CN212447466U

CN212447466U - Special vehicle

Info

Publication number: CN212447466U
Application number: CN202021818657.6U
Authority: CN
Inventors: 陈文�; 柳盾; 刘桂铭
Original assignee: Sany Automobile Manufacturing Co Ltd
Current assignee: Sany Automobile Manufacturing Co Ltd
Priority date: 2020-08-27
Filing date: 2020-08-27
Publication date: 2021-02-02
Anticipated expiration: 2030-08-27

Abstract

The utility model provides a special type vehicle, special type vehicle includes: a vehicle body including a chassis; the pivot steering device is arranged below the chassis; the pivot steering device includes: a telescopic oil cylinder; the steering wheel is arranged at the lower end of the telescopic oil cylinder; the guide driving rod piece is connected with the steering wheel and used for driving the steering wheel to rotate along the axis of the telescopic oil cylinder so as to adjust the swing angle of the steering wheel; the telescopic oil cylinder jacks up the special vehicle under the extension state to enable the chassis to leave the ground, and the telescopic oil cylinder enables the special vehicle to fall under the contraction state to enable the chassis to be in contact with the ground. The technical scheme of the utility model through mutual supporting of flexible hydro-cylinder, directive wheel, hydraulic pressure guide bar and driving motor, reach the purpose that turns to special type vehicle original place.

Description

Special vehicle

Technical Field

The utility model relates to a vehicle technical field particularly, relates to a special type vehicle.

Background

In the related art, the vehicles are difficult to turn around in a narrow space, time is wasted, traffic jam is easy to cause, even traffic accidents occur, crab walking cannot be performed when special road conditions are met, and the flexibility is poor.

SUMMERY OF THE UTILITY MODEL

The present invention aims to solve at least one of the above technical problems.

Therefore, the first objective of the present invention is to provide a special vehicle.

A second object of the present invention is to provide a special vehicle control method.

In order to realize the first purpose of the utility model, the embodiment of the utility model provides a special type vehicle, turn to the device including vehicle body and original place. The vehicle body includes a chassis. The pivot steering device is arranged below the chassis. The pivot steering device comprises a telescopic oil cylinder, a steering wheel, a guide driving rod piece and a driving motor. The steering wheel is arranged at the lower end of the telescopic oil cylinder. The guide driving rod piece is connected with the steering wheel and used for driving the steering wheel to rotate along the axis of the telescopic oil cylinder so as to adjust the swing angle of the steering wheel. The telescopic oil cylinder jacks up the characteristic vehicle under the extension state to enable the chassis to be away from the ground, and the telescopic oil cylinder enables the characteristic vehicle to fall under the contraction state to enable the chassis to be in contact with the ground.

The special vehicle in this embodiment includes a pivot steering device disposed below the chassis. When the telescopic oil cylinder is in an extension state, the special vehicle is jacked up by the telescopic oil cylinder until the tire leaves the ground, so that steering difficulty caused by friction force between the tire and the ground when the special vehicle steers in situ is avoided. After the tires leave the ground, the special vehicle is supported by the steering wheel arranged below the telescopic oil cylinder. The guide driving rod drives the steering wheel to adjust the steering wheel to rotate to a preset angle. The steering movement of the special vehicle at different angles can be realized through different angles of the steering wheels. The driving motor drives the steering wheel to move according to the adjusted angle so as to achieve the purpose of in-situ steering of the special vehicle. It should be further noted that, the technical scheme not only can realize pivot steering of the special vehicle, but also can realize steering of the special vehicle in a crab-shaped mode by rotating the steering wheels. Wherein, the crab shape means: more than two steering wheels which are arranged in parallel or side by side in the technical scheme can synchronously rotate at the same angle (for example, rotate 90 degrees), so that the special vehicle can transversely steer, and the steering maneuverability of the special vehicle in a narrow space is improved.

In addition, the technical solution provided by the above embodiment of the present invention can also have the following additional technical features:

among the above-mentioned technical scheme, the special type vehicle still includes: the cylinder sleeve is sleeved outside the telescopic oil cylinder, and at least part of a piston rod of the telescopic oil cylinder is arranged in the cylinder sleeve; and the braking device is arranged on the side surface of the steering wheel and used for limiting the rotation of the steering wheel. The cylinder sleeve, the telescopic oil cylinder and the braking device are matched with each other and used for driving the steering wheel to rotate or stop so as to realize the pivot steering of the special vehicle.

In any of the above technical solutions, the special vehicle further includes a sensing device. The sensing device is arranged on the vehicle body and used for generating a distance signal between the vehicle body and the obstacle.

In the embodiment, the sensing device is arranged on the vehicle body to generate a distance signal between the vehicle body and the obstacle, so that the distance between the special vehicle and the obstacle is detected, and the danger caused by the fact that the special vehicle touches the obstacle in the pivot steering process is avoided.

In any of the above solutions, the sensing device includes one or more first sensing devices and one or more second sensing devices. The first sensing device is arranged on any side of the vehicle body. The second sensing device is arranged on the other side of the vehicle body opposite to any side, and the first sensing device and the second sensing device are matched with each other to respectively generate distance signals between the two opposite sides of the vehicle body and the obstacle.

