WO2023206696A1 - 抢险救援车辆及其安装方法 - Google Patents

抢险救援车辆及其安装方法 Download PDF

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Publication number
WO2023206696A1
WO2023206696A1 PCT/CN2022/096008 CN2022096008W WO2023206696A1 WO 2023206696 A1 WO2023206696 A1 WO 2023206696A1 CN 2022096008 W CN2022096008 W CN 2022096008W WO 2023206696 A1 WO2023206696 A1 WO 2023206696A1
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WO
WIPO (PCT)
Prior art keywords
module
slewing
base
rescue vehicle
positioning
Prior art date
Application number
PCT/CN2022/096008
Other languages
English (en)
French (fr)
Inventor
赵斌
董鲁波
张勇
Original Assignee
江苏徐工工程机械研究院有限公司
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by 江苏徐工工程机械研究院有限公司 filed Critical 江苏徐工工程机械研究院有限公司
Publication of WO2023206696A1 publication Critical patent/WO2023206696A1/zh

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Classifications

    • E—FIXED CONSTRUCTIONS
    • E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
    • E02F—DREDGING; SOIL-SHIFTING
    • E02F9/00—Component parts of dredgers or soil-shifting machines, not restricted to one of the kinds covered by groups E02F3/00 - E02F7/00
    • E02F9/08—Superstructures; Supports for superstructures
    • E—FIXED CONSTRUCTIONS
    • E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
    • E02F—DREDGING; SOIL-SHIFTING
    • E02F3/00—Dredgers; Soil-shifting machines
    • E02F3/04—Dredgers; Soil-shifting machines mechanically-driven
    • E02F3/28—Dredgers; Soil-shifting machines mechanically-driven with digging tools mounted on a dipper- or bucket-arm, i.e. there is either one arm or a pair of arms, e.g. dippers, buckets
    • E02F3/30—Dredgers; Soil-shifting machines mechanically-driven with digging tools mounted on a dipper- or bucket-arm, i.e. there is either one arm or a pair of arms, e.g. dippers, buckets with a dipper-arm pivoted on a cantilever beam, i.e. boom
    • E02F3/32—Dredgers; Soil-shifting machines mechanically-driven with digging tools mounted on a dipper- or bucket-arm, i.e. there is either one arm or a pair of arms, e.g. dippers, buckets with a dipper-arm pivoted on a cantilever beam, i.e. boom working downwardly and towards the machine, e.g. with backhoes
    • E—FIXED CONSTRUCTIONS
    • E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
    • E02F—DREDGING; SOIL-SHIFTING
    • E02F3/00—Dredgers; Soil-shifting machines
    • E02F3/04—Dredgers; Soil-shifting machines mechanically-driven
    • E02F3/28—Dredgers; Soil-shifting machines mechanically-driven with digging tools mounted on a dipper- or bucket-arm, i.e. there is either one arm or a pair of arms, e.g. dippers, buckets
    • E02F3/36—Component parts
    • E02F3/38—Cantilever beams, i.e. booms;, e.g. manufacturing processes, forms, geometry or materials used for booms; Dipper-arms, e.g. manufacturing processes, forms, geometry or materials used for dipper-arms; Bucket-arms
    • E—FIXED CONSTRUCTIONS
    • E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
    • E02F—DREDGING; SOIL-SHIFTING
    • E02F3/00—Dredgers; Soil-shifting machines
    • E02F3/04—Dredgers; Soil-shifting machines mechanically-driven
    • E02F3/28—Dredgers; Soil-shifting machines mechanically-driven with digging tools mounted on a dipper- or bucket-arm, i.e. there is either one arm or a pair of arms, e.g. dippers, buckets
    • E02F3/36—Component parts
    • E02F3/42—Drives for dippers, buckets, dipper-arms or bucket-arms
    • E02F3/425—Drive systems for dipper-arms, backhoes or the like
    • E—FIXED CONSTRUCTIONS
    • E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
    • E02F—DREDGING; SOIL-SHIFTING
    • E02F9/00—Component parts of dredgers or soil-shifting machines, not restricted to one of the kinds covered by groups E02F3/00 - E02F7/00
    • E02F9/02—Travelling-gear, e.g. associated with slewing gears
    • E—FIXED CONSTRUCTIONS
    • E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
    • E02F—DREDGING; SOIL-SHIFTING
    • E02F9/00—Component parts of dredgers or soil-shifting machines, not restricted to one of the kinds covered by groups E02F3/00 - E02F7/00
    • E02F9/08—Superstructures; Supports for superstructures
    • E02F9/0808—Improving mounting or assembling, e.g. frame elements, disposition of all the components on the superstructures
    • E—FIXED CONSTRUCTIONS
    • E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
    • E02F—DREDGING; SOIL-SHIFTING
    • E02F9/00—Component parts of dredgers or soil-shifting machines, not restricted to one of the kinds covered by groups E02F3/00 - E02F7/00
    • E02F9/08—Superstructures; Supports for superstructures
    • E02F9/0858—Arrangement of component parts installed on superstructures not otherwise provided for, e.g. electric components, fenders, air-conditioning units
    • E—FIXED CONSTRUCTIONS
    • E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
    • E02F—DREDGING; SOIL-SHIFTING
    • E02F9/00—Component parts of dredgers or soil-shifting machines, not restricted to one of the kinds covered by groups E02F3/00 - E02F7/00
    • E02F9/08—Superstructures; Supports for superstructures
    • E02F9/0858—Arrangement of component parts installed on superstructures not otherwise provided for, e.g. electric components, fenders, air-conditioning units
    • E02F9/0866—Engine compartment, e.g. heat exchangers, exhaust filters, cooling devices, silencers, mufflers, position of hydraulic pumps in the engine compartment
    • E—FIXED CONSTRUCTIONS
    • E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
    • E02F—DREDGING; SOIL-SHIFTING
    • E02F9/00—Component parts of dredgers or soil-shifting machines, not restricted to one of the kinds covered by groups E02F3/00 - E02F7/00
    • E02F9/08—Superstructures; Supports for superstructures
    • E02F9/10—Supports for movable superstructures mounted on travelling or walking gears or on other superstructures
    • E02F9/12—Slewing or traversing gears
    • E02F9/121—Turntables, i.e. structure rotatable about 360°
    • E—FIXED CONSTRUCTIONS
    • E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
    • E02F—DREDGING; SOIL-SHIFTING
    • E02F9/00—Component parts of dredgers or soil-shifting machines, not restricted to one of the kinds covered by groups E02F3/00 - E02F7/00
    • E02F9/20—Drives; Control devices

Definitions

  • the present disclosure relates to the technical field of emergency rescue, and in particular to an emergency rescue vehicle and an installation method thereof.
  • Embodiments of the present disclosure provide an emergency rescue vehicle and an installation method thereof, which can adapt to multi-channel transportation.
  • an emergency rescue vehicle including a relatively independent and interconnected chassis and an upper vehicle, wherein the chassis includes a relatively independent slewing base module, a left hinged body module, and a left hinged body module that can be connected in a preset sequence.
  • the upper vehicle includes a rotary platform module, a reducer module, a battery module, a cover module, an engine module, a radiator module, an air intake module, an aftertreatment module, and a pump that are relatively independent and can be connected in a preset sequence.
  • the slew platform module includes a flange
  • the slew support module includes a first bolt
  • the first bolt is connected to the flange to connect the slew support module and the slew platform module.
  • the slewing bearing module is provided with at least three first pins arranged circumferentially, the slewing base module is provided with a first positioning groove corresponding to the first pin, and the opening of the first positioning groove faces the slewing bearing. module, the first pin is inserted into the first positioning groove through the opening to position the assembly of the slewing bearing module and the slewing base module.
  • the slewing support module is provided with a plurality of second pins arranged circumferentially, the second pins and the first pins are staggered in the circumferential direction, and the slewing base module is provided with a plurality of circumferentially arranged second pins.
  • a first connecting hole is arranged, and a second pin is inserted into the first connecting hole to connect the slewing bearing module and the slewing base module.
  • the first side of the rotary base module is provided with two first positioning parts arranged at intervals, each first positioning part is provided with a hook-shaped second positioning groove, and the left hinge module includes a first connection
  • the first connecting shaft is embedded in the two second positioning grooves to connect the rotary base module and the left hinge body module.
  • the left hinge module includes two first connecting plates respectively connected to both ends of the first connecting shaft, and the sides of the two first positioning parts away from each other are respectively provided with guide slopes, and the guide slopes are used for When the first connecting shaft is embedded in the second positioning groove, it guides the movement of the first connecting plate relative to the first positioning part.
  • the left hinge body module includes a left hinge body body, a first connection seat and a first positioning block installed on the left hinge body body, and the left rear leg module includes two second connection seats arranged at intervals, and the first connection seat is installed on the left hinge body body.
  • a connecting seat is embedded between two second connecting seats.
  • the first connecting seat and the second connecting seat are respectively provided with central holes for accommodating the connecting pieces connecting the left hinged body module and the left rear leg module.
  • the first positioning block is configured In order to make contact with the first connecting seat and one of the second connecting seats at the same time, the central hole of the first connecting seat and the central hole of the second connecting seat are aligned.
  • both the first connecting seat and the second connecting seat are in cylindrical shape
  • the first positioning block includes an arc-shaped wrapping surface
  • the wrapping surface faces the joint of the first connecting seat and the second connecting seat and at the same time at least Partially wrap the first connection base and the second connection base.
  • the position of the first positioning block relative to the first connection base is adjustable to adapt to the adjustment of the relative positions of the first connection base and the second connection base.
  • the left hinge body module further includes a second bolt and a first fixing block.
  • the first fixing block is installed on the left hinge body body.
  • the first fixing block is provided with a first threaded hole, and the second bolt passes through the first threaded hole.
  • a threaded hole is pressed against a side of the first positioning block away from the first connection base, so that the first positioning block is pressed against the first connection base and the second connection base.
  • the battery module includes a first mounting frame, a first mounting hole is provided on a first side of the first mounting frame, a first connecting rod is provided on the rotary platform module, and a first locking rod is provided on the first connecting rod.
  • the first mounting hole includes a first hole part with a diameter larger than the diameter of the first locking nut and a second hole part with a diameter smaller than the diameter of the first locking nut.
  • an end of the first mounting frame away from the first side is provided with a second mounting hole
  • the second mounting hole is U-shaped
  • the rotary platform module is provided with a second connecting rod that is rotatable relative to the first mounting frame.
  • the second connecting rod is provided with a second locking nut, the second connecting rod enters the second mounting hole by rotating relative to the first mounting bracket, and the first mounting bracket and the second connecting rod are fixed by the second locking nut .
  • the radiator module includes a second mounting frame, the second mounting frame is provided with a first clamping part, a first through hole, a second clamping part and a second through hole, and the air inlet module is provided with a third clamping part.
  • the first through hole is configured to allow the third engaging portion to pass through
  • the second through hole is configured to allow the fourth engaging portion to pass through
  • the third engaging portion is It is engaged with the first engaging part
  • the fourth engaging part is engaged with the second engaging part.
  • the third engaging portion includes a hook-shaped first engaging groove
  • the first engaging portion includes a engaging rod
  • the engaging rod is embedded in the first engaging groove
  • the fourth engaging portion includes a wedge-shaped second engaging groove
  • the second engaging portion includes a wedge-shaped engaging block
  • the engaging block is embedded in the second engaging groove
  • the boom module includes a first mounting base
  • the slewing platform module includes a slewing platform body and four second positioning blocks installed on the slewing platform body. Both ends of the first mounting base pass through two second positioning blocks respectively.
  • the positioning block is fixed, and the first mounting seat and the rotary platform body are respectively provided with central holes for accommodating the connecting pieces connecting the boom module and the rotary platform module.
  • At least one of the two second positioning blocks located at the same end of the first mounting base is adjustable relative to the fixed position of the rotary platform body to adapt to the adjustment of the relative position of the first mounting base and the rotary platform body.
  • the slewing platform module further includes a third bolt and a second fixing block.
  • the second fixing block is installed on the slewing platform body.
  • the second fixing block is provided with a second threaded hole, and the third bolt passes through the second thread. hole and presses against the second positioning block to clamp the first mounting base through the two second positioning blocks.
  • an installation method based on the above-mentioned emergency rescue vehicle including:
  • the left hinged body module is installed on the slewing base module
  • the left front leg module, the left rear leg module and the first oil cylinder of the chassis cylinder module are respectively installed on the left hinged body module
  • the left rear leg module and the first oil cylinder of the chassis cylinder module are installed respectively.
  • the module is installed on the left hinge body module, install the left rear wheel module on the left rear leg module; and
  • the right hinged body module After installing the right hinged body module on the slewing base module, install the right front leg module, the right rear leg module and the third cylinder in the chassis cylinder module respectively on the left hinged body module, and then connect the right rear leg module with The third oil cylinder in the chassis oil cylinder module is connected, and after the right front leg module is installed on the right hinge body module, the fourth oil cylinder in the chassis oil cylinder module is connected to the right front leg module and the right hinge body module; and, on the right rear leg After the module is installed on the right hinge body module, install the right rear wheel module on the right rear leg module.
  • the upper vehicle includes an upper vehicle cylinder module, a rotary platform module, a reducer module, a battery module, a cover module, an engine module, a radiator module, and an air intake module that are relatively independent and can be connected in a preset sequence.
