has multiple mode of turning to the utility model discloses the scope that claims. For example, the utility model discloses a walking frame can install the rest parts of fork truck on it, becomes the part of the fork truck that has multiple steering pattern; as another example, the remainder of the cart may also be mounted thereon as part of a cart having multiple steering modes.

The utility model discloses a multiple mode of turning to, including but not limited to following four kinds of modes: straight travel mode, cross travel mode, pivot steer mode, and crab mode.

(1) A straight-line mode: referring to fig. 7, when the frame is switched to the straight mode, a signal is transmitted to the circuit controller, the circuit controller receives the signal and analyzes the signal, then controls the opening and closing of the corresponding electromagnetic valve of the hydraulic valve bank, transmits the hydraulic power provided by the hydraulic pump to the hydraulic valve bank, and the hydraulic valve bank transmits the hydraulic power to the rotary motor according to the opening and closing of the electromagnetic valve. The rotor inside the rotary motor immediately starts to rotate, and the front and rear wheels start to perform steering operation under the mutual cooperation of the motor rotor, the motor stator and the frame. Meanwhile, the angle sensor continuously transmits a real-time signal of the rotation angle of the wheel to the circuit controller, whether the rotation angle of the wheel is in place or not is judged, if the rotation angle reaches a specified angle position, the corresponding electromagnetic valve is closed, and after the hydraulic power of the rotary motor is lost, the rotation angle is fixed, so that a rotation instruction can be completed. And at the moment, the front wheel and the rear wheel are kept parallel to the advancing direction of the frame, then the circuit controller opens the electromagnetic valve corresponding to the walking motor to output the power of the hydraulic pump to the walking motor, and the walking motor moves according to the adjusted execution angle under the driving of the hydraulic power. In the movement process, the circuit controller can enable the walking motor to rotate clockwise or anticlockwise through the opening and closing action of the corresponding electromagnetic valve, so that the purpose of enabling the frame to move forwards or backwards is achieved.

(2) Transverse moving mode: referring to fig. 8, when the frame needs to be switched to the traverse mode, the circuit controller controls the electromagnetic valve corresponding to the rotary motor, and the power of the transmission hydraulic pump drives the rotary motor to rotate correspondingly. Meanwhile, under the action of the angle sensor, the circuit controller adjusts the rotation angle of the rotary motor, so that the front and rear wheels of the frame are in a transverse state (as shown in fig. 8). Then, under the control of the circuit controller, the frame can move forward and backward along a set direction. The specific control implementation of the rotary motor and the walking motor is similar to that of the straight-going mode, and reference can be made.

(3) In the pivot steering mode: referring to fig. 9, when the frame needs to be switched to the pivot steering mode, the circuit controller controls the electromagnetic valve corresponding to the rotary motor, and transmits the power of the hydraulic pump to drive the rotary motor to rotate correspondingly. Meanwhile, under the action of the angle sensor, the circuit controller adjusts the rotation angle of the rotary motor, so that the front and rear wheels of the frame are in a pivot steering state (as shown in fig. 9). Then, under the control of the circuit controller, the frame can do pivot steering action clockwise or anticlockwise around the circle center positions of the front wheel and the rear wheel. The specific control implementation of the rotary motor and the walking motor is similar to that of the straight-going mode, and reference can be made.

(4) Crab type mode: referring to fig. 10, when the frame needs to be switched to the crab mode, the circuit controller controls the electromagnetic valve corresponding to the rotary motor, and the power of the transmission hydraulic pump drives the rotary motor to rotate correspondingly. Meanwhile, under the action of the angle sensor, the circuit controller adjusts the rotation angle of the rotary motor, so that the front and rear wheels of the frame are in a crab-shaped state (as shown in fig. 9). Then, under the control of the circuit controller, the frame moves forwards or backwards along a certain angle in a certain direction. The specific control implementation of the rotary motor and the walking motor is similar to that of the straight-going mode, and reference can be made.