In this embodiment, one or more first sensing devices are arranged on one side of the vehicle body, one or more second sensing devices are arranged on the other side of the vehicle body, and the first sensing devices and the second sensing devices are mutually matched to realize respective detection of distances between two sides of the vehicle body and an obstacle, so that the accuracy of the detection of the distances between the vehicle body and the obstacle is improved, and the danger caused by the fact that a special vehicle touches the obstacle in the steering process is avoided.

In any of the above technical solutions, the special vehicle further includes a prompting device. The prompting device is in communication connection with the sensing device to receive the detection signal of the sensing device and output prompting information.

In this embodiment, the prompting device is in communication connection with the sensing device and is used for receiving the detection signal of the sensing device and outputting the prompting information, so that a user can conveniently control the in-situ steering device to move according to the prompting information, and danger caused by the fact that a special vehicle touches an obstacle in the in-situ steering process is avoided.

In any of the above technical solutions, the pivot steering apparatus includes a plurality of steered wheels. Any steering wheel is respectively and suitably provided with a corresponding telescopic oil cylinder and a corresponding guide driving rod piece.

The pivot steering device in the embodiment can comprise a plurality of steering wheels so as to realize the stable support of the steering wheels for special vehicles. Any steering wheel is respectively matched with a telescopic oil cylinder and a hydraulic guide rod, and the steering wheels are matched with the telescopic oil cylinder and the hydraulic guide rod to realize steering and walking of the steering wheels at different angles, so that the aim of in-situ steering of special vehicles is fulfilled.

In any one of the above technical solutions, the four steering wheels of the pivot steering device are arranged in the middle of the chassis in an array manner, and a driving motor is arranged on the side surface of at least one steering wheel and used for driving the steering wheel to rotate.

In the embodiment, the number of the steering wheels of the special vehicle is four, and the steering wheels are arranged under the chassis in an array manner, so that the special vehicle is stably supported, and the risks of side turning and the like of the special vehicle in the steering process are avoided.

In any one of the above technical solutions, the special vehicle further includes: and the control device is in communication connection with the sensing device, the guide driving rod piece, the braking device and the driving motor respectively, and controls the guide driving rod piece to stretch and/or the braking device to act and/or the driving motor to start and stop according to a detection signal generated by the sensing device.

In this embodiment, the control device controls the pivot steering device to move according to the distance between the vehicle body and the obstacle detected by the sensing device, so that the vehicle is prevented from being in danger due to the fact that the vehicle touches the obstacle in the pivot process. In any of the above technical solutions, the guide driving rod is a hydraulic driving cylinder; the steering wheel is a steel wheel.

The hydraulic driving oil cylinder has stable performance and low cost, the material strength of the steel wheel is excellent, and the in-situ steering requirement of special vehicles can be met.

In any of the above technical solutions, the special vehicle body further includes at least one or a combination of: winch draw gear, davit device, lighting device, equipment accommodate device, extinguishing device.

The special vehicle in the embodiment comprises one or a combination of a winch traction device, a suspension arm device, a lighting device, an equipment containing device and a fire extinguishing device, so that the applicability of the special vehicle is improved, and the special vehicle can meet the use requirements of different operation tasks.

In order to realize the utility model discloses a second purpose, the embodiment of the utility model provides a special vehicle control method for control special vehicle carries out pivot and turns to, including the flexible hydro-cylinder of control special vehicle with special vehicle jack-up in order to leave ground. And controlling a guide driving rod piece of the special vehicle to drive a steering wheel of the special vehicle to rotate along the axis of the telescopic oil cylinder so as to adjust the swing angle of the steering wheel. Controlling a driving motor of the special vehicle to drive a steering wheel to walk so as to steer the special vehicle in situ; the driving motor of the vehicle is controlled to stop rotating, and the braking device of the vehicle is controlled to brake so as to perform steering braking on the vehicle.

The method for controlling the special vehicle to rotate in place comprises the step of controlling a telescopic oil cylinder of the special vehicle to jack the special vehicle up to leave the ground, so that the problem that the special vehicle is difficult to rotate due to friction force between tires and the ground in the rotating process is avoided. After the special vehicle leaves the ground, the special vehicle is supported by the steering wheels. The hydraulic guide rod drives the steering wheel to rotate, and the steering wheel is adjusted to a preset angle. The steering driving of the special vehicle at different angles can be realized through different rotating angles of the steering wheels. The driving motor drives the steering wheel to walk according to the adjusted angle, and the purpose of in-situ steering of the special vehicle is achieved. And then the braking device executes braking action to perform steering braking on the special vehicle.

In addition, the technical solution provided by the above embodiment of the present invention can also have the following additional technical features: among the above-mentioned any technical scheme, four directive wheel arrays set up in the chassis middle part, and the directive wheel who controls special type vehicle's direction drive member drive special type vehicle rotates to the angle of adjustment directive wheel specifically includes: and controlling each steering wheel to rotate by the same angle along the same direction respectively so as to enable the steering wheels to be parallel to each other after rotating, or controlling any two adjacent steering wheels to rotate by the same angle along the opposite direction respectively, and controlling the other two steering wheels to rotate by the same angle along the opposite direction respectively so as to enable any two opposite steering wheels to be parallel to each other after rotating.