  • the installation method also includes:
  • the boom module After installing the fifth oil cylinder in the upper vehicle cylinder module on the rotary platform module, install the boom module on the rotary platform module, then connect the boom module to the fifth oil cylinder in the upper vehicle cylinder module, and then install the upper vehicle cylinder module.
  • the sixth cylinder in the vehicle cylinder module is installed on the boom module, then the stick module is installed on the boom module, the stick module is connected to the sixth cylinder, and finally the bucket module is installed on the stick module.
  • the embodiment of the present disclosure divides the emergency rescue vehicle into two parts: the chassis and the upper part.
  • the chassis part is divided into 12 independent small modules.
  • Each of these small modules weighs no more than 500kg, so it satisfies Convenient transportation by water, land and air enables rapid and flexible delivery of emergency rescue vehicles and buys valuable time for emergency rescue; the weight of each small module is reduced, which facilitates the use of light gantry to facilitate the convenient hoisting of each module, which is conducive to reducing costs.
  • Figure 1 is a schematic structural diagram of an embodiment of the emergency rescue vehicle of the present disclosure.
  • Figure 2 is a schematic structural diagram of a slewing base module in an embodiment of the emergency rescue vehicle of the present disclosure.
  • Figure 3 is a schematic structural diagram of the left hinged body module in one embodiment of the emergency rescue vehicle of the present disclosure.
  • Figure 4 is a schematic structural diagram of the right hinged body module in one embodiment of the emergency rescue vehicle of the present disclosure.
  • Figure 5 is a schematic structural diagram of the central rotary body module in one embodiment of the emergency rescue vehicle of the present disclosure.
  • Figure 6 is a schematic structural diagram of a slewing support module in an embodiment of the emergency rescue vehicle of the present disclosure.
  • Figure 7 is a schematic structural diagram of the left front leg module of an embodiment of the emergency rescue vehicle of the present disclosure.
  • Figure 8 is a schematic structural diagram of the right front leg module of an embodiment of the emergency rescue vehicle of the present disclosure.
  • Figure 9 is a schematic structural diagram of a left rear leg module in an embodiment of the emergency rescue vehicle of the present disclosure.
  • Figure 10 is a schematic structural diagram of a right rear leg module in an embodiment of the emergency rescue vehicle of the present disclosure.
  • Figure 11 is a schematic structural diagram of a left rear wheel module in an embodiment of the emergency rescue vehicle of the present disclosure.
  • Figure 12 is a schematic structural diagram of the right rear wheel module in one embodiment of the emergency rescue vehicle of the present disclosure.
  • FIG. 13 is a schematic structural diagram of a chassis cylinder module in an embodiment of the emergency rescue vehicle of the present disclosure.
  • FIG. 14 is a schematic structural diagram of a slewing platform module in an embodiment of the emergency rescue vehicle of the present disclosure.
  • Figure 15 is a schematic structural diagram of a reducer module in an embodiment of the emergency rescue vehicle of the present disclosure.
  • Figure 16 is a schematic structural diagram of a battery module in an embodiment of the emergency rescue vehicle of the present disclosure.
  • Figure 17 is a schematic structural diagram of a cover module in an embodiment of the emergency rescue vehicle of the present disclosure.
  • Figure 18 is a schematic structural diagram of an engine module in an embodiment of the emergency rescue vehicle of the present disclosure.
  • Figure 19 is a schematic structural diagram of a radiator module in an embodiment of the emergency rescue vehicle of the present disclosure.
  • Figure 20 is a schematic structural diagram of an air intake module in an embodiment of the emergency rescue vehicle of the present disclosure.
  • Figure 21 is a schematic structural diagram of a post-processing module in an embodiment of the emergency rescue vehicle of the present disclosure.
  • Figure 22 is a schematic structural diagram of a pump module module in an embodiment of the emergency rescue vehicle of the present disclosure.
  • Figure 23 is a schematic structural diagram of a control module in an embodiment of the emergency rescue vehicle of the present disclosure.
  • Figure 24 is a schematic structural diagram of a boom module in an embodiment of the emergency rescue vehicle of the present disclosure.
  • Figure 25 is a schematic structural diagram of a stick module in an embodiment of the emergency rescue vehicle of the present disclosure.
  • Figure 26 is a schematic structural diagram of a bucket module in an embodiment of the emergency rescue vehicle of the present disclosure.
  • Figure 27 is a schematic structural diagram of an onboard oil cylinder module in an embodiment of the emergency rescue vehicle of the present disclosure.
  • Figure 28 is a partial structural schematic diagram of the slewing platform module in one embodiment of the emergency rescue vehicle of the present disclosure.
  • Figure 29 is a schematic structural diagram of each part of the slewing support module in an embodiment of the emergency rescue vehicle of the present disclosure.
  • Figure 30 is a schematic assembly diagram of the slewing platform module and the slewing support module in one embodiment of the emergency rescue vehicle of the present disclosure.
  • Figure 31 is a partial structural schematic diagram of the slewing base module in one embodiment of the emergency rescue vehicle of the present disclosure.
  • Figure 32 is a schematic assembly diagram of the slewing base module and the slewing support module in one embodiment of the emergency rescue vehicle of the present disclosure.
  • Figure 33 is an enlarged schematic diagram of the slewing base module and its partial structure in one embodiment of the emergency rescue vehicle of the present disclosure.
  • Figure 34 is a partial structural diagram of the left hinged body module in one embodiment of the emergency rescue vehicle of the present disclosure.
  • Figure 35 is a schematic assembly diagram of the slewing base module and the left hinged body module in an embodiment of the emergency rescue vehicle of the present disclosure.
  • Figure 36 is a partial structural diagram of the left hinged body module in one embodiment of the emergency rescue vehicle of the present disclosure.
  • Figure 37 is a partial structural diagram of the left rear leg module of an embodiment of the emergency rescue vehicle of the present disclosure.
  • Figure 38 is a schematic assembly diagram of the left hinged body module and the left rear leg module in an embodiment of the emergency rescue vehicle of the present disclosure.
  • Figure 39 is a schematic structural diagram of each part of the livestock battery module in an embodiment of the emergency rescue vehicle of the present disclosure.
  • Figure 40 is a partial structural schematic diagram of the slewing platform module in one embodiment of the emergency rescue vehicle of the present disclosure.
  • Figure 41 is a schematic assembly diagram of the livestock battery module and the rotating platform module in one embodiment of the emergency rescue vehicle of the present disclosure.
  • Figure 42 is a partial structural diagram of a radiator module in an embodiment of the emergency rescue vehicle of the present disclosure.
  • Figure 43 is a partial structural diagram of the air intake module in an embodiment of the emergency rescue vehicle of the present disclosure.
  • Figure 44 is a schematic assembly diagram of the radiator module and the air intake module in an embodiment of the emergency rescue vehicle of the present disclosure.
  • Figure 45 is a partial structural schematic diagram of the slewing platform module in one embodiment of the emergency rescue vehicle of the present disclosure.
  • Figure 46 is a partial structural schematic diagram of a boom module in an embodiment of the emergency rescue vehicle of the present disclosure.
  • Figure 47 is a partial structural schematic diagram of the assembled slewing platform module and boom module in an embodiment of the emergency rescue vehicle of the present disclosure.
  • Figure 48 is a schematic structural diagram of the hydraulic pipelines of the left hinged body module and the central rotary body module before connection in an embodiment of the emergency rescue vehicle of the present disclosure.
  • Figure 49 is a schematic structural diagram of the hydraulic pipelines of the left hinged body module and the central rotary body module after being connected in an embodiment of the emergency rescue vehicle of the present disclosure.
  • Figure 50 is a schematic structural diagram of the fourth oil cylinder in the chassis cylinder module and the hydraulic pipeline of the central rotor module before connection in an embodiment of the emergency rescue vehicle of the present disclosure.
  • Figure 51 is a schematic structural diagram of the fourth oil cylinder in the chassis cylinder module and the hydraulic pipeline of the central rotor module after connection in an embodiment of the emergency rescue vehicle of the present disclosure.
  • Figure 52 is a schematic diagram of the assembly relationship of each module in an embodiment of the installation method of the emergency rescue vehicle of the present disclosure.
  • Chassis M1, slewing base module; M2, left hinged body module; M3, right hinged body module; M4, center slewing body module; M5, slewing support module; M6, left front leg module; M6-1, left front leg; M6-2, left front wheel; M7, right front leg module; M7-1, right front leg; M7-2, right front wheel; M8, left rear leg module; M9, right rear leg module; M10, left rear wheel module; M11, right rear wheel module; M12, chassis cylinder module; M12-1, first cylinder; M12-2, second cylinder; M12-3, third cylinder; M12-4, fourth cylinder;
  • M13 rotary platform module
  • M14 reducer module
  • M15 livestock battery module
  • M16 cover module
  • M17 engine module
  • M18 radiator module
  • M19 air intake module
  • M20 post-processing Module
  • M21 pump unit module
  • M22 control module
  • M23 boom module
  • M24 stick module
  • M25 bucket module
  • M26 loading cylinder module
  • M26-1 fifth cylinder
  • M26-2 Sixth oil cylinder
  • First positioning part 202. Guide slope; 203. First connecting shaft; 204. First connecting plate; 205. Fourth bolt; 206. Second connecting hole; 207. Second positioning groove;
  • First mounting bracket 400. First mounting bracket; 401. First mounting hole; 402. Second mounting hole; 403. First connecting rod; 404. First locking nut; 405. Second connecting rod; 406. Second locking nut ;
  • the second mounting bracket 501.
  • the emergency rescue vehicle includes two parts: a chassis 100 and an upper vehicle 200 that are relatively independent and interconnectable.
  • the chassis 100 includes a relatively independent slewing base module M1, a left hinged body module M2, a right hinged body module M3, a central slewing body module M4, a slewing support module M5, and can be connected in a preset sequence.
  • the left front leg module M6 includes a left front leg M6-1 and a left front wheel M6-2
  • the right front leg module M7 includes a right front leg M7-1 and a right front wheel M7-2.
  • the emergency rescue vehicle is divided into two parts: the chassis 100 and the upper vehicle 200.
  • the chassis 100 is divided into 12 independent small modules, so that the weight of each of these small modules does not exceed 500kg, so it meets the water requirements. It can be transported conveniently through multiple channels, land and air to achieve fast and flexible delivery of emergency rescue vehicles and gain valuable time for emergency rescue; the weight of each small module is reduced, which facilitates the use of light gantry to facilitate the convenient hoisting of each module, which is conducive to reducing transportation costs.
  • the upper vehicle 200 includes a relatively independent rotary platform module M13, a reducer module M14, a battery module M15, a cover module M16, and an engine module that can be connected in a preset sequence.
  • the boarding vehicle 200 is divided into 14 small modules, so that the weight of each small module does not exceed 500kg, which meets the requirements of convenient transportation by water, land and air, so as to realize the rapid and flexible operation of emergency rescue vehicles. deliver.
  • the slewing platform module M13 includes a flange 101
  • the slewing support module M5 includes a first bolt 103.
  • the first bolt 103 is connected to the flange 101 to connect the slewing support module. M5 and rotary platform module M13.
  • the first bolt 103 in order to facilitate docking, in the initial state, the first bolt 103 is pre-set in the receiving hole of the slewing bearing module M5 and is not exposed, so as to avoid crushing the first bolt 103 during the docking process of the slewing bearing module M5 and the slewing platform module M13.
  • Bolt 103 Specifically, after the docking of the slewing support module M5 and the slewing platform module M13 is completed, the first bolt 103 can be rotated to connect the slewing support module M5 and the slewing platform module M13.
  • the slewing support module M5 is provided with at least three first pins 105 arranged in the circumferential direction, and the slewing base module M1 is provided with a third pin corresponding to the first pin 105.
  • the opening of the first positioning groove 108 faces the slewing bearing module M5.
  • the first pin 105 is inserted into the first positioning groove 108 through the opening to position the assembly of the slewing bearing module M5 and the slewing base module M1.
  • the three first pins 105 can determine a plane, thereby ensuring effective positioning.
  • the docking of the slewing bearing module M5 and the slewing base module M1 can be guided during the assembly process of the slewing bearing module M5 and the slewing base module M1, so that the slewing bearing module M5 can be correctly It is placed on the slewing base module M1 to avoid deviation in the positioning of the slewing bearing module M5, causing the trouble of needing to lift up the slewing bearing module M5 and re-docking it, effectively improving the assembly efficiency of the slewing bearing module M5 and the slewing base module M1.
  • the opening of the first positioning groove 108 faces upward, and the first positioning groove 108 is penetrating in the radial direction of the rotary base module M1, which facilitates the first pin 105 to be inserted into the first positioning groove from above. in slot 108.
  • the slewing bearing module M5 includes an outer ring 102 with a larger diameter and an inner ring 104 with a smaller diameter, and in the axial direction, the inner ring 104 is disposed on a side of the outer ring 102 away from the slewing platform module M13 .
  • the first bolt 103 is preset on the end surface of the outer ring 102 away from the inner ring 104 .
  • the slewing base module M1 includes inner and outer retaining rings.
  • An annular interface 107 is formed between the inner retaining ring and the outer retaining ring.
  • the inner ring 104 of the slewing support module M5 is embedded in the interface 107 .
  • the first positioning groove 108 includes a portion located on the inner retaining ring of the rotary base module M1 and a portion located on the outer retaining ring of the rotary base module M1 , and the first positioning groove 108 passes through the interface 107 .