As described above, when the frame needs to perform the forward, backward, and rotational operation modes along a certain angle in a certain direction, the frame can be switched to the required mode angle for use by opening or closing the corresponding solenoid valve for a certain time and driving the rotary motor to rotate by the corresponding steering angle with the aid of the power of the hydraulic pump. After the angle of the rotary motor is fixed, the electromagnetic valve corresponding to the walking motor is controlled, so that the frame can be driven to make corresponding displacement action. In addition, the power output by the hydraulic pump can be changed by adjusting the electromagnetic valve, and the running speed of the walking motor can be further changed.

Meanwhile, the rotation angle of the rotary motor can be adjusted from 0 degree to 180 degrees on the same side. That is, when the swing motor is in the initial state, it is assumed that the rotation angle thereof is 0 °, the maximum angle of the swing motor to be rotated to the left is 180 °, and likewise, the maximum angle of the swing motor to be rotated to the right is 180 °.

The utility model discloses the front support leg and the back support leg that disclose in the book are the hydraulic pressure stabilizer blade among the prior art (hydraulic pressure landing leg supports). The front supporting legs are arranged on the front beam of the frame body and are respectively arranged in a left group and a right group, and the cross arms of the supporting legs penetrate into the front beam of the frame body and can transversely stretch out and draw back. The front beam is provided with a limit switch, the stop block collides with the limit switch when the front support leg is transversely pulled out, and the limit switch transmits signals to the controller to execute a transverse mode, an in-situ steering mode and a crab-type mode so as to prevent wheels from colliding with the support leg.

The two sides of the rear beam of the frame body are provided with rear supporting legs. The front and rear legs extend out simultaneously to support the frame, so that the frame body is stable.

The utility model discloses a theory of operation: the utility model discloses an angle sensor magnetic path of installing on the sensor fixing base passes through the bearing relative rotation with the angle sensor who installs on the sensor outer casing, produces the angle signal that changes, spreads the signal to the controller through the cable. The controller controls the hydraulic valve group according to the change of the angle signal, and timely adjusts the rotation angle of the stator and the rotor of the rotary motor, so that each wheel forms different walking modes according to a certain angle. When the frame is required to move, the controller controls the hydraulic valve group to provide power for the walking motor and drive the frame to move according to a certain mode.

Drawings

FIG. 1: the overall structure schematic diagram of the frame;

FIG. 2: a schematic view of a walking steering wheel;

FIG. 3: an angle sensor schematic;

FIG. 4: the angle sensor is matched with the rotary motor;

FIG. 5: a rotary motor schematic;

FIG. 6: a schematic view of a foot;

FIG. 7: a frame straight-ahead mode schematic diagram;

FIG. 8: a frame cross-travel mode schematic diagram;

FIG. 9: the frame is in pivot steering schematic view;

FIG. 10: a crab frame mode schematic diagram;

wherein: 1-vehicle frame, 10-front beam, 11-rear beam, 12-connecting frame, 13-wheel supporting plate, 14-front supporting foot, 15-rear supporting foot, 2-walking steering wheel, 20-rotary motor, 200-motor rotor, 201-motor stator, 202-fixing frame, 203-rotary motor oil pipe, 21-angle sensor, 210-sensor outer protecting plate, 211-sensor fixing plate, 212-cable sheath, 213-angle sensor, 214-cable interface, 215-angle sensor magnetic block, 216-sensor fixing seat, 217-bearing, 218-communication cable, 22-wheel fixing frame, 220-oil pipe hole, 23-walking motor, 230-walking motor oil pipe, 231-wheel, 3-controller, 30-circuit controller, 31-hydraulic control valve group.

Detailed Description

For the purpose of facilitating understanding of the objects, effects and technical solutions of the present invention, the following detailed description will be made with reference to the accompanying drawings.

