WO2022247243A1

WO2022247243A1 - Liftable chassis and aerial work vehicle

Info

Publication number: WO2022247243A1
Application number: PCT/CN2021/139058
Authority: WO
Inventors: 李政; 刘国良
Original assignee: 湖南星邦智能装备股份有限公司
Priority date: 2021-05-27
Filing date: 2021-12-17
Publication date: 2022-12-01
Also published as: CN113119674A

Abstract

A liftable chassis and an aerial work vehicle. A lifting mechanism is provided between a tire and a lower frame body, such that when crossing an obstacle, the lifting mechanism lifts up the lower frame body, so that the lower frame body can cross the obstacle easily. When a vehicle travels to go uphill or downhill, by lifting or lowering the lower frame body, the lower frame body can be in a horizontal state, thereby preventing the vehicle from tipping over in a traveling process. The lifting mechanism can drive the lower frame body to ascend and descend relative to the ground, such that in an operation process, the lower frame body descends by means of the lifting mechanism, and the center of gravity of the whole vehicle further descends, thereby improving the engine performance of the vehicle in the operation process.

Description

Liftable chassis and high-altitude operation vehicle

This application claims the priority of the Chinese patent application with the application number 202110584565.9 and the title of the invention "a liftable chassis and aerial work vehicle" submitted to the China Patent Office on May 27, 2021, the entire contents of which are incorporated herein by reference Applying.

technical field

The invention relates to the field of engineering vehicles, in particular to a liftable chassis and an aerial work vehicle.

Background technique

Construction machinery chassis is an important part of construction vehicles. Due to its heavy weight, construction machinery chassis often needs to be disassembled during transportation. In order to meet this requirement, combined construction machinery chassis has become the most commonly used chassis structure.

However, because the engineering vehicle needs to be moved, and the engineering vehicle with this engineering machinery chassis will have an excessive climbing angle during driving, so that the engineering vehicle using this engineering machinery chassis is not stable in the process of going up and down. Well, it is easy to overturn, so the construction vehicle using the existing construction machinery chassis cannot have both road passability and working condition performance.

Contents of the invention

In view of this, the embodiment of the present invention provides a liftable chassis and an aerial work vehicle to solve the problem that the existing construction machinery chassis engineering vehicles cannot have both road passability and working condition performance.

In order to achieve the above purpose, embodiments of the present invention provide the following technical solutions:

The first aspect of the present invention discloses a liftable chassis, including a lower frame body, a tire bracket and multiple pairs of tires;

Multiple pairs of tires are mounted on both sides of the lower frame body through the tire brackets;

The liftable chassis also includes: a lifting mechanism arranged between the tire and the lower frame body;

The lifting mechanism can drive the lower frame body to lift relative to the ground.

Preferably, the lifting mechanism includes a link frame, a first link, a second link and a first telescopic member;

Along the vertical direction, the lower frame body is provided with a first hinge point and a second hinge point, the first hinge point is hinged to the first end of the first connecting rod, and the second hinge point is connected to the The first end of the second connecting rod is hinged;

Along the vertical direction, the first side of the link frame is provided with a third hinge point and a fourth hinge point, the third hinge point is hinged with the second end of the first link, and the fourth hinge point The point is hinged to the second end of the second connecting rod;

The link frame is located in the area between the third hinge point and the fourth hinge point, the first link, the second link and the lower frame body are located in the first hinge The area between the point and said second hinge point constitutes a four-bar linkage;

The first end of the first telescopic member is hinged between the first hinge point and the second hinge point, and the second end is hinged to the link frame, and the expansion and contraction of the first telescopic member can drive the Four-bar linkage movement.

Preferably, the four-bar linkage mechanism is a parallel four-bar linkage mechanism.

Preferably, the second end of the first telescopic member is hinged to the third hinge point, and the link frame, the first connecting rod and the first telescopic member form a triangular structure.

Preferably, the first telescopic member is a lifting cylinder.

Preferably, the first end of the first link is connected to the lower frame body through a link pin, and the second end is connected to the link frame through a link pin;

The first end of the second connecting rod is connected with the lower frame body through the connecting rod pin, and the second end is connected with the connecting rod frame through the connecting rod pin.