In the embodiment, four steering wheels of the special vehicle are arranged in an array below a chassis of the special vehicle to play a role in stably supporting the special vehicle. The guiding driving rod piece drives the steering wheel of the special vehicle to rotate so as to adjust the angle of the steering wheel, and the guiding driving rod piece controls the steering wheel to rotate by the same angle along the same direction respectively so that the steering wheels are kept parallel after rotating. The driving motor drives the steering wheels which are parallel to each other to run after rotating, so that the purpose that the special vehicle runs in the direction perpendicular to the advancing direction is achieved, the maneuverability of the special vehicle in a narrow space is improved, the special vehicle meets the operation requirements in different environments, or any two adjacent steering wheels are controlled to rotate by the same angle respectively in the opposite directions, the other two steering wheels are controlled to rotate by the same angle respectively in the opposite directions, so that any two opposite steering wheels are parallel to each other after rotating, the special vehicle can move by any angle, and the purpose that the special vehicle can achieve in-situ steering without turning around is achieved. In other words, the technical scheme not only can realize the pivot steering of the special vehicle, but also can realize the steering of the special vehicle in a crab-shaped mode by rotating the steering wheels. Wherein, the crab shape means: more than two steering wheels which are arranged in parallel or side by side in the technical scheme can synchronously rotate at the same angle (for example, rotate 90 degrees), so that the special vehicle can transversely steer, and the steering maneuverability of the special vehicle in a narrow space is improved.

In any of the above technical solutions, before the telescopic cylinder executing the control of the special vehicle jacks up the special vehicle to leave the ground, the special vehicle control method further includes: the sensing device for controlling the special vehicle detects the distance between the vehicle body of the special vehicle and the obstacle. And according to the detection result of the sensing device, centering adjustment is carried out on the special vehicle.

In the embodiment, before the telescopic oil cylinder jacks up the special vehicle to leave the ground, the special vehicle control method comprises the step of controlling the special vehicle to detect the distance between a vehicle body of the special vehicle and an obstacle. According to the detection result of the sensing device, the special vehicle is centered and adjusted, the rotating radius of the special vehicle in pivot steering is reduced, and meanwhile, the danger caused by collision between the special vehicle and an obstacle during steering is avoided.

Additional aspects and advantages of the invention will be set forth in part in the description which follows, or may be learned by practice of the invention.

Drawings

The above and/or additional aspects and advantages of the present invention will become apparent and readily appreciated from the following description of the embodiments, taken in conjunction with the accompanying drawings of which:

fig. 1 is a first structural schematic diagram of a special vehicle according to some embodiments of the present invention;

FIG. 2 is a schematic structural view of an in-situ steering apparatus according to some embodiments of the present invention;

fig. 3 is a block diagram of a sensing device according to some embodiments of the present invention;

fig. 4 is a second schematic structural view of a special vehicle according to some embodiments of the present invention;

fig. 5 is a block diagram of a special vehicle according to some embodiments of the present invention;

FIG. 6 is a schematic view of a first pivot steering mode of a specialty vehicle according to some embodiments of the present invention;

FIG. 7 is a schematic view of a second pivot steering mode of a specialty vehicle according to some embodiments of the present invention;

fig. 8 is a flowchart illustrating a first step of a special vehicle control method according to some embodiments of the present invention;

fig. 9 is a flowchart illustrating a second step of a special vehicle control method according to some embodiments of the present invention;

fig. 10 is a flow chart illustrating a third step of a special vehicle control method according to some embodiments of the present invention;

fig. 11 is a flowchart illustrating a fourth step of a special vehicle control method according to some embodiments of the present invention;

fig. 12 is a flowchart illustrating a fifth step of a special vehicle control method according to some embodiments of the present invention.

Wherein, the correspondence between the reference numbers and the part names in fig. 1 to 7 is:

100: special vehicle, 110: vehicle body, 112: chassis, 120: pivot steering device, 121: cylinder liner, 122: telescopic oil cylinder, 123: piston rod, 124: steering wheel, 126: guide driving lever, 128: drive motor, 130: sensing means, 132: first sensing device, 134: second sensing device, 140: control device, 150: presentation device, 160: braking device, 170: winch traction device, 172: boom device, 174: illumination device, 176: equipment accommodation device, 178: fire extinguishing apparatus, 182: rotation shaft, 184: connecting pin shaft, 186: steering sleeve, D₁: first direction, D₂: a second direction.

Detailed Description

In order to make the aforementioned objects, features and advantages of the present invention more clearly understood, the present invention will be described in further detail with reference to the accompanying drawings and detailed description. It should be noted that the embodiments and features of the embodiments of the present application may be combined with each other without conflict.

In the following description, numerous specific details are set forth in order to provide a thorough understanding of the present invention, however, the present invention may be practiced in other ways than those specifically described herein, and therefore the scope of the present invention is not limited by the specific embodiments disclosed below.

A special vehicle 100 and a special vehicle control method according to some embodiments of the present invention will be described below with reference to fig. 1 to 12.