  • the first pin 105 is disposed on the inner ring 104 of the slewing bearing module M5.
  • the three first pins 105 may be arranged uniformly or non-uniformly along the circumferential direction of the inner ring 104 of the slewing bearing module M5.
  • the slewing support module M5 is provided with a plurality of second pins 106 arranged circumferentially, the second pins 106 and the first pins 105 are staggered in the circumferential direction, and the slewing base module M1 is provided with There are a plurality of first connection holes 109 arranged circumferentially, and the second pin shaft 106 is inserted into the first connection holes 109 to connect the slewing support module M5 and the slewing base module M1.
  • the slewing support module M5 and the slewing base module M1 can be connected and fixed.
  • the plurality of second pins 106 may be evenly arranged on the inner ring 104 of the slewing bearing module M5 along the circumferential direction. In the axial direction of the slewing bearing module M5, the second pin 106 and the first pin 105 are also staggered, and the second pin 106 is closer to the slewing base module M1 than the first pin 105 to avoid the second The pin 106 affects the cooperation between the first pin 105 and the first positioning groove 108 when the slewing bearing module M5 is assembled on the slewing base module M1.
  • the second pin 106 can be pre-set in the receiving hole of the slewing bearing module M5.
  • the second pin 106 can first be removed from the receiving hole of the slewing bearing module M5. Take it out to prevent the second pin 106 from affecting the insertion of the inner ring 104 of the slewing bearing module M5 into the interface 107. After the inner ring 104 of the slewing bearing module M5 is inserted into the interface 107, the second pin 106 can be inserted into the first connection. In the hole 109, the connection between the slewing support module M5 and the slewing base module M1 is realized.
  • the first side of the rotary base module M1 is provided with two first positioning parts 201 arranged at intervals, and each first positioning part 201 is respectively provided with a hook-shaped third positioning part 201 .
  • Two positioning slots 207, the left hinged body module M2 includes a first connecting shaft 203, and the first connecting shaft 203 is embedded in the two second positioning slots 207 to connect the rotating base module M1 and the left hinged body module M2.
  • the preliminary connection and positioning of the rotary base module M1 and the left hinge module M2 can be achieved by hooking.
  • the second positioning groove 207 is hook-shaped, similar to a V-shape, and has a certain depth, and the opening becomes smaller as the depth increases. This makes it easier for the first connecting shaft 203 to enter the second positioning groove 207, and at the same time, the first connection shaft 207 can enter the second positioning groove 207 easily. After the shaft 203 reaches the bottom of the second positioning groove 207, it can form a limiting effect on the first connecting shaft 203 to prevent the first connecting shaft 203 from escaping from the second positioning groove 207.
  • Providing two first positioning parts 201 and inserting different axial positions of a first connecting shaft 203 into two second positioning grooves 207 can effectively maintain the balance of the first connecting shaft 203 and prevent the first connecting shaft 203 from being Swinging occurs in the front and rear direction.
  • the left hinge module M2 includes two first connecting plates 204 respectively connected to both ends of the first connecting shaft 203.
  • the two first positioning parts 201 are respectively provided with guide slopes 202 on the sides away from each other.
  • the guide slope 202 is used to guide the movement of the first connecting plate 204 relative to the first positioning part 201 when the first connecting shaft 203 is embedded in the second positioning groove 207 .
  • a guide slope 202 is provided on the left side of the first positioning part 201 on the left side, and a guide slope 202 is provided on the right side of the first positioning part 201 on the right side.
  • 203 is embedded in the second positioning groove 207, the first connecting plate 204 connected to both ends of the first connecting shaft 203 first cooperates with the guide slope 202. Under the guidance of the guide slope 202, the first connecting plate 204 moves downward more easily. Movement to drive the first connecting shaft 203 to be embedded in the second positioning groove 207 .
  • the left hinge module M2 also includes a fourth bolt 205 and a second connection hole 206.
  • the rotary base module M1 is provided with a bolt hole corresponding to the fourth bolt 205 and a second connection hole 206.
  • the third connection hole after inserting the first connection shaft 203 into the second positioning groove 207 to achieve the preliminary connection between the rotary base module M1 and the left hinge module M2, tighten the fourth bolt 205 and in the second connection hole 206. Insert the pin into the third connection hole to further securely connect the rotary base module M1 and the left hinge module M2, thereby improving the reliability of the connection.
  • the fourth bolt 205 can be arranged above the second connection hole 206 to achieve a stable connection between the rotary base module M1 and the left hinge module M2 in the up and down direction.
  • the left hinge module M2 is installed on the left side of the slewing base module M1
  • the right hinge module M3 is installed on the right side of the slewing base module M1.
  • the connection structure between the right hinge module M3 and the rotary base module M1 can be the same as the connection structure between the left hinge module M2 and the rotary base module M1, or can be the same as the connection structure between the left hinge module M2 and the rotary base module M1.
  • the connection structures are different and will not be described in detail here.
  • the left hinge module M2 includes a left hinge body 300, a first connection seat 301 and a first positioning block 302 installed on the left hinge body 300.
  • the left rear The leg module M8 includes two second connecting seats 306 arranged at intervals.
  • the first connecting seat 301 is embedded between the two second connecting seats 306.
  • the first connecting seat 301 and the second connecting seat 306 are respectively provided with a left hinge for accommodating the connection.
  • the center hole of the connector of the body module M2 and the left rear leg module M8, the first positioning block 302 is configured to contact the first connection base 301 and one of the second connection bases 306 at the same time, so that the center of the first connection base 301 The hole is aligned with the center hole of the second connecting seat 306 .
  • connection base 301 and the two second connection bases 306 By passing the connecting pieces through the central holes of the first connection base 301 and the two second connection bases 306 respectively, the first connection base 301 and the two second connection bases 306 can be connected, that is, the left hinge module M2 and the left hinge module M2 can be connected to each other. Connection of rear leg module M8. Connectors can be bolts or pins.
  • the center hole of the first connection base 301 and the center hole of the second connection base 306 can be kept aligned.
  • the number of the first positioning blocks 302 may be one or two. When the number of the first positioning blocks 302 is two, one of the two first positioning blocks 302 abuts the first connection base 301 On one of the second connecting seats 306, the other first positioning block 302 abuts on the first connecting seat 301 and the other second connecting seat 306.
  • the first positioning component 307 is configured to limit the relative movement of the first connection base 301 and the left hinge body 300 along the first direction.
  • the first positioning component 307 may include two arc-shaped wrapping pieces wrapped around the outer periphery of the first connecting base 301 to form a fixing and limiting effect on the first connecting base 301 .
  • first connecting seat 301 and the second connecting seat 306 are both cylindrical in shape
  • the first positioning block 302 includes an arc-shaped wrapping surface 303, and the wrapping surface 303 faces the first connecting seat 301 and the second connecting seat. 306 and at the same time at least partially wrap the first connection base 301 and the second connection base 306 .
  • the fit between the wrapping surface 303 and the first connection base 301 and the second connection base 306 can be improved, and the first positioning block 302 can improve the first connection base 301 and the second connection base 306. Support stability.
  • the position of the first positioning block 302 relative to the first connection base 301 is adjustable to adapt to the adjustment of the relative positions of the first connection base 301 and the second connection base 306 .
  • the first positioning block 302 By arranging the first positioning block 302 to be adjustable in position relative to the first connection base 301, the first positioning block 302 relative to the first connection base 301 can be adjusted according to the relative positions of the first connection base 301 and the second connection base 306. The position is adjusted to adapt to the change in the relative position of the first connecting seat 301 and the second connecting seat 306.
  • the left hinge module M2 further includes a fifth bolt 305 , and the first positioning block 302 is installed on the left hinge body through the fifth bolt 305 .
  • the connection holes on the first positioning block 302 and/or the left hinge body are oblong holes, so that the position of the first positioning block 302 relative to the first connection base 301 can be adjusted.
  • the left hinge module M2 also includes a second bolt 304 and a first fixing block 308.
  • the first fixing block 308 is installed on the left hinge body 300, and the first fixing block 308 is provided with a first threaded hole.
  • the second bolt 304 passes through the first threaded hole and abuts against the side of the first positioning block 302 away from the first connection base 301 , so that the first positioning block 302 presses against the first connection base 301 and the second connection base 306 .
  • the position of the first positioning block 302 relative to the first connecting base 301 can be adjusted as needed by adjusting the screw-in length of the second bolt 304.
  • the second bolt 304 can push against the first positioning block 302, and then push against the first connection base 301 and the second connection base 306 through the first positioning block 302 to keep the first connection base 301 and the second connection base 306 fixed.
  • connection structure between the right hinge body module M3 and the right rear leg module M9 may be the same as the connection structure between the left hinge body module M2 and the left rear leg module M8, or may be the same as the connection structure between the left hinge body module M2 and the left rear leg module M2 It is different from the connection structure between the left rear leg module M8 and will not be described in detail here.
  • the battery module M15 includes a first mounting bracket 400.
  • the first mounting bracket 400 is provided with a first mounting hole 401 on the first side, and the rotary platform module M13 is provided with a first mounting hole 401.
  • the connecting rod 403 is provided with a first locking nut 404 on the first connecting rod 403.
  • the first mounting hole 401 includes a first hole portion with a diameter larger than that of the first locking nut 404 and a first hole portion with a diameter smaller than that of the first locking nut 404. diameter of the second hole.
  • a second mounting hole 402 is provided at an end of the first mounting frame 400 away from the first side.
  • the second mounting hole 402 is U-shaped, and the rotary platform module M13 is provided with a rotatable structure relative to the first mounting frame 400 .
  • the second connecting rod 405 is provided with a second locking nut 406. The second connecting rod 405 enters the second mounting hole 402 by rotating relative to the first mounting bracket 400, and the first mounting bracket 400 And the second connecting rod 405 is fixed by the second locking nut 406.
  • the position of the second mounting hole 402 on the first mounting bracket 400 relative to the rotary platform module M13 is also relatively fixed, because the second connecting rod 405 It is rotatable relative to the first mounting bracket 400, so when connecting the battery module M15 and the rotary platform module M13 through the first locking nut 404, the second connecting rod 405 can be rotated first to not interfere with the various components on the rotary platform module M13.
  • the second connecting rod 405 can be rotated relative to the first mounting bracket 400 so that the second connecting rod 405 enters the second mounting hole 402, and finally Tightening the second locking nut 406 can achieve further stable connection between the battery module M15 and the rotary platform module M13.
  • the second mounting hole 402 is U-shaped to facilitate the second connecting rod 405 to enter or leave the second mounting hole 402 by rotating relative to the first mounting bracket 400 .
  • the first lock nut 404 and the second lock nut 406 are used between the battery module M15 and the rotary platform module M13 to achieve double locking, and the connection stability and reliability are high; moreover, the connection structure is simple, easy to operate, and the connection efficiency is high .
  • the radiator module M18 includes a second mounting bracket 500.
  • the second mounting bracket 500 is provided with a first snap portion 502, a first through hole 501, and a second snap connector. 503 and the second through hole 506.
  • the air intake module M19 is provided with a third snap-in part 504 and a fourth snap-in part 505.
  • the size of the first through hole 501 is configured to allow the third snap-in part 504 to pass through.
  • the size of the two through holes 506 is configured to allow the fourth clamping part 505 to pass through, the third clamping part 504 to clamp with the first clamping part 502 , and the fourth clamping part 505 to clamp with the second clamping part 503 .
  • the radiator module M18 and the air intake module M19 achieve a double-safe connection through the third clamping part 504 and the first clamping part 502 and the fourth clamping part 505 and the second clamping part 503.
  • the connection stability and reliability are high.
  • the third engaging portion 504 includes a hook-shaped first engaging groove
  • the first engaging portion 502 includes a engaging rod
  • the engaging rod is embedded in the first engaging groove
  • the clamping rod is rotatably mounted on the second mounting bracket 500, and by rotating the clamping rod, the first clamping part 502 and the third clamping part 504 are connected or disconnected.
  • the clamping rod and the rotating structure form a snapping structure, which is convenient for operation and can also effectively ensure the locking of the clamping rod.
  • the fourth engaging portion 505 includes a wedge-shaped second engaging groove
  • the second engaging portion 503 includes a wedge-shaped engaging block, and the engaging block is embedded in the second engaging groove.
  • the stability of the card connection can be improved.
  • the boom module M23 includes a first mounting base 601
  • the slewing platform module M13 includes a slewing platform body and four second positioning blocks 602 installed on the slewing platform body. Both ends of the first mounting base 601 are respectively fixed by two second positioning blocks 602.
  • the first mounting base 601 and the rotary platform body are respectively provided with central holes for accommodating the connectors connecting the boom module M23 and the rotary platform module M13.
  • both ends of the first mounting base 601 can be supported and fixed by the two second positioning blocks 602 respectively to maintain the center hole of the first mounting base 601 and the center hole of the rotary platform body. Alignment. After the center hole of the first mounting base 601 and the center hole of the rotary platform body are aligned, pass the connecting piece through the center hole of the first mounting base 601 and the center hole of the rotary platform body to realize the boom module M23 and the rotary platform module M13. Connection. Connectors can be bolts or pins.
  • the two second positioning blocks 602 respectively fix the first mounting base 601 from different circumferential positions of the first mounting base 601, thereby achieving the effect of clamping the first mounting base 601 through the two second positioning blocks 602.