Preferably, the number of tires is N, the number of lifting mechanisms is 2, and N is an even number greater than or equal to 4;

The two lifting mechanisms are arranged on one side of the lower frame body;

Or, two lifting mechanisms are arranged between one pair of the tires and the lower frame body.

Preferably, it also includes a steering mechanism for changing the angle of at least one pair of said tires;

The tire bracket is connected to the link frame through a bracket pin, and the steering mechanism is used to drive the tire bracket to rotate around the horizontal direction of the link frame;

The steering mechanism includes a steering cylinder;

One end of the steering oil cylinder is fixed on the link frame, and the other end is connected with the tire bracket through the steering oil cylinder pin shaft.

Preferably, it also includes a power mechanism for driving at least one pair of said tires to rotate;

The power mechanism includes a speed reducer and a traveling motor;

The travel motor is arranged in the reducer, one end of the reducer is fixed to the tire bracket, and the other end is fixed to the tire.

Preferably, the number of tires is N, the number of lifting mechanisms is N, and the number of steering mechanisms is N, where N is an even number greater than or equal to 4.

The second aspect of the present invention discloses an aerial work vehicle, comprising: the liftable chassis as disclosed in the first aspect of the present invention.

It can be seen from the above that the present invention discloses a liftable chassis and an aerial work vehicle. By providing a lifting mechanism between the tire and the lower frame body, the lifting mechanism can lift the lower frame when passing obstacles. The rise of the main body enables the lower frame body to easily pass through obstacles. When the vehicle is climbing or descending, the lower frame body can be raised and lowered to make the lower frame body in a horizontal state, thereby preventing the vehicle from In the event of tipping, since the lifting mechanism can drive the lower frame body to rise and fall relative to the ground, the lower frame body can be lowered by the lifting mechanism during the working process, thereby reducing the center of gravity of the vehicle, so that the vehicle can be lifted during the working process. The overall performance of the machine has been improved.

Description of drawings

In order to more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the following will briefly introduce the drawings that need to be used in the description of the embodiments or the prior art. Obviously, the accompanying drawings in the following description are only It is an embodiment of the present invention, and those skilled in the art can also obtain other drawings according to the provided drawings without creative work.

Fig. 1 is a schematic structural diagram of a liftable chassis provided by an embodiment of the present invention;

Fig. 2 is a partially enlarged view of a liftable chassis provided by an embodiment of the present invention;

Fig. 3 is a partial enlarged view of the lifting mechanism provided by the embodiment of the present invention.

Among them, the connecting rod frame 1, the first connecting rod 2, the steering cylinder pin 3, the reducer 4, the tire 5, the connecting rod pin 6, the lifting cylinder 7, the traveling motor 8, the lower frame body 9, the tire bracket 10, Steering oil cylinder 11, support pin shaft 12 and second connecting rod 13.

Detailed ways

The following will clearly and completely describe the technical solutions in the embodiments of the present invention with reference to the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only some, not all, embodiments of the present invention. Based on the embodiments of the present invention, all other embodiments obtained by persons of ordinary skill in the art without making creative efforts belong to the protection scope of the present invention.

In this application, the term "comprises", "comprises" or any other variation thereof is intended to cover a non-exclusive inclusion such that a process, method, article, or apparatus comprising a set of elements includes not only those elements, but also includes none. other elements specifically listed, or also include elements inherent in such a process, method, article, or apparatus. Without further limitations, an element defined by the phrase "comprising a ..." does not exclude the presence of additional identical elements in the process, method, article or apparatus comprising said element.

An embodiment of the present invention provides a liftable chassis. Referring to FIG. 1 to FIG. 3 , FIG. 1 is a schematic structural view of the liftable chassis. The liftable chassis includes a lower frame body 9 , tires 5 and tire brackets 10 ;

Multiple pairs of tires 5 are installed on both sides of the lower frame body 9 through the tire bracket 10;

The liftable chassis also includes: a lifting mechanism arranged between the tire 5 and the lower frame body 9;

The lifting mechanism can drive the lower frame body 9 to lift relative to the ground.

It should be noted that, by providing a lifting mechanism between the tire 5 and the lower frame body 9, the lifting mechanism can lift the lower frame body 9 when passing an obstacle, so that the lower frame body 9 Can easily pass through obstacles, and then when the vehicle is driving on a slope or downhill, the lower frame body 9 can be lifted and lowered to make the lower frame body 9 in a horizontal state, thereby preventing the vehicle from tipping over during driving. The mechanism can drive the lower frame body 9 to lift relative to the ground, and then during the working process, the lower frame body 9 can be lowered by the lifting mechanism, thereby lowering the center of gravity of the whole vehicle, so that the whole vehicle can be lowered during the working process. Performance is improved.