Example 1

As shown in fig. 1, the present embodiment provides a special vehicle 100. Including a vehicle body 110 and a pivot steering device 120. The vehicle body 110 includes a chassis 112. The pivot steering apparatus 120 is disposed below the chassis 112. The pivot steering apparatus 120 includes a telescopic cylinder 122, a steering wheel 124, a steering driving rod 126, and a driving motor 128. The steering wheel 124 is provided at the lower end of the telescopic cylinder 122. The guide driving rod 126 is connected with the steering wheel 124 and is used for driving the steering wheel 124 to rotate along the axis of the telescopic cylinder 122 so as to adjust the swinging angle of the steering wheel 124. The telescopic cylinder 122 jacks up the special vehicle 100 in an extending state to enable the chassis 112 to leave the ground, and the telescopic cylinder 122 enables the special vehicle 100 to fall in a contracting state to enable the chassis 112 to be in contact with the ground.

The special vehicle 100 in the present embodiment includes a vehicle body 110 and a pivot steering device 120. Specifically, the special vehicle 100 may be an emergency rescue vehicle, an engineering work vehicle, or the like. The pivot steering device 120 is arranged below the chassis 112 of the special vehicle 100 and comprises a telescopic oil cylinder 122, a steering wheel 124, a guide driving rod 126 and a driving motor 128. The telescopic cylinder 122 is switched between an extended state and a contracted state. For example, when the special vehicle 100 needs to be controlled to steer in situ, the telescopic cylinder 122 is controlled to be in an extended state, and the telescopic cylinder 122 jacks up the special vehicle 100 until the tires of the special vehicle 100 leave the ground to a certain height, so that the friction force between the tires and the ground during the steering in situ is prevented from influencing the rotation of the special vehicle 100. After the tires of the special vehicle 100 leave the ground, the vehicle body 110 is supported by the steering wheel 124 below the telescopic oil cylinder 122. The steering driving rod 126 drives the steering wheel 124 to rotate to a preset angle, and the driving motor 128 is used for driving the steering wheel 124 to walk according to the rotated angle so as to realize pivot steering of the special vehicle 100.

It will be appreciated that the steerable wheel 124 may be rotated 360 in a plane. In some embodiments of the present embodiment, the steerable wheel 124 is a steel wheel. The rotation and movement of the special vehicle 100 at different angles can be realized by different rotation angles of the steering wheel 124.

In other embodiments of the present invention, one driving motor 128 may drive one steering wheel 124, or one driving motor 128 may drive a plurality of steering wheels 124, so as to realize the pivot steering of the special vehicle 100.

The special vehicle 100 of the embodiment includes one of an emergency rescue vehicle, a fire fighting vehicle, an engineering work vehicle, or a combination thereof. It should be noted that the special vehicle 100 of the present embodiment is particularly suitable for being used as an emergency rescue vehicle. In particular, rescue vehicles often need to perform rescue in narrow environments such as tunnels. In order to carry more pairs of rescue personnel and rescue substances or carry out more effective rescue operation, an emergency rescue vehicle with relatively large volume is generally adopted to achieve better emergency rescue effect. However, this brings about a problem that the rescue vehicle is difficult to turn in a narrow environment such as a tunnel. Therefore, the fast and convenient steering of the emergency rescue vehicle can be realized through the pivot steering device 120, so that the rescue efficiency is improved.

Example 2

As shown in fig. 2, the present embodiment provides a special vehicle 100. In addition to the technical features of embodiment 1 described above, the present embodiment includes the following technical features.

The special vehicle 100 further includes: the cylinder sleeve 121 is sleeved outside the telescopic oil cylinder 122, and at least part of a piston rod 123 of the telescopic oil cylinder 122 is arranged in the cylinder sleeve 121. The brake device 160 is provided on the side of the steered wheel 124 to restrict the steered wheel 124 from rotating. The cylinder sleeve 121, the telescopic cylinder 122 and the brake device 160 are mutually matched and used for driving the steering wheel 124 to rotate or stop so as to realize pivot steering of the special vehicle 100.

Example 3

As shown in fig. 1 and 3, the present embodiment provides a special vehicle 100. In addition to the technical features of embodiment 1 described above, the present embodiment includes the following technical features.

The specialty vehicle 100 also includes a sensing device 130. The sensing device 130 is disposed on the vehicle body 110 and is used for generating a distance signal between the vehicle body 110 and an obstacle.

The sensing device 130 is provided on the vehicle body 110 in the present embodiment. For example, the sensing device 130 may be an infrared sensing device, an ultrasonic sensing device, a radar sensing device, or the like, and is configured to detect a distance between the vehicle body 110 and an obstacle, and the driver adjusts the special vehicle 100 according to the distance information acquired by the sensing device 130, so as to avoid the danger caused by the fact that the special vehicle 100 touches the obstacle when rotating.

In addition, the sensing device 130 of the present embodiment can also realize centering work of the special vehicle 100. Namely: the distance between the left and right sides or either one of the left and right sides of the vehicle body 110 with respect to an obstacle such as a tunnel wall is detected by the sensor device 130 so that the special vehicle 100 can make position adjustment in a narrow space such as a tunnel to adjust the position of the special vehicle 100 itself to an intermediate position of the tunnel, thereby facilitating pivot steering.

Example 4

As shown in fig. 3 and 4, the present embodiment provides a special vehicle 100. In addition to the technical features of any of the above embodiments, the present embodiment includes the following technical features.

The sensing device 130 includes one or more first sensing devices 132 and one or more second sensing devices 134. The first sensing device 132 is disposed on any side of the vehicle body 110, the second sensing device 134 is disposed on the other side of the vehicle body 110 opposite to the any side, and the first sensing device 132 and the second sensing device 134 cooperate with each other to generate distance signals between the two opposite sides of the vehicle body 110 and the obstacle, respectively.