  • the second positioning block 602 includes a positioning surface 603, and the positioning surface 603 contacts the first mounting base 601 to clamp the first mounting base 601.
  • the positioning surface 603 may be a flat surface or a curved surface.
  • the rotary platform module M13 also includes two second mounting seats 607 provided on the rotary platform body.
  • the two second mounting seats 607 are spaced apart, and the first mounting seat 601 is inserted between the two second mounting seats 607.
  • a central hole is provided for receiving the connecting piece.
  • At least one of the two second positioning blocks 602 located at the same end of the first mounting base 601 is adjustable relative to the fixed position of the rotary platform body to adapt to the relative position between the first mounting base 601 and the rotary platform body. Position adjustment.
  • the second positioning block 602 By arranging the second positioning block 602 to be adjustable in position relative to the first mounting base 601, the position of the second positioning block 602 relative to the first mounting base 601 can be adjusted according to the relative position of the first mounting base 601 and the rotary platform body. Adjust to adapt to changes in the relative position of the first mounting base 601 and the rotary platform body.
  • the rotary platform module M13 also includes a sixth bolt 605 , and the second positioning block 602 is installed on the rotary platform body through the sixth bolt 605 .
  • the connection holes on the second positioning block 602 and/or the rotary platform body are oblong holes, so that the position of the second positioning block 602 relative to the first mounting base 601 can be adjusted.
  • the slewing platform module M13 also includes a third bolt 604 and a second fixing block 606.
  • the second fixing block 606 is installed on the slewing platform body.
  • the second fixing block 606 is provided with a second threaded hole.
  • the third bolt 604 passes through the second threaded hole and abuts against the second positioning block 602 to clamp the first mounting base 601 through the two second positioning blocks 602 .
  • the position of the second positioning block 602 relative to the rotary platform body can be adjusted as needed by adjusting the screw-in length of the third bolt 604.
  • the third The bolt 604 can press against the second positioning block 602, and then clamp the first mounting base 601 through the two second positioning blocks 602 to keep the first mounting base 601 fixed.
  • the second positioning block 602 contacts the first mounting base 601 and the second mounting base 607 at the same time to clamp the first mounting base 601 and the second mounting base at the same time.
  • the seat 607 also helps to keep the center hole of the first mounting seat 601 and the center hole of the second mounting seat 607 aligned.
  • the hydraulic pipeline interface between each module can use a flat quick-plug connector, as shown in Figure 48 and Figure 49.
  • the hydraulic pipeline between the left hinged body module M2 and the center rotary body module M4 is color-coded to achieve joint protection. Error and quick identification; as shown in Figure 50 and Figure 51, the hydraulic pipeline between the fourth cylinder M12-4 in the chassis cylinder module M12 and the central rotary body module M4 realizes joint error prevention through a staggered arrangement of male and female heads. and rapid identification.
  • multiple combination quick connectors can be used between each module to quickly connect multiple pipelines at the same time; the electrical system uses integrated wiring harnesses, connectors for connection, and identification cards for quick identification.
  • the rescue vehicle adopts a wheel-leg composite chassis, can be configured with four-wheel drive or two-wheel drive mode, has strong ability to overcome obstacles, climb hills, and cross trenches, and can effectively adapt to the complex terrain environment of the disaster site. It can be equipped with a variety of working tools to meet the needs of multi-functional construction operations at disaster sites.
  • each module is provided with an organic electro-hydraulic quick-installation interface to quickly connect and separate each module.
  • the mechanical interface part is equipped with a guide and positioning structure to achieve rapid positioning of module installation.
  • the fixation method minimizes the use of bolts and avoids connection failure caused by repeated disassembly and assembly.
  • the present disclosure also provides an installation method of the rescue vehicle, which method includes:
  • the left hinged body module M2 is installed on the slewing base module M1
  • the first cylinder M12-1 of the left front leg module M6, left rear leg module M8 and chassis cylinder module M12 is installed on the left hinged body module M2 respectively.
  • the left rear leg module M8 connects the first oil cylinder M12-1 in the chassis cylinder module M12
  • the left front leg module M6 is installed on the left hinged body module M2
  • connect the second oil cylinder in the chassis cylinder module M12 M12-2 is connected to the left front leg module M6 and the left hinge body module M2
  • the left rear wheel module M10 is installed on the left rear leg module M8;
  • the right hinged body module M3 is installed on the slewing base module M1
  • the right front leg module M7, the right rear leg module M9 and the third cylinder M12-3 in the chassis cylinder module M12 are respectively installed on the left hinged body module M2.
  • connect the fourth cylinder in the chassis cylinder module M12 M12-4 is connected to the right front leg module M7 and the right hinge body module M3
  • the right rear leg module M9 is installed on the right hinge body module M3, the right rear wheel module M11 is installed on the right rear leg module M9.
  • the upper vehicle 200 includes an upper vehicle cylinder module M26, a rotary platform module M13, a reducer module M14, a battery module M15, a cover module M16, an engine module M17, and a heat dissipation module that are relatively independent and can be connected in a preset sequence.
  • the installation method also includes:
  • the control module M22 and the pump set module M21 are installed on the rotary platform module M13 successively, and then the hydraulic pump in the pump set module M21 is connected to the engine module M17, and then Install the air intake module M19 on the rotary platform module M13, and install the post-processing module M20 on the control module M22 bracket;
  • the rescue vehicle includes a chassis 100 and an upper vehicle 200.