With reference to fig. 1-10, the traveling carriage with multiple steering modes comprises a carriage 1 and traveling steering wheels 2, wherein the carriage 1 comprises a front beam 10, a rear beam 11 and a connecting frame 12. The front beam 10 and the rear beam 11 are respectively provided with a front support leg 14 and a rear support leg 15 at two ends. The connecting frame 12 is provided with a circuit controller 30 and a hydraulic control valve group 31, and the front end and the rear end of the connecting frame 12 are respectively and fixedly arranged in the middle of the front beam 10 and the rear beam 11. The side wall of the middle part of the rear beam 11 is provided with a wheel support plate 13, and the side walls of the two ends of the front beam 10 are correspondingly provided with two wheel support plates 13. The upper end of the walking steering wheel 2 is provided with a rotary motor 20, the rotary motor 20 adopts a hydraulic motor, the side wall of the rotary motor 20 is provided with a rotary motor oil pipe 203, the upper part of the rotary motor 20 is provided with an angle sensing mechanism 21, the outer part of the rotary motor is provided with a motor stator 201, and the inner part of the rotary motor is rotatably provided with a motor rotor 200. The outer wall of the motor stator 201 is fixedly provided with a fixing frame 202, and the fixing frame 202 and the wheel support plate 13 are fixedly arranged together. The angle sensing mechanism 21 is externally provided with a sensor outer casing 210, the outer side wall of the top of the sensor outer casing 210 is fixedly arranged together with the motor stator 201 through a sensor fixing plate 211, one side of the sensor outer casing 210 is provided with a cable sheath 212, the inner side wall of the top of the sensor outer casing is fixedly provided with an angle sensor 213, one side of the angle sensor 213 is provided with a cable interface 214, an angle sensor magnetic block 215 is arranged at a certain distance below the angle sensor 213, and the angle sensor magnetic block 215 is fixedly arranged on a sensor fixing seat 216. The upper end of the sensor fixing seat 216 is rotatably connected with the sensor outer casing 210 through a bearing 217, and the lower end of the sensor fixing seat 216 is fixedly arranged with the top end of the motor rotor 200. The cable interface 214 is connected with a communication cable 218, and the communication cable 218 passes through the cable sheath 212; the lower end of a motor rotor 200 of the rotary motor 20 is fixedly provided with a wheel fixing frame 22, the side wall of the lower end of the wheel fixing frame 22 is provided with an oil pipe hole 220, a walking motor 23 is fixedly arranged below the oil pipe hole 220, the walking motor 23 adopts a hydraulic motor, the side wall of the walking motor 23 is provided with a walking motor oil pipe 230, and the walking motor oil pipe 230 penetrates out of the oil pipe hole 220 formed in the side wall of the wheel fixing frame 22. Wheels 231 are provided on the power shaft of the traveling motor 23.

Furthermore, it should be understood that although the present description refers to embodiments, not every embodiment may contain only a single embodiment, and such description is for clarity only, and those skilled in the art should integrate the description, and the embodiments may be combined as appropriate to form other embodiments understood by those skilled in the art.

The utility model discloses an useful part: the utility model overcomes prior art's defect provides a walking frame with multiple mode of turning to. The utility model discloses a walking frame has multiple modes of turning to such as straight line mode, horizontal mode, pivot mode and crab type mode, can satisfy the frame of arbitrary angle, arbitrary mode and turn to and provide good stable supporting effect. The utility model discloses a walking frame adopts hydraulic motor's mode to promote turning to and the motion of frame, and its simple structure, occupation space are little, the steering angle is various, maneuverability is strong, when being applied to narrow and small space especially, can adjust the orbit of frame according to actual conditions, nimble dodge the barrier. And to complicated construction ground, the stabilizer blade that sets up the frame both sides can play fine supporting role, maintains the stability of frame, prevents that the frame from appearing unpredictable heeling even side tumbling.