The sensing device 130 in this embodiment includes one or more first sensing devices 132 and one or more second sensing devices 134. One or more first sensing devices 132 are arranged on one side of the vehicle body 110, one or more second sensing devices 134 are arranged on the other side of the vehicle body 110, and the purpose of respectively detecting the distance between two sides of the vehicle body 110 and an obstacle is achieved through the matching of the first sensing devices 132 and the second sensing devices 134, so that the accuracy of detecting the distance between the vehicle body 110 and the obstacle is improved, and the special vehicle 100 is assisted to realize centering operation.

It is to be understood that the first sensing device 132 and the second sensing device 134 may be the same type or model of sensing device, and the first sensing device 132 and the second sensing device 134 differ only in the mounting position on the vehicle body 110.

Example 5

As shown in fig. 5, the present embodiment provides a special vehicle 100. In addition to the technical features of any of the above embodiments, the present embodiment includes the following technical features.

The specialty vehicle 100 also includes a reminder device 150. The prompting device 150 is in communication connection with the sensing device 130 to receive the detection signal of the sensing device 130 and output prompting information.

In this embodiment, the special vehicle 100 includes the prompting device 150, and the prompting device 150 is connected to the sensing device 130 in a communication manner, and it is understood that the prompting device 150 and the sensing device 130 may be connected through a wired communication manner or a wireless communication manner. The prompting device 150 outputs prompting information to the user according to the distance between the vehicle body 110 and the obstacle detected by the sensing device 130, so that the danger caused by the user touching the obstacle when the user operates the special vehicle 100 to steer in place is avoided.

The prompting device 150 can output voice, sound, characters, symbols, light signals and the like to realize the prompting and early warning function.

Example 6

As shown in fig. 2, the present embodiment provides a special vehicle 100. In addition to the technical features of any of the above embodiments, the present embodiment includes the following technical features.

The pivot steering apparatus 120 includes a plurality of steering wheels 124, and each steering wheel 124 is adapted with a corresponding telescopic cylinder 122 and a steering drive rod 126.

The steering device in the present embodiment includes a plurality of steered wheels 124 to play a role of stably supporting the vehicle body 110. Any steering wheel 124 is respectively matched with a corresponding telescopic oil cylinder 122, a corresponding guide driving rod 126 and a corresponding driving motor 128, and the purpose of in-situ steering of the special vehicle 100 is achieved through the matching of the steering wheel 124, the telescopic oil cylinder 122, the corresponding guide driving rod 126 and the corresponding driving motor 128.

The steering wheel 124 of the present embodiment may be two, four, six or more.

Example 7

As shown in fig. 1 and 2, the present embodiment provides a special vehicle 100. In addition to the technical features of any of the above embodiments, the present embodiment includes the following technical features.

The four steering wheels 124 of the pivot steering apparatus 120 are arranged in the middle of the chassis 112, wherein a driving motor 128 is arranged on the side of at least one steering wheel 124, and the driving motor 128 is used for driving the steering wheel 124 to rotate.

In this embodiment, the number of the steering wheels 124 of the pivot steering apparatus 120 of the special vehicle 100 is four, and the steering wheels are arranged in an array under the chassis 112 of the special vehicle 100, so as to play a role of stably supporting the vehicle body 110, and avoid the danger of rollover and the like of the vehicle body 110 during the pivot steering process.

The array arrangement in this embodiment means: the four steerable wheels 124 are arranged in two rows, each row being provided with two steerable wheels 124. The four steering wheels 124 of the present embodiment can realize the crab running operation of the special vehicle 100, and can also realize pivot steering by rotating the front and rear four steering wheels 124 into a state where the front and rear steering wheels are parallel to each other at opposite angles.

Example 8

The special vehicle 100 further comprises a control device 140, the control device 140 is in communication connection with the sensing device 130, the guide driving rod 126, the braking device 160 and the driving motor 128 respectively, and the control device 140 controls the guide driving rod 126 to extend and/or the braking device 160 to act and/or the driving motor 128 to start and stop according to detection signals generated by the sensing device 130.

In this embodiment, the control device 140 controls the relevant components of the pivot steering device 120 to operate according to the distance between the vehicle body 110 and the obstacle detected by the sensing device 130, so as to avoid the danger caused by the special vehicle 100 touching the obstacle in the pivot process.

Example 9

The present embodiment provides a special vehicle 100. In addition to the technical features of any of the above embodiments, the present embodiment includes the following technical features.

The pilot drive rod 126 is a hydraulic drive cylinder. The steering wheel 124 is a steel wheel.

The hydraulic driving oil cylinder has stable performance and low cost, the material strength of the steel wheel is excellent, and the in-situ steering requirement of the special vehicle 100 can be met.

Example 10

The special vehicle body 110 further comprises at least one or a combination of: winch tow 170, boom apparatus 172, lighting apparatus 174, equipment containment apparatus 176, fire suppression apparatus 178.