  • the chassis 100 includes a slewing base module M1, a left hinged body module M2, a right hinged body module M3, a central slewing body module M4, a slewing support module M5, and a left front leg.
  • Module M6 right front leg module M7, left rear leg module M8, right rear leg module M9, left rear wheel module M10, right rear wheel module M11 and chassis cylinder module M12, a total of 12 module units;
  • the boarding vehicle 200 includes a slewing platform module M13, reducer module M14, livestock battery module M15, cover module M16, engine module M17, radiator module M18, air intake module M19, after-treatment module M20, pump module M21, control module M22, boom module M23, The arm module M24, the bucket module M25 and the loading cylinder module M26 total 14 module units.
  • FIG 52 it is a schematic diagram of the assembly relationship of each module in this embodiment.
  • the 1 ⁇ 2 assembly constraint relationship indicates: Part 1 is assembled on Part 2, and the assembly sequence of Part 2 precedes the assembly sequence of Part 1, which is marked as M2. >M1;
  • the cover module M16 in the upper vehicle 200 is related to the boom module M23, the arm module M24, the bucket module M25, Modules other than the cylinder module M12 have obstructions or assembly constraints.
  • the chassis 100 and the upper vehicle 200 can be separately designed for sequence and then merged into the overall sequence.
  • the overall assembly sequence is:
  • the refined assembly sequence is:
  • a light gantry can be used, equipped with a hand chain hoist or an electric hoist, which can be easily operated by three people at the job site; the lifting rigging is equipped with a leveling device to quickly adjust the posture of the assembly; multiple disassembly and assembly sequence requirements can be achieved Each group works asynchronously and in parallel to quickly complete the disassembly and assembly of the entire machine, saving rescue time.
  • the disassembly sequence of the emergency rescue vehicle is the reverse of the assembly sequence.
  • the embodiments of the emergency rescue vehicle of the present disclosure have at least one or more of the following advantages:
  • the whole machine can be split into multiple modular units of no more than 500kg.
  • the module size and weight meet the requirements for convenient transportation by water, land and air. It can realize fast and flexible delivery of rescue equipment and quickly arrive at the rescue site.
  • Lightweight units can be used The gantry allows for convenient lifting of modules;
  • the mechanical interface between modules adopts radial pins, preset bolts, quick-installation pins and other connection methods. It is equipped with a guide positioning structure for rapid positioning, easy processing and manufacturing, convenient use and disassembly, and reduces the risk of mechanical interface failure;
  • the hydraulic interface between modules adopts multi-channel combination quick-change joints, which can realize the synchronous and rapid connection and separation of multiple hydraulic pipelines, and adopts staggered arrangement and rapid color recognition to achieve error prevention;
  • Each module has a preset disassembly and assembly sequence, which effectively improves the efficiency of equipment disassembly and assembly and saves rescue time.

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  • Engineering & Computer Science (AREA)
  • Mining & Mineral Resources (AREA)
  • Civil Engineering (AREA)
  • General Engineering & Computer Science (AREA)
  • Structural Engineering (AREA)
  • Mechanical Engineering (AREA)
  • Arrangement Or Mounting Of Propulsion Units For Vehicles (AREA)
  • Emergency Lowering Means (AREA)

Abstract

本公开涉及一种抢险救援车辆及其安装方法，其中，抢险救援车辆包括相对独立且可相互连接的底盘(100)和上车(200)，所述底盘(100)包括相对独立且可按照预设顺序连接的回转底座模块(M1)、左铰接体模块(M2)、右铰接体模块(M3)、中心回转体模块(M4)、回转支承模块(M5)、左前腿模块(M6)、右前腿模块(M7)、左后腿模块(M8)、右后腿模块(M9)、左后轮模块(M10)、右后轮模块(M11)和底盘油缸模块(M12)，其中，所述左前腿模块(M6)包括左前腿(M6-1)和左前轮(M6-2)，所述右前腿模块(M7)包括右前腿(M7-1)和右前轮(M7-2)。本公开中的底盘分为12个独立的小模块，可以满足水、陆、空多途径便捷运输，以实现抢险救援车辆的快速灵活投送，装拆也比较方便。

Description

抢险救援车辆及其安装方法
本申请是以中国申请号为202210453084.9，申请日为2022年4月24日的申请为基础，并主张其优先权，该中国申请的公开内容在此作为整体引入本申请中。
技术领域
本公开涉及抢险救援技术领域，尤其涉及一种抢险救援车辆及其安装方法。
背景技术
我国地震、地质等自然灾害发生频繁，灾害往往会导致道路阻断、桥梁损毁，使得灾后救援工作难以迅速开展。抢险工程装备在灾害救援中发挥着巨大的作用，但由于体积大、重量重、难以拆解等因素，导致现有的大型工程装备无法及时投入救援现场，严重影响救援效率。而且，现场的救援作业工况复杂，救援功能需求多样化，现有装备作业时需要多种类机械协同配合，也会导致救援效率低下。
目前，有些工程装备的生产厂家开发了可快速拆装的液压挖掘机用于灾害救援，拆分单元重量约3吨左右，可适应于直升机空运运输，但直升机空运对天气、海拔的要求苛刻，使用存在不确定性。采用漕渡门桥等水运方式也可实现大型装备的投送，但对水域航道及码头有一定的条件要求，不能普遍适用；冲锋舟等轻型运输装备使用灵活，但承载能力有限，目前尚未有合适的装备可采用轻型装备运输投放。
针对上述现状，急需开发适应多途径运输、多功能作业的抢险救援工程装备。
需要说明的是，公开于本公开背景技术部分的信息仅仅旨在增加对本公开的总体背景的理解，而不应当被视为承认或以任何形式暗示该信息构成已为本领域技术人员所公知的已知技术。
发明内容
本公开实施例提供一种抢险救援车辆及其安装方法，可以适应多途径运输。
根据本公开的一个方面，提供一种抢险救援车辆，包括相对独立且可相互连接的底盘和上车，其中，底盘包括相对独立且可按照预设顺序连接的回转底座模块、左铰接体模块、右铰接体模块、中心回转体模块、回转支承模块、左前腿模块、右前腿模块、左后腿模块、右后腿模块、左后轮模块、右后轮模块和底盘油缸模块，其中，左 前腿模块包括左前腿和左前轮，右前腿模块包括右前腿和右前轮。
在一些实施例中，上车包括相对独立且可按照预设顺序连接的回转平台模块、减速机模块、蓄电池模块、覆盖件模块、发动机模块、散热器模块、进气模块、后处理模块、泵组模块、控制模块、动臂模块、斗杆模块、铲斗模块和上车油缸模块。
在一些实施例中，回转平台模块包括法兰盘，回转支承模块包括第一螺栓，第一螺栓与法兰盘连接以连接回转支承模块和回转平台模块。
在一些实施例中，回转支承模块设有沿周向布置的至少三个第一销轴，回转底座模块设有与第一销轴对应的第一定位槽，第一定位槽的开口朝向回转支承模块，第一销轴通过开口嵌入第一定位槽中以对回转支承模块和回转底座模块的装配进行定位。
在一些实施例中，回转支承模块设有多个沿周向布置的第二销轴，第二销轴和第一销轴在周向方向上错开布置，回转底座模块设有多个沿周向布置的第一连接孔，第二销轴插入第一连接孔以连接回转支承模块和回转底座模块。
在一些实施例中，回转底座模块的第一侧面设有两个间隔布置的第一定位部，每个第一定位部分别设有钩状的第二定位槽，左铰接体模块包括第一连接轴，第一连接轴嵌入两个第二定位槽中以连接回转底座模块和左铰接体模块。
在一些实施例中，左铰接体模块包括分别连接于第一连接轴的两端的两个第一连接板，两个第一定位部的远离彼此的侧面分别设有导向斜面，导向斜面用于在第一连接轴嵌入第二定位槽的过程中引导第一连接板相对于第一定位部的运动。
在一些实施例中，左铰接体模块包括左铰接体本体、安装在左铰接体本体上的第一连接座和第一定位块，左后腿模块包括两个间隔布置的第二连接座，第一连接座嵌入两个第二连接座之间，第一连接座和第二连接座分别设有用于容纳连接左铰接体模块和左后腿模块的连接件的中心孔，第一定位块被配置为同时与第一连接座和其中一个第二连接座接触，以使第一连接座的中心孔和第二连接座的中心孔对齐。
在一些实施例中，第一连接座和第二连接座均呈圆筒形状，第一定位块包括弧形的包裹面，包裹面朝向第一连接座和第二连接座的对接处并同时至少部分地包裹第一连接座和第二连接座。
在一些实施例中，第一定位块相对于第一连接座的位置可调，以适应第一连接座与第二连接座的相对位置的调整。
在一些实施例中，左铰接体模块还包括第二螺栓和第一固定块，第一固定块安装在左铰接体本体上，第一固定块设有第一螺纹孔，第二螺栓穿过第一螺纹孔并顶靠在 第一定位块的远离第一连接座的一侧，以使第一定位块顶紧第一连接座和第二连接座。
在一些实施例中，蓄电池模块包括第一安装架，第一安装架的第一侧面设有第一安装孔，回转平台模块设有第一连接杆，第一连接杆上设有第一锁紧螺母，第一安装孔包括直径大于第一锁紧螺母的直径的第一孔部和直径小于第一锁紧螺母的直径的第二孔部。
在一些实施例中，第一安装架的远离第一侧面的一端设有第二安装孔，第二安装孔呈U型，回转平台模块设有相对于第一安装架可转动的第二连接杆，第二连接杆上设有第二锁紧螺母，第二连接杆通过相对于第一安装架的转动进入第二安装孔，且第一安装架和第二连接杆通过第二锁紧螺母固定。
在一些实施例中，散热器模块包括第二安装架，第二安装架设有第一卡接部、第一通孔、第二卡接部和第二通孔，进气模块设有第三卡接部和第四卡接部，第一通孔的尺寸被配置为使第三卡接部穿过，第二通孔的尺寸被配置为使第四卡接部穿过，第三卡接部与第一卡接部卡接，第四卡接部与第二卡接部卡接。
在一些实施例中，第三卡接部包括钩状的第一卡槽，第一卡接部包括卡接杆，卡接杆嵌入第一卡槽中。
在一些实施例中，第四卡接部包括楔形的第二卡槽，第二卡接部包括楔形的卡块，卡块嵌入第二卡槽中。
在一些实施例中，动臂模块包括第一安装座，回转平台模块包括回转平台本体和安装在回转平台本体上的四个第二定位块，第一安装座的两端分别通过两个第二定位块固定，第一安装座和回转平台本体分别设有用于容纳连接动臂模块和回转平台模块的连接件的中心孔。
在一些实施例中，位于第一安装座的同一端的两个第二定位块中的至少一个相对于回转平台本体的固定位置可调，以适应第一安装座与回转平台本体的相对位置的调整。
在一些实施例中，回转平台模块还包括第三螺栓和第二固定块，第二固定块安装在回转平台本体上，第二固定块设有第二螺纹孔，第三螺栓穿过第二螺纹孔并顶靠在第二定位块上，以通过两个第二定位块夹紧第一安装座。
根据本公开的另一个方面，提供一种基于上述的抢险救援车辆的安装方法，包括：
先将中心回转体模块安装于回转底座模块内部；
再将左铰接体模块和右铰接体模块分别安装于回转底座模块上；