Specifically, the lifting mechanism includes: a link frame 1, a first link 2, a second link 13 and a first telescopic member;

Along the vertical direction, the lower frame body 9 is provided with a first hinge point and a second hinge point, the first hinge point is hinged with the first end of the first connecting rod 2, and the second hinge point Hinged with the first end of the second connecting rod 13;

Along the vertical direction, the first side of the link frame 1 is provided with a third hinge point and a fourth hinge point, the third hinge point is hinged to the second end of the first link 2, and the first hinge point Four hinge points are hinged with the second end of the second connecting rod 13;

The link frame 1 is located in the area between the third hinge point and the fourth hinge point, the first link 2, the second link 13 and the lower frame body 9 are located in the area between the third hinge point and the fourth hinge point. The area between the first hinge point and the second hinge point constitutes a four-bar linkage;

The first end of the first telescopic member is hinged between the first hinge point and the second hinge point, and the second end is hinged to the link frame 1, and the expansion and contraction of the first telescopic member can drive the Describe the movement of the four-bar linkage mechanism.

It should be noted that the lower frame body 9 is provided with a first hinge point for hinged first end of the first connecting rod 2 and a first end of the second connecting rod 13 along the vertical direction. The second hinge point, so that the first link 2 and the second link 13 can rotate around the lower frame body 9 in the vertical direction, and the first side of the link frame 1 is provided in the vertical direction There is a third hinge point for hinged second end of said first link 2 and a fourth hinge point of second end of said second link 13, the second side being connected to said tire bracket 10 so that the first link The rod 2 and the second link 13 can rotate around the link frame 1 in the vertical direction; thus, the link frame 1 is located in the area between the third hinge point and the fourth hinge point, the The first connecting rod 2, the second connecting rod 13 and the lower frame body 9 are located between the first hinge point and the second hinge point to form a four-bar linkage mechanism, and the first The first end of the telescopic element is hinged between the first hinge point and the second hinge point, and the second end is hinged to the link frame 1, so that the expansion and contraction of the first telescopic element can drive the four links The rod mechanism moves, and then drives the lower frame body 9 to lift relative to the ground.

Specifically, the first telescopic member is the lifting cylinder 7 .

It should be noted that the first telescopic member is set as the lifting cylinder 7, and the lifting cylinder 7 is a hydraulic upgrader with good stability, which is conducive to improving the stability during the lifting process of the chassis and ensuring the safety of the lifting process.

Preferably, the lifting mechanism includes: a link frame 1, a first link 2, a second link 13 and a second telescopic member;

The first end of the second telescopic element is hinged between the first hinge point and the second hinge point, and the second end is hinged with the link frame 1, and the expansion and contraction of the second telescopic element can drive the Describe the movement of the four-bar linkage mechanism.

Specifically, the second telescopic member can be a lead screw or a worm, and the lead screw or worm can drive the movement of the four-bar linkage structure through threaded cooperation, thereby realizing the lifting of the lower frame body 9 relative to the ground.

Further, the four-bar linkage mechanism is a parallel four-bar linkage mechanism.

It should be noted that the four-bar linkage mechanism formed by the link frame 1, the first link 2, the second link 13 and the lower frame body 9 is set as a parallel four-bar linkage mechanism, which can Ensure that the four-bar linkage mechanism can keep the tires of the vehicle perpendicular to the ground all the time during the movement process, thereby ensuring the stability of the vehicle.

Specifically, the second end of the first telescopic member is hinged to the third hinge point, and the link frame 1 , the first connecting rod 2 and the first telescopic member form a triangular structure.

It should be noted that the second end of the first telescopic member is hinged to the third hinge point so that the link frame 1, the first connecting rod 2 and the first telescopic member form a stable The triangular structure can drive the telescopic movement of the four-link structure during the expansion and contraction process of the first expansion part.