Claims

1. A walking frame with multiple steering modes comprises a frame (1) and walking steering wheels (2), and is characterized in that a controller (3) is arranged on the frame (1), and a plurality of walking steering wheels (2) are fixedly arranged at the front end and the rear end of the frame (1); the walking steering wheel (2) upper end is provided with rotary motor (20), rotary motor (20) upper portion is provided with angle sensing mechanism (21), and rotary motor (20)'s lateral wall and frame (1) are fixed to be set up together, and its lower extreme rotates and is provided with wheel mount (22), the fixed walking motor (23) that is provided with of wheel mount (22) lower extreme, be provided with wheel (231) on the power shaft of walking motor (23).

2. A running carriage with multiple steering modes according to claim 1, characterised in that the carriage (1) comprises a front beam (10), a rear beam (11) and a connecting frame (12); the front beam (10) and the rear beam (11) are respectively provided with a front supporting leg (14) and a rear supporting leg (15) at two ends.

3. A running carriage with multiple steering modes according to claim 2, characterized in that the front and rear ends of the connecting frame (12) are respectively fixedly arranged in the middle of the front beam (10) and the rear beam (11); the front beam (10) and the rear beam (11) are fixedly provided with a plurality of wheel supporting plates (13).

4. A running carriage with multiple steering modes according to claim 3, characterised in that at least two wheel support plates (13) are provided on the side wall of the front beam (10) side and at least one wheel support plate (13) is provided on the side wall of the rear beam (11) side; or the side wall of one side of the rear beam (11) is provided with at least two wheel supporting plates (13), and the side wall of one side of the front beam (10) is provided with at least one wheel supporting plate (13); the best setting mode is as follows: the side wall of the middle part of the rear beam (11) is provided with a wheel supporting plate (13), and the side walls of the two ends of the front beam (10) are correspondingly provided with two wheel supporting plates (13).

5. A running carriage with multiple steering modes according to claim 1, characterized in that said controller (3) is divided into an electric circuit controller (30) and a hydraulic control valve group (31); the circuit controller (30) and the hydraulic control valve group (31) are arranged on the connecting frame (12) of the frame (1).

6. A running carriage with multiple steering modes according to claim 1, characterized in that the slewing motor (20) is externally provided with a motor stator (201) and internally rotatably provided with a motor rotor (200); a fixed frame (202) is fixedly arranged on the outer wall of the motor stator (201), and the fixed frame (202) and the wheel supporting plate (13) are fixedly arranged together; the lower end of a motor rotor (200) of the rotary motor (20) is fixedly provided with a wheel fixing frame (22).

7. The traveling carriage frame with multiple steering modes according to claim 1, characterized in that a sensor outer casing (210) is arranged outside the angle sensing mechanism (21), the outer side wall of the top of the sensor outer casing (210) is fixedly arranged with a motor stator (201) through a sensor fixing plate (211), a cable sheath (212) is arranged on one side of the sensor outer casing (210), an angle sensor (213) is fixedly arranged on the inner side wall of the top of the sensor outer casing, a cable interface (214) is arranged on one side of the angle sensor (213), an angle sensor magnetic block (215) is arranged at a position below the angle sensor (213) at a certain distance, and the angle sensor magnetic block (215) is fixedly arranged on a sensor fixing seat (216); the upper end of the sensor fixing seat (216) is rotatably connected with the outer sensor casing (210) through a bearing (217), and the lower end of the sensor fixing seat (216) is fixedly arranged with the top end of the motor rotor (200); the cable interface (214) is connected with a communication cable (218), and the communication cable (218) penetrates out of the cable sheath (212).

8. The running carriage with multiple steering modes according to claim 1, characterized in that the rotary motor (20) is a hydraulic motor, and the rotary motor (20) is provided with rotary motor oil pipes (203) on the side wall.

9. The running carriage with multiple steering modes as claimed in claim 1, characterized in that the side wall of the wheel fixing frame (22) is provided with an oil pipe hole (220); the walking motor (23) adopts a hydraulic motor, and a walking motor oil pipe (230) is arranged on the side wall of the walking motor (23).

10. The running carriage with multiple steering modes according to claim 9, characterized in that the running motor oil pipe (230) penetrates out of an oil pipe hole (220) formed in the side wall of the wheel fixing frame (22).