然后，在将左铰接体模块安装于回转底座模块上之后，将左前腿模块、左后腿模块和底盘油缸模块中的第一油缸分别安装于左铰接体模块上，然后将左后腿模块与底盘油缸模块中的第一油缸连接，并在左前腿模块安装于左铰接体模块上之后，将底盘油缸模块中的第二油缸与左前腿模块和左铰接体模块连接；以及，在左后腿模块安装于左铰接体模块上之后，将左后轮模块安装于左后腿模块上；和
同时，在将右铰接体模块安装于回转底座模块上之后，将右前腿模块、右后腿模块和底盘油缸模块中的第三油缸分别安装于左铰接体模块上，然后将右后腿模块与底盘油缸模块中的第三油缸连接，并在右前腿模块安装于右铰接体模块上之后，将底盘油缸模块中的第四油缸与右前腿模块和右铰接体模块连接；以及，在右后腿模块安装于右铰接体模块上之后，将右后轮模块安装于右后腿模块上。
在一些实施例中，上车包括相对独立且可按照预设顺序连接的上车油缸模块、回转平台模块、减速机模块、蓄电池模块、覆盖件模块、发动机模块、散热器模块、进气模块、后处理模块、泵组模块、控制模块、动臂模块、斗杆模块和铲斗模块，安装方法还包括：
先将回转支承模块、减速机模块安装在回转平台模块上，之后作为整体安装于底盘；
再将蓄电池模块、发动机模块和上车油缸模块中的第五油缸分别安装于回转平台模块上；
在将发动机模块安装于回转平台模块上之后，再将控制模块和泵组模块先后安装于回转平台模块上，之后将泵组模块中的液压泵与发动机模块连接，然后将进气模块安装于回转平台模块上，以及后处理模块安装于控制模块支架上；
在将进气模块安装于回转平台模块上后，将散热器模块安装于进气模块和回转平台模块上，然后将覆盖件模块安装于上车中除了动臂模块、斗杆模块、铲斗模块和上车油缸模块之外的其他模块上；和
在将上车油缸模块中的第五油缸安装于回转平台模块上之后，将动臂模块安装于回转平台模块上，之后将动臂模块与上车油缸模块中的第五油缸连接，然后将上车油缸模块中的第六油缸安装于动臂模块上，接着将斗杆模块安装在动臂模块上，并将斗杆模块于第六油缸连接，最后将铲斗模块安装于斗杆模块上。
基于上述技术方案，本公开实施例将抢险救援车辆分为底盘和上车两个大部分， 其中，底盘部分分为12个独立的小模块，这些小模块各自的重量均不超过500kg，因此满足水、陆、空多途径便捷运输，以实现抢险救援车辆的快速灵活投送，为抢险救援争取宝贵时间；各个小模块的重量减轻，便于采用轻型龙门架实现各个模块的便捷吊装，有利于降低运输时的装卸难度，提高装卸效率，节约装卸时间；而且，将各个模块运输到场地后，可以按照预设的顺序组装起来，快速恢复车辆的工作能力。
通过以下参照附图对本公开的示例性实施例的详细描述，本公开的其它特征及其优点将会变得清楚。
附图说明
为了更清楚地说明本公开实施例或已知技术中的技术方案，下面将对实施例或已知技术描述中所需要使用的附图作简单地介绍，显而易见地，下面描述中的附图仅仅是本公开的实施例，对于本领域普通技术人员来讲，在不付出创造性劳动的前提下，还可以根据提供的附图获得其他的附图。
图1为本公开抢险救援车辆一个实施例的结构示意图。
图2为本公开抢险救援车辆一个实施例中回转底座模块的结构示意图。
图3为本公开抢险救援车辆一个实施例中左铰接体模块的结构示意图。
图4为本公开抢险救援车辆一个实施例中右铰接体模块的结构示意图。
图5为本公开抢险救援车辆一个实施例中中心回转体模块的结构示意图。
图6为本公开抢险救援车辆一个实施例中回转支承模块的结构示意图。
图7为本公开抢险救援车辆一个实施例中左前腿模块的结构示意图。
图8为本公开抢险救援车辆一个实施例中右前腿模块的结构示意图。
图9为本公开抢险救援车辆一个实施例中左后腿模块的结构示意图。
图10为本公开抢险救援车辆一个实施例中右后腿模块的结构示意图。
图11为本公开抢险救援车辆一个实施例中左后轮模块的结构示意图。
图12为本公开抢险救援车辆一个实施例中右后轮模块的结构示意图。
图13为本公开抢险救援车辆一个实施例中底盘油缸模块的结构示意图。
图14为本公开抢险救援车辆一个实施例中回转平台模块的结构示意图。
图15为本公开抢险救援车辆一个实施例中减速机模块的结构示意图。
图16为本公开抢险救援车辆一个实施例中蓄电池模块的结构示意图。
图17为本公开抢险救援车辆一个实施例中覆盖件模块的结构示意图。
图18为本公开抢险救援车辆一个实施例中发动机模块的结构示意图。
图19为本公开抢险救援车辆一个实施例中散热器模块的结构示意图。
图20为本公开抢险救援车辆一个实施例中进气模块的结构示意图。
图21为本公开抢险救援车辆一个实施例中后处理模块的结构示意图。
图22为本公开抢险救援车辆一个实施例中泵组模块的结构示意图。
图23为本公开抢险救援车辆一个实施例中控制模块的结构示意图。
图24为本公开抢险救援车辆一个实施例中动臂模块的结构示意图。
图25为本公开抢险救援车辆一个实施例中斗杆模块的结构示意图。
图26为本公开抢险救援车辆一个实施例中铲斗模块的结构示意图。
图27为本公开抢险救援车辆一个实施例中上车油缸模块的结构示意图。
图28为本公开抢险救援车辆一个实施例中回转平台模块的部分结构示意图。
图29为本公开抢险救援车辆一个实施例中回转支承模块的各部分结构示意图。
图30为本公开抢险救援车辆一个实施例中回转平台模块和回转支承模块的装配示意图。
图31为本公开抢险救援车辆一个实施例中回转底座模块的部分结构示意图。
图32为本公开抢险救援车辆一个实施例中回转底座模块和回转支承模块的装配示意图。
图33为本公开抢险救援车辆一个实施例中回转底座模块及其局部结构的放大示意图。
图34为本公开抢险救援车辆一个实施例中左铰接体模块的部分结构示意图。
图35为本公开抢险救援车辆一个实施例中回转底座模块和左铰接体模块的装配示意图。
图36为本公开抢险救援车辆一个实施例中左铰接体模块的部分结构示意图。
图37为本公开抢险救援车辆一个实施例中左后腿模块的部分结构示意图。
图38为本公开抢险救援车辆一个实施例中左铰接体模块和左后腿模块的装配示意图。
图39为本公开抢险救援车辆一个实施例中畜电池模块的各部分结构示意图。
图40为本公开抢险救援车辆一个实施例中回转平台模块的部分结构示意图。
图41为本公开抢险救援车辆一个实施例中畜电池模块和回转平台模块的装配示意图。
图42为本公开抢险救援车辆一个实施例中散热器模块的部分结构示意图。
图43为本公开抢险救援车辆一个实施例中进气模块的部分结构示意图。
图44为本公开抢险救援车辆一个实施例中散热器模块和进气模块的装配示意图。
图45为本公开抢险救援车辆一个实施例中回转平台模块的部分结构示意图。
图46为本公开抢险救援车辆一个实施例中动臂模块的部分结构示意图。
图47为本公开抢险救援车辆一个实施例中回转平台模块和动臂模块装配后的局部结构示意图。
图48为本公开抢险救援车辆一个实施例中左铰接体模块和中心回转体模块的液压管路在连接前的结构示意图。
图49为本公开抢险救援车辆一个实施例中左铰接体模块和中心回转体模块的液压管路在连接后的结构示意图。
图50为本公开抢险救援车辆一个实施例中底盘油缸模块中的第四油缸和中心回转体模块的液压管路在连接前的结构示意图。
图51为本公开抢险救援车辆一个实施例中底盘油缸模块中的第四油缸和中心回转体模块的液压管路在连接后的结构示意图。
图52为本公开抢险救援车辆的安装方法一个实施例中各模块的装配关系示意图。
图中：
100、底盘；M1、回转底座模块；M2、左铰接体模块；M3、右铰接体模块；M4、中心回转体模块；M5、回转支承模块；M6、左前腿模块；M6-1、左前腿；M6-2、左前轮；M7、右前腿模块；M7-1、右前腿；M7-2、右前轮；M8、左后腿模块；M9、右后腿模块；M10、左后轮模块；M11、右后轮模块；M12、底盘油缸模块；M12-1、第一油缸；M12-2、第二油缸；M12-3、第三油缸；M12-4、第四油缸；
200、上车；M13、回转平台模块；M14、减速机模块；M15、畜电池模块；M16、覆盖件模块；M17、发动机模块；M18、散热器模块；M19、进气模块；M20、后处理模块；M21、泵组模块；M22、控制模块；M23、动臂模块；M24、斗杆模块；M25、铲斗模块；M26、上车油缸模块；M26-1、第五油缸；M26-2、第六油缸；
101、法兰盘；102、外圈；103、第一螺栓；104、内圈；105、第一销轴；106、第二销轴；107、接口；108、第一定位槽；109、第一连接孔；
201、第一定位部；202、导向斜面；203、第一连接轴；204、第一连接板；205、第四螺栓；206、第二连接孔；207、第二定位槽；
300、左铰接体本体；301、第一连接座；302、第一定位块；303、包裹面；304、第二螺栓；305、第五螺栓；306、第二连接座；307、第一定位组件；308、第一固定块；
400、第一安装架；401、第一安装孔；402、第二安装孔；403、第一连接杆；404、第一锁紧螺母；405、第二连接杆；406、第二锁紧螺母；
500、第二安装架；501、第一通孔；502、第一卡接部；503、第二卡接部；504、第三卡接部；505、第四卡接部；506、第二通孔；
601、第一安装座；602、第二定位块；603、定位面；604、第三螺栓；605、第六螺栓；606、第二固定块；607、第二安装座。
具体实施方式
下面将结合本公开实施例中的附图，对实施例中的技术方案进行清楚、完整地描述。显然，所描述的实施例仅仅是本公开的一部分实施例，而不是全部的实施例。基于本公开的实施例，本领域普通技术人员在没有做出创造性劳动前提下所获得的所有其他实施例，都属于本公开保护的范围。
在本公开的描述中，需要理解的是，术语“中心”、“横向”、“纵向”、“前”、“后”、“左”、“右”、“上”、“下”、“竖直”、“水平”、“顶”、“底”、“内”、“外”等指示的方位或位置关系为基于附图所示的方位或位置关系，仅是为了便于描述本公开和简化描述，而不是指示或暗示所指的装置或元件必须具有特定的方位、以特定的方位构造和操作，因此不能理解为对本公开保护范围的限制。
如图1所示，在本公开提供的抢险救援车辆的一些实施例中，该抢险救援车辆包括相对独立且可相互连接的底盘100和上车200两大部分。
如图2至图13所示，底盘100包括相对独立且可按照预设顺序连接的回转底座模块M1、左铰接体模块M2、右铰接体模块M3、中心回转体模块M4、回转支承模块M5、左前腿模块M6、右前腿模块M7、左后腿模块M8、右后腿模块M9、左后轮模块M10、右后轮模块M11和底盘油缸模块M12。其中，左前腿模块M6包括左前腿M6-1和左前轮M6-2，右前腿模块M7包括右前腿M7-1和右前轮M7-2。
本公开实施例将抢险救援车辆分为底盘100和上车200两个大部分，其中，底盘100共分为12个独立的小模块，使得这些小模块各自的重量均不超过500kg，因此满足水、陆、空多途径便捷运输，以实现抢险救援车辆的快速灵活投送，为抢险救援争 取宝贵时间；各个小模块的重量减轻，便于采用轻型龙门架实现各个模块的便捷吊装，有利于降低运输时的装卸难度，提高装卸效率，节约装卸时间；而且，将各个模块运输到场地后，可以按照预设的顺序组装起来，快速恢复车辆的工作能力。
如图14至图27所示，在一些实施例中，上车200包括相对独立且可按照预设顺序连接的回转平台模块M13、减速机模块M14、蓄电池模块M15、覆盖件模块M16、发动机模块M17、散热器模块M18、进气模块M19、后处理模块M20、泵组模块M21、控制模块M22、动臂模块M23、斗杆模块M24、铲斗模块M25和上车油缸模块M26。
在本公开实施例中，上车200共分为14个小模块，使得每个小模块的重量也均不超过500kg，满足水、陆、空多途径便捷运输，以实现抢险救援车辆的快速灵活投送。
下面介绍一些模块之间的连接结构。
如图28至图30所示，在一些实施例中，回转平台模块M13包括法兰盘101，回转支承模块M5包括第一螺栓103，第一螺栓103与法兰盘101连接以连接回转支承模块M5和回转平台模块M13。
通过将第一螺栓103预设在回转支承模块M5上，在将回转支承模块M5的第一螺栓103和回转平台模块M13上的法兰盘101上的螺栓孔对齐后，拧紧第一螺栓103，即可完成回转支承模块M5和回转平台模块M13的装配，操作简单，且连接可靠。
其中，为了方便对接，在初始状态下，第一螺栓103预先设置在回转支承模块M5的容纳孔中且不露出，以避免在回转支承模块M5和回转平台模块M13的对接过程中压坏第一螺栓103。具体可以在回转支承模块M5和回转平台模块M13对接完成后，再通过旋转第一螺栓103，连接回转支承模块M5和回转平台模块M13。
如图28至图32所示，在一些实施例中，回转支承模块M5设有沿周向布置的至少三个第一销轴105，回转底座模块M1设有与第一销轴105对应的第一定位槽108，第一定位槽108的开口朝向回转支承模块M5，第一销轴105通过开口嵌入第一定位槽108中以对回转支承模块M5和回转底座模块M1的装配进行定位。其中，三个第一销轴105可以确定一个平面，从而保证有效定位。
通过设置第一销轴105和第一定位槽108，可以在回转支承模块M5和回转底座模块M1的装配过程中对回转支承模块M5和回转底座模块M1的对接进行引导，使回转支承模块M5正确落位于回转底座模块M1上，避免回转支承模块M5落位出现偏差，造成需要重新抬起回转支承模块M5并重新对接的麻烦，有效提高回转支承模 块M5和回转底座模块M1的装配效率。
如图31所示，第一定位槽108的开口朝上，且第一定位槽108在回转底座模块M1的径向方向上是贯通的，这样可以方便第一销轴105从上方嵌入第一定位槽108中。
回转支承模块M5包括直径较大的外圈102和直径较小的内圈104，且在轴向方向上，内圈104设置于外圈102的远离回转平台模块M13的一侧。第一螺栓103预先设置在外圈102的远离内圈104的端面上。
回转底座模块M1包括内外层挡圈，内层挡圈和外层挡圈之间形成环形的接口107，回转支承模块M5的内圈104嵌入接口107中。
第一定位槽108包括位于回转底座模块M1的内层挡圈的部分和位于回转底座模块M1的外层挡圈的部分，且第一定位槽108贯通接口107。
第一销轴105设置于回转支承模块M5的内圈104上，三个第一销轴105可以沿回转支承模块M5的内圈104的周向均匀或非均匀布置。
在一些实施例中，回转支承模块M5设有多个沿周向布置的第二销轴106，第二销轴106和第一销轴105在周向方向上错开布置，回转底座模块M1设有多个沿周向布置的第一连接孔109，第二销轴106插入第一连接孔109以连接回转支承模块M5和回转底座模块M1。
通过第二销轴106和第一连接孔109，可以实现回转支承模块M5和回转底座模块M1的连接和固定。
多个第二销轴106可以沿周向均匀布置在回转支承模块M5的内圈104上。在回转支承模块M5的轴向方向上，第二销轴106和第一销轴105也是错开布置的，且第二销轴106比第一销轴105更靠近回转底座模块M1，以避免第二销轴106在回转支承模块M5装配于回转底座模块M1上时影响第一销轴105和第一定位槽108的配合。
第二销轴106可以预先设置在回转支承模块M5的容纳孔中，而在需要装配回转支承模块M5和回转底座模块M1时，可以先将第二销轴106从回转支承模块M5的容纳孔中取出，以避免第二销轴106影响回转支承模块M5的内圈104插入接口107中，而在回转支承模块M5的内圈104插入接口107后，可以再将第二销轴106插入第一连接孔109中，实现回转支承模块M5和回转底座模块M1的连接。
如图33至图35所示，在一些实施例中，回转底座模块M1的第一侧面设有两个间隔布置的第一定位部201，每个第一定位部201分别设有钩状的第二定位槽207， 左铰接体模块M2包括第一连接轴203，第一连接轴203嵌入两个第二定位槽207中以连接回转底座模块M1和左铰接体模块M2。
通过将第一连接轴203嵌入两个第一定位部201的第二定位槽207中，可以通过挂接的方式实现回转底座模块M1和左铰接体模块M2的初步连接和定位。
第二定位槽207呈钩状，类似V型，具有一定的深度，且随着深度的增加而开口变小，这样可以方便第一连接轴203进入第二定位槽207中，同时在第一连接轴203到达第二定位槽207的底部后可以对第一连接轴203形成限位作用，防止第一连接轴203脱离第二定位槽207。