Specifically, the winch towing device 170 is used to tow other faulty vehicles, the boom device 172 is used to lift heavy objects or large equipment, etc., the lighting device 174 is used to provide lighting for the working environment of the special vehicle 100, the equipment receiving device 176 is used to receive equipment, and the fire extinguishing device 178 is used to rescue a fire. The special vehicle 100 can meet the use requirements of different operation tasks through the devices, the applicability of the special vehicle 100 is improved, and one vehicle has multiple purposes.

Example 11

As shown in fig. 8, the present embodiment provides a special vehicle control method for controlling a special vehicle 100 according to any embodiment of the present invention to perform pivot steering. The special vehicle control method comprises the following steps:

step S102, controlling a telescopic oil cylinder of the special vehicle to jack the special vehicle to leave the ground;

step S104, controlling a guide driving rod of the special vehicle to drive a steering wheel of the special vehicle to rotate along the axis of the telescopic oil cylinder so as to adjust the swing angle of the steering wheel;

step S106, controlling a driving motor of the special vehicle to drive a steering wheel to walk so as to steer the special vehicle in situ;

and step S108, controlling the driving motor of the vehicle to stop rotating, and controlling the braking device of the vehicle to brake so as to perform steering braking on the special vehicle.

The method for controlling the special vehicle 100 to perform pivot steering in the embodiment includes: and step S102, controlling the telescopic oil cylinder 122 of the special vehicle 100 to jack up the special vehicle 100 to leave the ground. The difficulty in steering the special vehicle 100 caused by the friction force between the tires and the ground in the pivot steering process of the special vehicle 100 is avoided. And step S104, controlling the guide driving rod 126 of the special vehicle 100 to drive the steering wheel 124 of the special vehicle 100 to rotate so as to adjust the angle of the steering wheel 124. And S106, controlling the driving motor 128 of the special vehicle 100 to drive the steering wheel 124 to walk so as to steer the special vehicle 100 in situ. After the steering wheel 124 of the special vehicle 100 is driven to rotate to a preset angle by the guiding driving rod 126, the driving motor 128 drives the steering wheel 124 to rotate according to the adjusted angle, so as to achieve the purpose of pivot steering of the special vehicle 100.

Example 12

As shown in fig. 9 and 10, the present embodiment provides a special vehicle control method, and in addition to the technical features of embodiment 11 described above, the present embodiment further includes the following technical features.

The four steering wheels 124 are arranged in the middle of the chassis 112 in an array manner, and are used for controlling a guide driving rod of the special vehicle to drive the steering wheels of the special vehicle to rotate so as to adjust the angle of the steering wheels, and the steering wheel angle adjusting method specifically comprises the following steps:

step S202, controlling each steering wheel to rotate by the same angle along the same direction respectively so as to enable each steering wheel to keep parallel after rotating; or

Step S302, controlling any two adjacent steering wheels to rotate by the same angle along the opposite direction, and controlling the other two steering wheels to rotate by the same angle along the opposite direction, so that any two opposite steering wheels keep parallel after rotating.

The steering wheels 124 of the special vehicle 100 in this embodiment are four and are arranged in an array under the chassis 112 to play a role of stably supporting the special vehicle 100. Controlling the steering driving rod 126 of the special vehicle 100 to drive the steering wheel 124 of the special vehicle 100 to rotate so as to adjust the angle of the steering wheel 124, specifically comprising: step S202, controlling each steering wheel 124 to rotate by the same angle in the same direction, so that the steering wheels 124 are kept parallel to each other after rotating, and driving the driving motor 128 to drive the steering wheels 124 parallel to each other to move, so that the special vehicle 100 travels in the direction perpendicular to the direction of the vehicle head, so that the special vehicle 100 meets the operation requirement in a narrow space, or step S204, controlling any two adjacent steering wheels 124 to rotate by the same angle in the opposite direction, and controlling the other two steering wheels 124 to rotate by the same angle in the opposite direction, so that any two opposite steering wheels 124 are kept parallel to each other after rotating. The driving steering wheel 124 moves along the direction parallel to any relative steering wheel 124 after rotating, so as to realize the purpose of in-situ steering of the special vehicle 100 and meet the requirements of different working environments.

Example 13

As shown in fig. 11, the present embodiment provides a special vehicle control method, and in addition to the technical features of any one of the above embodiments, the present embodiment further includes the following technical features.

Before the control of the telescopic oil cylinder of the special vehicle to jack up the special vehicle to leave the ground is executed, the special vehicle control method further comprises the following steps:

step S402, controlling a sensing device of the special vehicle to detect the distance between a vehicle body of the special vehicle and an obstacle;

and S404, performing centering adjustment on the special vehicle according to the detection result of the sensing device.

In this embodiment, before the telescopic cylinder 122 of the special vehicle 100 is controlled to jack up the special vehicle 100 to leave the ground, the special vehicle control method further includes a step S402 of controlling the sensing device of the special vehicle 100 to detect the distance between the vehicle body 110 of the special vehicle 100 and the obstacle, and a step S404 of centering the special vehicle 100 according to the detection result of the sensing device. The distance between the vehicle body 110 and the obstacle is acquired through the sensing device before the special vehicle 100 turns around, and the special vehicle 100 is centered and adjusted according to the detection result of the sensing device, so that the danger caused by the fact that the special vehicle 100 touches the obstacle in the turning around process is avoided.