Specifically, the first end of the first connecting rod 2 is connected to the lower frame body 9 through the connecting rod pin 6, and the second end is connected to the connecting rod frame 1 through the connecting rod pin 6;

The first end of the second connecting rod 13 is connected with the lower frame body 9 through the connecting rod pin 6 , and the second end is connected with the connecting rod frame 1 through the connecting rod pin 6 .

It should be noted that the first end of the first connecting rod 2 is connected with the lower frame body 9 through the connecting rod pin 6, and the second end is connected with the connecting rod frame 1 through the connecting rod pin 6; and The first end of the second connecting rod 13 is connected with the lower frame body 9 through the connecting rod pin 6, and the second end is connected with the connecting rod frame 1 through the connecting rod pin 6, which effectively ensures that the first connecting rod The connection strength between the rod 2, the second connecting rod 13, the lower frame body 9 and the link frame 1 can avoid accidents during the lifting process of the lower frame body 9 and effectively prolong the service life of the vehicle.

Specifically, the number of the tires 5 is N, the number of the lifting mechanisms is 2, and the N is an even number greater than or equal to 4.

The two lifting mechanisms are arranged on one side of the lower frame body 9;

Or, the two lifting mechanisms are arranged between one pair of the tires 5 and the lower frame body 9 .

It should be noted that the number of the lifting mechanisms is 2, and the two lifting mechanisms are arranged on one side of the lower frame body 9. When the vehicle passes through an obstacle, the vehicle can be lifted by the lifting mechanism. One side of the vehicle is raised so that the vehicle can pass through obstacles; or two of the lifting mechanisms are arranged between a pair of the tires 5 and the lower frame body 9, during the climbing or descending process of the vehicle , through the lifting mechanism, the front end and the rear end of the vehicle are at the same level, thereby preventing the vehicle from tipping over during driving.

Further, the liftable chassis also includes a steering mechanism for changing the angle of at least one pair of tires 5;

The tire support 10 is connected to the link frame 1 through a support pin 12, and the steering mechanism is used to drive the tire support 10 to rotate around the link frame 1 horizontally;

The steering mechanism includes a steering cylinder 11;

One end of the steering cylinder 11 is fixed to the link frame 1 , and the other end is connected to the tire bracket 10 through the steering cylinder pin 3 .

It should be noted that, since the tire bracket 10 is connected to the link frame 1 through the bracket pin shaft 12, by providing a steering structure for changing the angle of at least one pair of tires 5, the steering mechanism is set as a steering oil cylinder 11. Fix one end of the steering cylinder 11 to the link frame 1, and the other end is connected to the tire support 10 through the steering cylinder pin 3, so that the steering cylinder 11 drives the tire support 10 to wrap around the link frame 1 through stretching. Turning in the horizontal direction changes the driving direction of the vehicle, making it easier for the vehicle to move in different directions.

Further, the liftable chassis also includes a power mechanism for driving at least one pair of tires 5 to rotate;

The power mechanism includes: a speed reducer 4 and a traveling motor 8;

The traveling motor 8 is arranged in the reducer 4 , one end of the reducer 4 is fixed to the tire bracket 10 , and the other end is fixed to the tire 5 .

It should be noted that by providing a power mechanism for driving at least one pair of tires 5 to rotate, the vehicle can be driven by starting the power mechanism and relying on the power of the power mechanism.

It should also be noted that the travel motor 8 is arranged in the reducer 4, and one end of the reducer 4 is fixed to the tire bracket 10, and the other end of the reducer 4 is fixed to the tire 5, and the travel motor 8 through rotation, and drive the tire 5 to rotate through the reducer 4, so as to achieve the purpose of vehicle driving.

Further, the number of tires 5 is N, the number of lifting mechanisms is N, and the number of steering mechanisms is N, where N is an even number greater than or equal to 4.

It should be noted that the number of lifting mechanisms is N, and the number of steering mechanisms is N, that is, each tire 5 and the lower frame body 9 are provided with a lifting mechanism and a steering mechanism, that is, the lifting mechanism can be The mechanism lifts the lower frame body 9 as a whole, and since each tire is provided with a steering mechanism, the turning radius of the vehicle can be reduced when the vehicle is turning, thereby facilitating the turning of the vehicle.