设置两个第一定位部201，并使一个第一连接轴203的不同轴向位置分别嵌入两个第二定位槽207中，可以有效保持第一连接轴203的平衡，防止第一连接轴203在前后方向上发生摆动。
在一些实施例中，左铰接体模块M2包括分别连接于第一连接轴203的两端的两个第一连接板204，两个第一定位部201的远离彼此的侧面分别设有导向斜面202，导向斜面202用于在第一连接轴203嵌入第二定位槽207的过程中引导第一连接板204相对于第一定位部201的运动。
如图33所示，在左侧的第一定位部201的左侧面设有导向斜面202，在右侧的第一定位部201的右侧面设有导向斜面202，在将第一连接轴203嵌入第二定位槽207的过程中，连接于第一连接轴203两端的第一连接板204首先与导向斜面202配合，在导向斜面202的引导下，使得第一连接板204更容易向下运动，以带动第一连接轴203嵌入第二定位槽207中。
如图34所示，左铰接体模块M2还包括第四螺栓205和第二连接孔206，回转底座模块M1上则对应设有与第四螺栓205连接的螺栓孔和与第二连接孔206对应的第三连接孔，在将第一连接轴203嵌入第二定位槽207中以实现回转底座模块M1和左铰接体模块M2的初步连接后，再通过拧紧第四螺栓205和在第二连接孔206、第三连接孔中插入销轴实现回转底座模块M1和左铰接体模块M2的进一步稳固连接，提高连接的可靠性。
第四螺栓205可以布置于第二连接孔206的上方，实现回转底座模块M1和左铰接体模块M2在上下方向上的稳定连接。
如图35所示，左铰接体模块M2安装于回转底座模块M1的左侧，右铰接体模块M3安装于回转底座模块M1的右侧。右铰接体模块M3和回转底座模块M1之间的连 接结构可以与左铰接体模块M2和回转底座模块M1之间的连接结构相同，也可以与左铰接体模块M2和回转底座模块M1之间的连接结构不同，这里不再详述。
如图36至图38所示，在一些实施例中，左铰接体模块M2包括左铰接体本体300、安装在左铰接体本体300上的第一连接座301和第一定位块302，左后腿模块M8包括两个间隔布置的第二连接座306，第一连接座301嵌入两个第二连接座306之间，第一连接座301和第二连接座306分别设有用于容纳连接左铰接体模块M2和左后腿模块M8的连接件的中心孔，第一定位块302被配置为同时与第一连接座301和其中一个第二连接座306接触，以使第一连接座301的中心孔和第二连接座306的中心孔对齐。
将连接件分别穿过第一连接座301和两个第二连接座306的中心孔，可以实现第一连接座301和两个第二连接座306的连接，即实现左铰接体模块M2和左后腿模块M8的连接。连接件可以采用螺栓或者销轴等。
通过设置第一定位块302，则可以使第一连接座301的中心孔和第二连接座306的中心孔保持对齐。
在一些实施例中，第一定位块302的数量可以为一个或两个，在第一定位块302的数量为两个时，两个第一定位块302的一个抵靠于第一连接座301和其中一个第二连接座306上，另一个第一定位块302抵靠于第一连接座301和另一个第二连接座306上。
在一些实施例中，第一定位组件307被配置为限制第一连接座301与左铰接体本体300沿第一方向的相对运动。
第一定位组件307可以包括两个弧形的包裹件，两个包裹件包裹于第一连接座301的外周，以对第一连接座301形成固定和限位作用。
在一些实施例中，第一连接座301和第二连接座306均呈圆筒形状，第一定位块302包括弧形的包裹面303，包裹面303朝向第一连接座301和第二连接座306的对接处并同时至少部分地包裹第一连接座301和第二连接座306。
通过设置弧形的包裹面303，可以提高包裹面303与第一连接座301和第二连接座306的贴合度，提高第一定位块302对于第一连接座301和第二连接座306的支撑稳定性。
在一些实施例中，第一定位块302相对于第一连接座301的位置可调，以适应第一连接座301与第二连接座306的相对位置的调整。
通过将第一定位块302设置为相对于第一连接座301的位置可调，可以根据第一连接座301与第二连接座306的相对位置对第一定位块302相对于第一连接座301的位置进行调整，适应第一连接座301与第二连接座306的相对位置的变化。
在一些实施例中，左铰接体模块M2还包括第五螺栓305，第一定位块302通过第五螺栓305安装于左铰接体本体上。第一定位块302和/或左铰接体本体上的连接孔为长圆孔，以实现第一定位块302相对于第一连接座301的位置可调。
在一些实施例中，左铰接体模块M2还包括第二螺栓304和第一固定块308，第一固定块308安装在左铰接体本体300上，第一固定块308设有第一螺纹孔，第二螺栓304穿过第一螺纹孔并顶靠在第一定位块302的远离第一连接座301的一侧，以使第一定位块302顶紧第一连接座301和第二连接座306。
通过设置第二螺栓304和第一固定块308，则可以根据需要通过调节第二螺栓304的旋入长度的方式实现对第一定位块302相对于第一连接座301的位置的调节，同时，第二螺栓304可以顶紧第一定位块302，进而通过第一定位块302顶紧第一连接座301和第二连接座306，保持第一连接座301和第二连接座306的固定。
在一些实施例中，右铰接体模块M3和右后腿模块M9之间的连接结构可以与左铰接体模块M2和左后腿模块M8之间的连接结构相同，也可以与左铰接体模块M2和左后腿模块M8之间的连接结构不同，这里不再详述。
如图39至图41所示，在一些实施例中，蓄电池模块M15包括第一安装架400，第一安装架400的第一侧面设有第一安装孔401，回转平台模块M13设有第一连接杆403，第一连接杆403上设有第一锁紧螺母404，第一安装孔401包括直径大于第一锁紧螺母404的直径的第一孔部和直径小于第一锁紧螺母404的直径的第二孔部。
在通过第一锁紧螺母404连接蓄电池模块M15和回转平台模块M13时，可以先将第一锁紧螺母404穿过第一安装孔401的第一孔部，然后再推动蓄电池模块M15相对于回转平台模块M13运动，以使第一锁紧螺母404的杆部运动至第一安装孔401的第二孔部处，然后拧紧第一锁紧螺母404，完成第一锁紧螺母404对蓄电池模块M15和回转平台模块M13的固定。
在一些实施例中，第一安装架400的远离第一侧面的一端设有第二安装孔402，第二安装孔402呈U型，回转平台模块M13设有相对于第一安装架400可转动的第二连接杆405，第二连接杆405上设有第二锁紧螺母406，第二连接杆405通过相对于第一安装架400的转动进入第二安装孔402，且第一安装架400和第二连接杆405通 过第二锁紧螺母406固定。
在通过第一锁紧螺母404连接蓄电池模块M15和回转平台模块M13时，第一安装架400上的第二安装孔402相对于回转平台模块M13的位置也相对固定下来，由于第二连接杆405相对于第一安装架400可转动，因此在通过第一锁紧螺母404连接蓄电池模块M15和回转平台模块M13时可以先将第二连接杆405旋转至不会与回转平台模块M13上的各部件发生干涉的位置，而在第一锁紧螺母404拧紧后，则可以将第二连接杆405相对于第一安装架400旋转，以使第二连接杆405进入第二安装孔402中，最后再拧紧第二锁紧螺母406，可以实现对蓄电池模块M15和回转平台模块M13的进一步稳定连接。
第二安装孔402呈U型，便于使第二连接杆405通过相对于第一安装架400的旋转进入或离开第二安装孔402。
蓄电池模块M15和回转平台模块M13之间采用第一锁紧螺母404和第二锁紧螺母406实现了双重锁定，连接稳定性和可靠性较高；而且，连接结构简单，操作方便，连接效率高。
如图42至图44所示，在一些实施例中，散热器模块M18包括第二安装架500，第二安装架500设有第一卡接部502、第一通孔501、第二卡接部503和第二通孔506，进气模块M19设有第三卡接部504和第四卡接部505，第一通孔501的尺寸被配置为使第三卡接部504穿过，第二通孔506的尺寸被配置为使第四卡接部505穿过，第三卡接部504与第一卡接部502卡接，第四卡接部505与第二卡接部503卡接。
散热器模块M18和进气模块M19之间通过第三卡接部504与第一卡接部502卡接以及第四卡接部505与第二卡接部503卡接实现了双重保险的连接，连接稳定性和可靠性较高。
在一些实施例中，第三卡接部504包括钩状的第一卡槽，第一卡接部502包括卡接杆，卡接杆嵌入第一卡槽中。
在一些实施例中，卡接杆可转动地安装于第二安装架500上，通过转动卡接杆，实现第一卡接部502和第三卡接部504的卡接或断开连接。卡接杆与转动结构形成卡扣结构，便于操作，也可以有效保证对卡接杆的锁定。
在一些实施例中，第四卡接部505包括楔形的第二卡槽，第二卡接部503包括楔形的卡块，卡块嵌入第二卡槽中。
通过设置楔形的第二卡槽和卡块，可以提高卡接的稳固性。
如图45至图47所示，在一些实施例中，动臂模块M23包括第一安装座601，回转平台模块M13包括回转平台本体和安装在回转平台本体上的四个第二定位块602，第一安装座601的两端分别通过两个第二定位块602固定，第一安装座601和回转平台本体分别设有用于容纳连接动臂模块M23和回转平台模块M13的连接件的中心孔。
通过设置四个第二定位块602，第一安装座601的两端可以分别通过两个第二定位块602进行支撑和固定，以保持第一安装座601的中心孔和回转平台本体的中心孔对齐。在第一安装座601的中心孔和回转平台本体的中心孔对齐后，将连接件穿过第一安装座601的中心孔和回转平台本体的中心孔，实现动臂模块M23和回转平台模块M13的连接。连接件可以采用螺栓或者销轴等。
两个第二定位块602分别从第一安装座601的不同周向位置对第一安装座601进行固定，实现通过两个第二定位块602夹紧第一安装座601的效果。
第二定位块602包括定位面603，定位面603与第一安装座601接触以夹紧第一安装座601。定位面603可以为平面或曲面。
在一些实施例中，回转平台模块M13还包括设置于回转平台本体的两个第二安装座607，两个第二安装座607间隔布置，第一安装座601插入两个第二安装座607之间的空隙中，第二安装座607设有中心孔用于容纳连接件。
在一些实施例中，位于第一安装座601的同一端的两个第二定位块602中的至少一个相对于回转平台本体的固定位置可调，以适应第一安装座601与回转平台本体的相对位置的调整。
通过将第二定位块602设置为相对于第一安装座601的位置可调，可以根据第一安装座601与回转平台本体的相对位置对第二定位块602相对于第一安装座601的位置进行调整，适应第一安装座601与回转平台本体的相对位置的变化。
在一些实施例中，回转平台模块M13还包括第六螺栓605，第二定位块602通过第六螺栓605安装于回转平台本体上。第二定位块602和/或回转平台本体上的连接孔为长圆孔，以实现第二定位块602相对于第一安装座601的位置可调。
在一些实施例中，回转平台模块M13还包括第三螺栓604和第二固定块606，第二固定块606安装在回转平台本体上，第二固定块606设有第二螺纹孔，第三螺栓604穿过第二螺纹孔并顶靠在第二定位块602上，以通过两个第二定位块602夹紧第一安装座601。
通过设置第三螺栓604和第二固定块606，则可以根据需要通过调节第三螺栓604 的旋入长度的方式实现对第二定位块602相对于回转平台本体的位置的调节，同时，第三螺栓604可以顶紧第二定位块602，进而通过两个第二定位块602夹紧第一安装座601，保持第一安装座601的固定。
在回转平台本体上安装有第二安装座607的实施例中，第二定位块602同时与第一安装座601和第二安装座607接触，以同时夹紧第一安装座601和第二安装座607，也有助于保持第一安装座601的中心孔和第二安装座607的中心孔对齐。
各个模块之间的液压管路接口可以采用平面快插接头，如图48和图49所示，左铰接体模块M2和中心回转体模块M4之间的液压管路通过标记颜色的方式实现接头防错和快速识别；如图50和图51所示，底盘油缸模块M12中的第四油缸M12-4和中心回转体模块M4之间的液压管路通过公母头交错布置的方式实现接头防错和快速识别。同时，各模块之间可以采用多路组合快速接头实现多管路同时快速连接；电气系统采用集成式线束，采用接插件连接，配置标识卡实现快速识别。
在本公开一些实施例中，抢险救援车辆采用轮腿复合式底盘，可配置四驱或两驱模式，具备超强的越障、爬坡、跨越壕沟能力，有效适应灾害现场的复杂地形环境，可配置多种作业机具，满足灾害现场多功能施工作业需求。
在本公开各个实施例中，各个模块均设置有机电液快装接口，快速实现各个模块的快速连接与分离。根据各模块的特点，机械接口部分设置有导向、定位结构，实现模块安装的快速定位，固定方式尽量减少螺栓的使用，避免反复拆装造成连接失效。
基于上述各个实施例中的抢险救援车辆，本公开还提供了一种抢险救援车辆的安装方法，该方法包括：
先将中心回转体模块M4安装于回转底座模块M1内部；
再将左铰接体模块M2和右铰接体模块M3分别安装于回转底座模块M1上；
然后，在将左铰接体模块M2安装于回转底座模块M1上之后，将左前腿模块M6、左后腿模块M8和底盘油缸模块M12中的第一油缸M12-1分别安装于左铰接体模块M2上，然后将左后腿模块M8与底盘油缸模块M12中的第一油缸M12-1连接，并在左前腿模块M6安装于左铰接体模块M2上之后，将底盘油缸模块M12中的第二油缸M12-2与左前腿模块M6和左铰接体模块M2连接；以及，在左后腿模块M8安装于左铰接体模块M2上之后，将左后轮模块M10安装于左后腿模块M8上；和
同时，在将右铰接体模块M3安装于回转底座模块M1上之后，将右前腿模块M7、右后腿模块M9和底盘油缸模块M12中的第三油缸M12-3分别安装于左铰接体 模块M2上，然后将右后腿模块M9与底盘油缸模块M12中的第三油缸M12-3连接，并在右前腿模块M7安装于右铰接体模块M3上之后，将底盘油缸模块M12中的第四油缸M12-4与右前腿模块M7和右铰接体模块M3连接；以及，在右后腿模块M9安装于右铰接体模块M3上之后，将右后轮模块M11安装于右后腿模块M9上。
在一些实施例中，上车200包括相对独立且可按照预设顺序连接的上车油缸模块M26、回转平台模块M13、减速机模块M14、蓄电池模块M15、覆盖件模块M16、发动机模块M17、散热器模块M18、进气模块M19、后处理模块M20、泵组模块M21、控制模块M22、动臂模块M23、斗杆模块M24和铲斗模块M25，安装方法还包括：
先将回转支承模块M5、减速机模块M14安装在回转平台模块M13上，之后作为整体安装于底盘100；
再将蓄电池模块M15、发动机模块M17和上车油缸模块M26中的第五油缸M26-1分别安装于回转平台模块M13上；
在将发动机模块M17安装于回转平台模块M13上之后，再将控制模块M22和泵组模块M21先后安装于回转平台模块M13上，之后将泵组模块M21中的液压泵与发动机模块M17连接，然后将进气模块M19安装于回转平台模块M13上，以及后处理模块M20安装于控制模块M22支架上；
在将进气模块M19安装于回转平台模块M13上后，将散热器模块M18安装于进气模块M19和回转平台模块M13上，然后将覆盖件模块M16安装于上车200中除了动臂模块M23、斗杆模块M24、铲斗模块M25和上车油缸模块M26之外的其他模块上；和
在将上车油缸模块M26中的第五油缸M26-1安装于回转平台模块M13上之后，将动臂模块M23安装于回转平台模块M13上，之后将动臂模块M23与上车油缸模块M26中的第五油缸M26-1连接，然后将上车油缸模块M26中的第六油缸M26-2安装于动臂模块M23上，接着将斗杆模块M24安装在动臂模块M23上，并将斗杆模块M24于第六油缸M26-2连接，最后将铲斗模块M25安装于斗杆模块M24上。
下面基于本公开抢险救援车辆的一个实施例对其安装方法进行说明：