DETAILED DESCRIPTION OF EMBODIMENT (S) OF INVENTION

When an accident happens inside the tunnel, traffic paralysis is easy to cause, and if the accident is not timely processed, a secondary accident is likely to happen. The tunnel has narrow internal roads, and the rescue vehicle in the related technology has larger size and weaker mobility, so the rescue performance is limited under the condition of limited site space, the rescue progress is influenced, the traffic jam is caused, and even a secondary traffic accident is caused.

For example, when an emergency rescue vehicle in the related art works in a narrow space, the emergency rescue vehicle cannot move in the direction perpendicular to the direction of the vehicle head without turning the vehicle head, so that the mobility is poor, and the emergency rescue time is delayed. And the chassis of the vehicle needs to be greatly changed when the pivot steering of the vehicle is realized, so that the cost of the emergency rescue vehicle is increased.

In order to solve the above-mentioned problems in the related art, as shown in fig. 1, the present embodiment provides a special vehicle 100, and specifically, the special vehicle 100 may be an emergency rescue work vehicle. The specialty vehicle 100 includes a winch hitch 170, a boom apparatus 172, a lighting apparatus 174, an equipment receptacle 176, and a fire suppression apparatus 178. For example, the boom device 172 may be a heavy-duty folding arm or a multi-stage telescopic boom, so as to meet the operation requirement of the special vehicle 100 in a narrow and low space. Through the device, one special vehicle 100 has multiple purposes, the use requirements of the special vehicle 100 in different operation environments are met, and the applicability of the special vehicle 100 is improved.

As shown in fig. 1 and 2, the specialty vehicle 100 also includes a pivot steering apparatus 120. The pivot steering device 120 is disposed below the chassis 112. In some embodiments of the present embodiment, the number of the steering wheels 124 of the pivot steering apparatus 120 is four, and the array facility is provided at the lower end of the chassis 112, and functions to stably support the special vehicle 100.

The pivot steering apparatus 120 includes a steering wheel 124, a telescopic cylinder 122, a guide driving rod 126, and a driving motor 128. Further, the driving motor 128 and the steering wheel 124 are connected to each other via a rotating shaft 182. The telescopic oil cylinder 122 and the steering wheel 124 are connected through a connecting pin 184. A steering sleeve 186 is provided between the guide driving rod 126 and the telescopic cylinder 122. The pivot steering of the special vehicle 100 is realized through the mutual cooperation among the steering wheel 124, the telescopic oil cylinder 122, the guide driving rod 126 and the driving motor 128.

Specifically, as shown in fig. 5, when the special vehicle 100 needs to be steered in place, the driver inputs control information into the control system, the sensing device 130 acquires the distance between the vehicle body 110 and the obstacle, the prompting device 150 generates prompting information according to the information acquired by the sensing device 130, and the driver can adjust the position of the special vehicle 100 according to the prompting information, so as to adjust the special vehicle 100 to the most central position in the restricted space, reduce the radius of the special vehicle 100 during steering in place, and avoid the danger caused by collision between the special vehicle 100 and the obstacle during steering in place.

As shown in fig. 12, the special vehicle 100 performs pivot steering by:

step S502, centering the vehicle;

step S504, the driver adjusts the vehicle according to the feedback information;

step S506, judging whether pivot steering can be carried out or not;

if yes, go to step S508, and if no, go to step S504;

step S508, performing pivot steering;

and step S510, accurate braking.

Further, as shown in FIG. 3, the sensing device 130 may include one or more first sensing devices 132 and one or more second sensing devices 134. One or more first sensing devices 132 are arranged on one side of the vehicle body 110, one or more second sensing devices 134 are arranged on the other side of the vehicle body 110, and through the matching of the first sensing devices 132 and the second sensing devices 134, the purpose of respectively generating distance signals between two sides of the vehicle body 110 and an obstacle is achieved, and the accuracy of detecting the distance between the vehicle body 110 and the obstacle is improved.

After the position of the special vehicle 100 is adjusted, the telescopic oil cylinder 122 is controlled to be in an extending state so as to jack up the special vehicle 100 until the tire leaves the ground to a certain height, and the problem that the friction force between the tire and the ground influences the rotation of the special vehicle in the pivot steering process is avoided. After the tire leaves the ground, the vehicle body 110 is supported by the steering wheel 124 under the telescopic cylinder 122. The steering wheel 124 is rotated to a predetermined angle by the guide driving link 126.

Specifically, as shown in fig. 7, the special vehicle 100 is oriented in a first direction D₁And (4) direction. The guiding driving rod 126 drives any two adjacent steering wheels 124 to rotate by the same angle in opposite directions respectively, drives the other two steering wheels 124 to rotate by the same angle in opposite directions respectively, so that any two opposite steering wheels 124 are kept parallel after rotating, four steering wheels 124 form four tangent lines of a circle, and the driving motor 128 drives the steering wheels 124 to walk according to the rotated angle, so that the special vehicle 100 is steered by 180 degrees in situ, and the special vehicle 100 is enabled to face the first direction D₁The staggered directions improve the maneuverability of the special vehicle 100, save the rescue time and avoid the occurrence of secondary accidents caused by traffic jam. Furthermore, the pivot steering of the special vehicle 100 can be completed by the mutual matching of the steering wheel 124, the telescopic oil cylinder 122, the guide driving rod 126 and the driving motor 128, so that the cost of the special vehicle 100 is reduced.