The embodiment of the present invention also provides an aerial work vehicle, including: a liftable chassis;

The liftable chassis includes: a lower frame body 9, tires 5 and tire brackets 10;

Multiple pairs of the tires 5 are mounted on both sides of the lower frame body 9 longitudinally along the lower frame body 9 through the tire bracket 10;

It should be noted that, by providing a lifting mechanism between the tire 5 and the lower frame body 9, the lifting mechanism can lift the lower frame body 9 when passing an obstacle, so that the lower frame body 9 It can easily pass through obstacles. When the vehicle is climbing or descending, the lower frame body 9 can be lifted and lowered to make the lower frame body 9 in a horizontal state, thereby preventing the vehicle from tipping over during driving. Because the lifting mechanism The lower frame body 9 can be driven up and down relative to the ground, and the lower frame body 9 can be lowered through the lifting mechanism during the working process, thereby lowering the center of gravity of the whole vehicle, so that the overall performance of the vehicle during the working process can be improved. promote.

In order to facilitate the understanding of the above solution, the solution will be further introduced below in combination with FIG. 1 and FIG. 3 .

One end of the connecting rod (the first connecting rod 2 and the second connecting rod 13) is connected to the upper and lower sides of the lower frame body 9 through the connecting rod pin 6, and can only rotate along the circumferential direction (vertical) of the connecting rod pin 6 The other end is connected to the link frame 1 through the link pin 6 to form a four-link structure, which is used to ensure that the tires of the vehicle remain perpendicular to the ground during the lifting process.

One end of the lifting cylinder 7 is connected to the middle of the lower frame body 9 through the connecting rod pin 6, and the other end is connected to the connecting frame 1 through the connecting rod pin 6, and the four-link structure between the connecting frame 1 and the lower frame 9 The two sides form a triangular structure with the lifting cylinder 7, and the lifting posture of the four-linkage is changed by the telescoping of the lifting cylinder 7 to realize the lifting movement of the connecting rod frame 1.

The tire support 10 is connected with the link frame 1 through the support pin 12, and the tire support 10 and the link frame 1 can rotate horizontally within a certain range.

The steering cylinder 11 is connected with the tire bracket 10 and the link frame 1 through the steering cylinder pin 3, and the angle change between the tire bracket 10 and the link frame 1 is realized during the telescopic process of the steering cylinder 11, thereby realizing tire steering.

The travel motor 8 is completely fixed in the reducer 4 by bolts;

The mandrel flange of speed reducer 4 is fully fixed on the tire support 10 by bolts, and the housing of speed reducer 4 is completely fixed on the center of tire 5 by bolts.

Advantages of the present invention:

1. The construction vehicle of the present invention can raise the chassis during the self-moving process to increase the passability of the chassis.

2. During the working process of the engineering vehicle of the present invention, the chassis can be lowered, the center of mass of the whole vehicle can be lowered, and the lifting performance of the vehicle or the construction stability of the whole vehicle can be improved.

Key points of the present invention:

1. Realize the lifting function of the lower frame through the four-link structure.

2. Through the four-link structure, the tire is kept vertical to the ground during the lifting process.

What is shown in the present invention is the optimal solution of 4 sets of four-linkages+4-wheel drive+4-wheel steering, that is, 4+4+4. Alternatives can be 4+4+2, 4+2+4, 2+4+4, 4+2+2, 2+4+2, 2+2+4, 2+2+2, 6+6+ 6, 6+6+4, 6+4+6, 4+6+6, 6+4+4, 4+6+4, 4+4+6, 6+4+2, 6+2+4, Any combination of 4+6+2, 4+2+6, 6+2+2, 2+6+2, 2+2+6...etc.

Each embodiment in this specification is described in a progressive manner, the same and similar parts of each embodiment can be referred to each other, and each embodiment focuses on the differences from other embodiments. In particular, for the system or the system embodiment, since it is basically similar to the method embodiment, the description is relatively simple, and for related parts, please refer to the part of the description of the method embodiment. The systems and system embodiments described above are only illustrative, and the units described as separate components may or may not be physically separated, and the components shown as units may or may not be physical units, that is It can be located in one place, or it can be distributed to multiple network elements. Part or all of the modules can be selected according to actual needs to achieve the purpose of the solution of this embodiment. It can be understood and implemented by those skilled in the art without creative effort.