在本实施例中，抢险救援车辆包括底盘100和上车200，底盘100包括回转底座模块M1、左铰接体模块M2、右铰接体模块M3、中心回转体模块M4、回转支承模块M5、左前腿模块M6、右前腿模块M7、左后腿模块M8、右后腿模块M9、左后轮模块M10、右后轮模块M11和底盘油缸模块M12，共计12个模块单元；上车200包 括回转平台模块M13、减速机模块M14、畜电池模块M15、覆盖件模块M16、发动机模块M17、散热器模块M18、进气模块M19、后处理模块M20、泵组模块M21、控制模块M22、动臂模块M23、斗杆模块M24、铲斗模块M25和上车油缸模块M26，共计14个模块单元。
如图52所示，为本实施例中各个模块的装配关系示意图，其中，①→②装配约束关系表示：件1装配在件2上面，件2装配序列先于件1装配序列，记为M2＞M1；
Figure PCTCN2022096008-appb-000001
遮挡约束关系表示：件1装配后阻挡件2的装配，件2装配序列先于件1装配序列，记为M2＞M1；②→①←③表示件2和件3的装配序列相同，滞后于件1，记为M1＞M2＝M3，M2＝M3表示M2和M3可以同时装配；
Figure PCTCN2022096008-appb-000002
表示件1和件2部装，部装后作为整体部件参与总体装配序列，记为M1+M2。
根据约束树状图显示的关系可以看出，底盘100的装配先于上车200的装配，上车200中的覆盖件模块M16与除了动臂模块M23、斗杆模块M24、铲斗模块M25、油缸模块M12以外的其他模块均存在遮挡或装配约束，作为最后一个部件装配，底盘100与上车200可以分开进行序列设计，然后合并作为整体序列。
根据模块约束树状图，得到整体的装配序列为：
M1＞M4＞M2＝M3＞M6＝M7＝M8＝M9＝M12-1＝M12-3＞M10＝M11＝M12-2＝M12-4＞M5+M13+M14＞M15＝M26-1＝M17＞M22＝M23＞M21＝M26-2＞M19＝M20＝M24＞M18＝M25＞M16
根据模块单元的装配约束关系，细化装配序列为：
Figure PCTCN2022096008-appb-000003
在组装时，可以采用轻型龙门架，配置手拉葫芦、电动葫芦，作业现场3人便可轻松操作；起吊索具配置调平装置，可快速调整装配件姿态；根据拆装序列要求可实现多个组异步并行作业，快速完成整机拆装，节约救援时间。
本实施例中抢险救援车辆的拆解顺序为组装顺序的逆序。
通过对本公开抢险救援车辆多个实施例的说明，可以看到本公开抢险救援车辆实施例至少具有以下一种或多种优点：
1、整机可拆分为多个不超过500kg的模块单元，模块尺寸、重量满足水、陆、空多途径便捷运输，可实现救援装备的快速灵活投送，快速抵达救援现场，可采用轻型龙门架实现模块便捷吊装；
2、模块间机械接口采用径向销轴、预置螺栓、快装销轴等连接方式，设置导向定位结构快速定位，加工制造容易，使用拆装方便，降低机械接口失效风险；
3、模块间液压接口采用多路组合快换接头，可实现多路液压管路的同步快速连接与分离，采用交错布置及颜色快速识别等方式实现防错；
4、各个模块间具有预设的拆装序列，有效提高装备拆装效率，节约救援时间。
最后应当说明的是：以上实施例仅用以说明本公开的技术方案而非对其限制；尽管参照较佳实施例对本公开进行了详细的说明，所属领域的普通技术人员应当理解：在不脱离本公开原理的前提下，依然可以对本公开的具体实施方式进行修改或者对部分技术特征进行等同替换，这些修改和等同替换均应涵盖在本公开请求保护的技术方案范围当中。

Claims (21)

  1. 一种抢险救援车辆，包括相对独立且可相互连接的底盘(100)和上车(200)，其中，所述底盘(100)包括相对独立且可按照预设顺序连接的回转底座模块(M1)、左铰接体模块(M2)、右铰接体模块(M3)、中心回转体模块(M4)、回转支承模块(M5)、左前腿模块(M6)、右前腿模块(M7)、左后腿模块(M8)、右后腿模块(M9)、左后轮模块(M10)、右后轮模块(M11)和底盘油缸模块(M12)，其中，所述左前腿模块(M6)包括左前腿(M6-1)和左前轮(M6-2)，所述右前腿模块(M7)包括右前腿(M7-1)和右前轮(M7-2)。
  2. 根据权利要求1所述的抢险救援车辆，其中，所述上车(200)包括相对独立且可按照预设顺序连接的回转平台模块(M13)、减速机模块(M14)、蓄电池模块(M15)、覆盖件模块(M16)、发动机模块(M17)、散热器模块(M18)、进气模块(M19)、后处理模块(M20)、泵组模块(M21)、控制模块(M22)、动臂模块(M23)、斗杆模块(M24)、铲斗模块(M25)和上车油缸模块(M26)。
  3. 根据权利要求2所述的抢险救援车辆，其中，所述回转平台模块(M13)包括法兰盘(101)，所述回转支承模块(M5)包括第一螺栓(103)，所述第一螺栓(103)与所述法兰盘(101)连接以连接所述回转支承模块(M5)和所述回转平台模块(M13)。
  4. 根据权利要求1至3任一项所述的抢险救援车辆，其中，所述回转支承模块(M5)设有沿周向布置的至少三个第一销轴(105)，所述回转底座模块(M1)设有与所述第一销轴(105)对应的第一定位槽(108)，所述第一定位槽(108)的开口朝向所述回转支承模块(M5)，所述第一销轴(105)通过所述开口嵌入所述第一定位槽(108)中以对所述回转支承模块(M5)和所述回转底座模块(M1)的装配进行定位。
  5. 根据权利要求4所述的抢险救援车辆，其中，所述回转支承模块(M5)设有多个沿周向布置的第二销轴(106)，所述第二销轴(106)和所述第一销轴(105)在周向方向上错开布置，所述回转底座模块(M1)设有多个沿周向布置的第一连接孔 (109)，所述第二销轴(106)插入所述第一连接孔(109)以连接所述回转支承模块(M5)和所述回转底座模块(M1)。
  6. 根据权利要求1至5任一项所述的抢险救援车辆，其中，所述回转底座模块(M1)的第一侧面设有两个间隔布置的第一定位部(201)，每个所述第一定位部(201)分别设有钩状的第二定位槽(207)，所述左铰接体模块(M2)包括第一连接轴(203)，所述第一连接轴(203)嵌入两个所述第二定位槽(207)中以连接所述回转底座模块(M1)和所述左铰接体模块(M2)。
  7. 根据权利要求6所述的抢险救援车辆，其中，所述左铰接体模块(M2)包括分别连接于所述第一连接轴(203)的两端的两个第一连接板(204)，两个所述第一定位部(201)的远离彼此的侧面分别设有导向斜面(202)，所述导向斜面(202)用于在所述第一连接轴(203)嵌入所述第二定位槽(207)的过程中引导所述第一连接板(204)相对于所述第一定位部(201)的运动。
  8. 根据权利要求1至7任一项所述的抢险救援车辆，其中，所述左铰接体模块(M2)包括左铰接体本体(300)、安装在所述左铰接体本体(300)上的第一连接座(301)和第一定位块(302)，所述左后腿模块(M8)包括两个间隔布置的第二连接座(306)，所述第一连接座(301)嵌入两个所述第二连接座(306)之间，所述第一连接座(301)和所述第二连接座(306)分别设有用于容纳连接所述左铰接体模块(M2)和所述左后腿模块(M8)的连接件的中心孔，所述第一定位块(302)被配置为同时与所述第一连接座(301)和其中一个所述第二连接座(306)接触，以使所述第一连接座(301)的中心孔和所述第二连接座(306)的中心孔对齐。
  9. 根据权利要求8所述的抢险救援车辆，其中，所述第一连接座(301)和所述第二连接座(306)均呈与圆筒形状，所述第一定位块(302)包括弧形的包裹面(303)，所述包裹面(303)朝向所述第一连接座(301)和所述第二连接座(306)的对接处并同时至少部分地包裹所述第一连接座(301)和所述第二连接座(306)。
  10. 根据权利要求8或9所述的抢险救援车辆，其中，所述第一定位块(302)相 对于所述第一连接座(301)的位置可调，以适应所述第一连接座(301)与所述第二连接座(306)的相对位置的调整。
  11. 根据权利要求10所述的抢险救援车辆，其中，所述左铰接体模块(M2)还包括第二螺栓(304)和第一固定块(308)，所述第一固定块(308)安装在所述左铰接体本体(300)上，所述第一固定块(308)设有第一螺纹孔，所述第二螺栓(304)穿过所述第一螺纹孔并顶靠在所述第一定位块(302)的远离所述第一连接座(301)的一侧，以使所述第一定位块(302)顶紧所述第一连接座(301)和所述第二连接座(306)。
  12. 根据权利要求2至11任一项所述的抢险救援车辆，其中，所述蓄电池模块(M15)包括第一安装架(400)，所述第一安装架(400)的第一侧面设有第一安装孔(401)，所述回转平台模块(M13)设有第一连接杆(403)，所述第一连接杆(403)上设有第一锁紧螺母(404)，所述第一安装孔(401)包括直径大于所述第一锁紧螺母(404)的直径的第一孔部和直径小于所述第一锁紧螺母(404)的直径的第二孔部。
  13. 根据权利要求12所述的抢险救援车辆，其中，所述第一安装架(400)的远离所述第一侧面的一端设有第二安装孔(402)，所述第二安装孔(402)呈U型，所述回转平台模块(M13)设有相对于所述第一安装架(400)可转动的第二连接杆(405)，所述第二连接杆(405)上设有第二锁紧螺母(406)，所述第二连接杆(405)通过相对于所述第一安装架(400)的转动进入所述第二安装孔(402)，且所述第一安装架(400)和所述第二连接杆(405)通过所述第二锁紧螺母(406)固定。
  14. 根据权利要求2至13任一项所述的抢险救援车辆，其中，所述散热器模块(M18)包括第二安装架(500)，所述第二安装架(500)设有第一卡接部(502)、第一通孔(501)、第二卡接部(503)和第二通孔(506)，所述进气模块(M19)设有第三卡接部(504)和第四卡接部(505)，所述第一通孔(501)的尺寸被配置为使所述第三卡接部(504)穿过，所述第二通孔(506)的尺寸被配置为使所述第四卡接部(505)穿过，所述第三卡接部(504)与所述第一卡接部(502)卡接，所述第四卡接部(505)与所述第二卡接部(503)卡接。
  15. 根据权利要求14所述的抢险救援车辆，其中，所述第三卡接部(504)包括钩状的第一卡槽，所述第一卡接部(502)包括卡接杆，所述卡接杆嵌入所述第一卡槽中。
  16. 根据权利要求14或15所述的抢险救援车辆，其中，所述第四卡接部(505)包括楔形的第二卡槽，所述第二卡接部(503)包括楔形的卡块，所述卡块嵌入所述第二卡槽中。
  17. 根据权利要求2至16任一项所述的抢险救援车辆，其中，所述动臂模块(M23)包括第一安装座(601)，所述回转平台模块(M13)包括回转平台本体和安装在所述回转平台本体上的四个第二定位块(602)，所述第一安装座(601)的两端分别通过两个所述第二定位块(602)固定，所述第一安装座(601)和所述回转平台本体分别设有用于容纳连接所述动臂模块(M23)和所述回转平台模块(M13)的连接件的中心孔。
  18. 根据权利要求17所述的抢险救援车辆，其中，位于所述第一安装座(601)的同一端的两个所述第二定位块(602)中的至少一个相对于所述回转平台本体的固定位置可调，以适应所述第一安装座(601)与所述回转平台本体的相对位置的调整。
  19. 根据权利要求18所述的抢险救援车辆，其中，所述回转平台模块(M13)还包括第三螺栓(604)和第二固定块(606)，所述第二固定块(606)安装在所述回转平台本体上，所述第二固定块(606)设有第二螺纹孔，所述第三螺栓(604)穿过所述第二螺纹孔并顶靠在所述第二定位块(602)上，以通过两个所述第二定位块(602)夹紧所述第一安装座(601)。
  20. 一种基于如权利要求1至19任一项所述的抢险救援车辆的安装方法，包括：
    先将所述中心回转体模块(M4)安装于所述回转底座模块(M1)内部；
    再将所述左铰接体模块(M2)和所述右铰接体模块(M3)分别安装于所述回转底座模块(M1)上；
    然后，在将所述左铰接体模块(M2)安装于所述回转底座模块(M1)上之后，将所述左前腿模块(M6)、所述左后腿模块(M8)和所述底盘油缸模块(M12)中的第一油缸(M12-1)分别安装于所述左铰接体模块(M2)上，然后将所述左后腿模块(M8)与所述底盘油缸模块(M12)中的第一油缸(M12-1)连接，并在所述左前腿模块(M6)安装于所述左铰接体模块(M2)上之后，将所述底盘油缸模块(M12)中的第二油缸(M12-2)与所述左前腿模块(M6)和所述左铰接体模块(M2)连接；以及，在所述左后腿模块(M8)安装于所述左铰接体模块(M2)上之后，将所述左后轮模块(M10)安装于所述左后腿模块(M8)上；和
    同时，在将所述右铰接体模块(M3)安装于所述回转底座模块(M1)上之后，将所述右前腿模块(M7)、所述右后腿模块(M9)和所述底盘油缸模块(M12)中的第三油缸(M12-3)分别安装于所述左铰接体模块(M2)上，然后将所述右后腿模块(M9)与底盘油缸模块(M12)中的第三油缸(M12-3)连接，并在所述右前腿模块(M7)安装于所述右铰接体模块(M3)上之后，将所述底盘油缸模块(M12)中的第四油缸(M12-4)与所述右前腿模块(M7)和所述右铰接体模块(M3)连接；以及，在所述右后腿模块(M9)安装于所述右铰接体模块(M3)上之后，将所述右后轮模块(M11)安装于所述右后腿模块(M9)上。
  21. 根据权利要求20所述的安装方法，其中，
    所述上车(200)包括相对独立且可按照预设顺序连接的上车油缸模块(M26)、回转平台模块(M13)、减速机模块(M14)、蓄电池模块(M15)、覆盖件模块(M16)、发动机模块(M17)、散热器模块(M18)、进气模块(M19)、后处理模块(M20)、泵组模块(M21)、控制模块(M22)、动臂模块(M23)、斗杆模块(M24)和铲斗模块(M25)；
    所述安装方法还包括：
    先将所述回转支承模块(M5)、所述减速机模块(M14)安装在所述回转平台模块(M13)上，之后作为整体安装于所述底盘(100)；
    再将所述蓄电池模块(M15)、所述发动机模块(M17)和所述上车油缸模块(M26)中的第五油缸(M26-1)分别安装于所述回转平台模块(M13)上；
    在将所述发动机模块(M17)安装于所述回转平台模块(M13)上之后，再将所述控制模块(M22)和所述泵组模块(M21)先后安装于所述回转平台模块(M13) 上，之后将所述泵组模块(M21)中的液压泵与所述发动机模块(M17)连接，然后将所述进气模块(M19)安装于所述回转平台模块(M13)上，以及所述后处理模块(M20)安装于所述控制模块(M22)支架上；
    在将所述进气模块(M19)安装于所述回转平台模块(M13)上后，将所述散热器模块(M18)安装于所述进气模块(M19)和所述回转平台模块(M13)上，然后将所述覆盖件模块(M16)安装于所述上车(200)中除了所述动臂模块(M23)、所述斗杆模块(M24)、所述铲斗模块(M25)和所述上车油缸模块(M26)之外的其他模块上；和
    在将所述上车油缸模块(M26)中的第五油缸(M26-1)安装于所述回转平台模块(M13)上之后，将所述动臂模块(M23)安装于所述回转平台模块(M13)上，之后将所述动臂模块(M23)与所述上车油缸模块(M26)中的第五油缸(M26-1)连接，然后将所述上车油缸模块(M26)中的第六油缸(M26-2)安装于所述动臂模块(M23)上，接着将所述斗杆模块(M24)安装在所述动臂模块(M23)上，并将所述斗杆模块(M24)于所述第六油缸(M26-2)连接，最后将所述铲斗模块(M25)安装于所述斗杆模块(M24)上。
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