Further, as shown in fig. 6, the special vehicle 100 is oriented in the first direction D₁In the direction, the guide driving link 126 drives each of the steering wheels 124 to rotate in the same direction by the same angle, respectively, so that each of the steering wheels 124 remains parallel to each other after rotation, and specifically, the guide driving link 126 drives each of the steering wheels 124 to rotate by the same angle, respectivelyThe rod piece 126 drives the steering wheel 124 to rotate 90 degrees along the shape direction, the driving motor 128 drives the steering wheel 124 to walk according to the rotated angle, and the special vehicle 100 is driven to move along the second direction D₂The direction movement, namely the direction perpendicular to the moving direction and the direction of the special vehicle 100, improves the mobility of the special vehicle 100, so that the special vehicle 100 meets the operation requirement in a narrow space.

Further, as shown in fig. 5, when the special vehicle 100 finishes steering, the brake device 160 controls the steering wheel 124 to stop moving, so as to achieve the purpose of controlling the special vehicle 100 to stop moving.

In other real-time manners of this embodiment, the pivot steering apparatus 120 may further include a displacement sensing apparatus, an indicator, an alarm, and the like, and the driver may control the steering displacement of the special vehicle 100 according to the information acquired by the displacement sensing apparatus, and control the special vehicle 100 according to the information of the indicator and the alarm, so as to prevent the special vehicle 100 from touching an obstacle during the rotation process.

In the present application, the terms "first", "second", "third" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance; the term "plurality" means two or more unless expressly limited otherwise. The terms "mounted," "connected," "fixed," and the like are to be construed broadly, and for example, "connected" may be a fixed connection, a removable connection, or an integral connection; "coupled" may be direct or indirect through an intermediary. The specific meaning of the above terms in the present invention can be understood according to specific situations by those skilled in the art.

In the description of the present invention, it should be understood that the terms "upper", "lower", "left", "right", "front", "back", and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, and are only for convenience of description and simplification of description, but do not indicate or imply that the device or unit indicated must have a specific direction, be constructed and operated in a specific orientation, and therefore, should not be construed as limiting the present invention.

In the description of the present specification, the description of the terms "one embodiment," "some embodiments," "specific embodiments," etc., means that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the invention. In this specification, the schematic representations of the terms used above do not necessarily refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples.

The above is only a preferred embodiment of the present invention, and is not intended to limit the present invention, and various modifications and changes will occur to those skilled in the art. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.

Claims

1. A special vehicle, characterized by comprising:

a vehicle body including a chassis;

the pivot steering device is arranged below the chassis;

the pivot steering apparatus includes:

a telescopic oil cylinder;

the steering wheel is arranged at the lower end of the telescopic oil cylinder;

the guide driving rod piece is connected with the steering wheel and used for driving the steering wheel to rotate along the axis of the telescopic oil cylinder so as to adjust the swing angle of the steering wheel;

the special vehicle is jacked up by the telescopic oil cylinder in an extending state so that the chassis is separated from the ground, and the special vehicle falls down by the telescopic oil cylinder in a contracting state so that the chassis is contacted with the ground.

2. The specialty vehicle of claim 1, further comprising:

the cylinder sleeve is sleeved outside the telescopic oil cylinder, and at least part of a piston rod of the telescopic oil cylinder is arranged in the cylinder sleeve;

and the braking device is arranged on the side surface of the steering wheel and used for limiting the steering wheel to rotate.

3. The specialty vehicle of claim 1, further comprising:

the sensing device is arranged on the vehicle body and used for generating a distance signal between the vehicle body and an obstacle.

4. A specialty vehicle according to claim 3, wherein said sensing means comprises:

one or more first sensing devices;

one or more second sensing devices;

the first sensing device is arranged on any side of the vehicle body, the second sensing device is arranged on the other side, opposite to the any side, of the vehicle body, and the first sensing device and the second sensing device are matched with each other to respectively generate distance signals between two sides of the vehicle body and an obstacle.

5. A specialty vehicle according to claim 3, further comprising:

and the prompting device is in communication connection with the sensing device so as to receive the detection signal of the sensing device and output prompting information.

6. A specialty vehicle according to any one of claims 2 to 5,

the pivot steering device comprises a plurality of steering wheels, and any steering wheel is respectively matched with the corresponding telescopic oil cylinder and the corresponding guide driving piece.

7. A specialty vehicle according to claim 6,

the pivot steering device comprises four steering wheels which are arranged in the middle of the chassis in an array mode, wherein a driving motor is arranged on the side face of at least one steering wheel and used for driving the steering wheels to rotate.

8. The specialty vehicle of claim 7, further comprising:

the control device is in communication connection with the sensing device, the guide driving rod piece, the braking device and the driving motor respectively, and controls the guide driving rod piece to stretch and/or the braking device to act and/or the driving motor to start and stop according to detection signals generated by the sensing device.

9. A specialty vehicle according to any one of claims 1 to 5,

the guide driving rod piece is a hydraulic driving oil cylinder;

the steering wheel is a steel wheel.

10. A specialty vehicle according to any one of claims 1 to 5, wherein said vehicle body further comprises at least one or a combination of:

winch draw gear, davit device, lighting device, equipment accommodate device, extinguishing device.