Professionals can further realize that the units and algorithm steps of the examples described in conjunction with the embodiments disclosed herein can be implemented by electronic hardware, computer software or a combination of the two. In order to clearly illustrate the possible For interchangeability, in the above description, the composition and steps of each example have been generally described according to their functions. Whether these functions are executed by hardware or software depends on the specific application and design constraints of the technical solution. Skilled artisans may use different methods to implement the described functions for each specific application, but such implementation should not be regarded as exceeding the scope of the present invention.

The above description of the disclosed embodiments is provided to enable any person skilled in the art to make or use the invention. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the general principles defined herein may be implemented in other embodiments without departing from the spirit or scope of the invention. Therefore, the present invention will not be limited to the embodiments shown herein, but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.

Claims

A liftable chassis, comprising a lower frame body (9), a tire support (10) and multiple pairs of tires (5);

Multiple pairs of tires (5) are installed on both sides of the lower frame body (9) through the tire bracket (10); it is characterized in that,

The liftable chassis also includes: a lifting mechanism arranged between the tire (5) and the lower frame body (9);

The lifting mechanism can drive the lower frame body (9) to lift relative to the ground.
The liftable chassis according to claim 1, wherein the lifting mechanism comprises a link frame (1), a first link (2), a second link (13) and a first telescopic member;

Along the vertical direction, the lower frame body (9) is provided with a first hinge point and a second hinge point, the first hinge point is hinged to the first end of the first connecting rod (2), and the The second hinge point is hinged to the first end of the second connecting rod (13);

Along the vertical direction, the first side of the connecting rod frame (1) is provided with a third hinge point and a fourth hinge point, and the third hinge point is hinged to the second end of the first connecting rod (2) , the fourth hinge point is hinged to the second end of the second connecting rod (13);

The connecting rod frame (1) is located in the area between the third hinge point and the fourth hinge point, the first connecting rod (2), the second connecting rod (13) and the lower The area of the frame body (9) between the first hinge point and the second hinge point constitutes a four-bar linkage;

The first end of the first telescopic member is hinged between the first hinge point and the second hinge point, the second end is hinged to the link frame (1), and the first telescopic member is telescopically movable Drive the movement of the four-bar linkage mechanism.
The liftable chassis according to claim 2, wherein the four-bar linkage mechanism is a parallel four-bar linkage mechanism.
The liftable chassis according to claim 2, characterized in that, the second end of the first telescopic member is hinged to the third hinge point, the link frame (1), the first link ( 2) Form a triangular structure with the first telescopic element.
The liftable chassis according to claim 2, characterized in that the first telescopic member is a lift cylinder (7).
The liftable chassis according to claim 2, characterized in that, the first end of the first connecting rod (2) is connected with the lower frame body (9) through the connecting rod pin (6), and the second The end is connected with the connecting rod frame (1) through the connecting rod pin (6);

The first end of the second connecting rod (13) is connected with the lower frame body (9) through the connecting rod pin (6), and the second end is connected with the connecting rod frame (1) through the connecting rod pin (6). ) connected.
The liftable chassis according to claim 1, characterized in that, the number of said tires (5) is N, the number of said lifting mechanisms is 2, and said N is an even number greater than or equal to 4;

The two lifting mechanisms are arranged on one side of the lower frame body (9);

Or, the two lifting mechanisms are arranged between one pair of the tires (5) and the lower frame body (9).
The liftable chassis according to claim 2, further comprising a steering mechanism for changing the angle of at least one pair of said tires (5);

The tire support (10) is connected to the link frame (1) through a support pin (12), and the steering mechanism is used to drive the tire support (10) around the horizontal direction of the link frame (1). turn;

The steering mechanism includes a steering cylinder (11);

One end of the steering oil cylinder (11) is fixed to the link frame (1), and the other end is connected with the tire support (10) through the steering oil cylinder pin (3).
The liftable chassis according to claim 1, further comprising a power mechanism for driving at least one pair of said tires (5) to rotate;

The power mechanism includes a speed reducer (4) and a traveling motor (8);

The travel motor (8) is arranged in the reducer (4), one end of the reducer (4) is fixed to the tire bracket (10), and the other end is fixed to the tire (5).
The liftable chassis according to claim 8, characterized in that, the number of said tires (5) is N, the number of said lifting mechanisms is N, and the number of said steering mechanisms is N, and said N is greater than or equal to even number of 4.
An aerial work vehicle, characterized by comprising: the liftable chassis according to any one of claims 1-10.