CN111003070A - Mechanical mechanism and working method of an all-terrain casualty transport platform - Google Patents
Mechanical mechanism and working method of an all-terrain casualty transport platform Download PDFInfo
- Publication number
- CN111003070A CN111003070A CN201911389774.7A CN201911389774A CN111003070A CN 111003070 A CN111003070 A CN 111003070A CN 201911389774 A CN201911389774 A CN 201911389774A CN 111003070 A CN111003070 A CN 111003070A
- Authority
- CN
- China
- Prior art keywords
- wheel set
- wheel
- adaptation
- sizing
- modules
- Prior art date
- Legal status (The legal status 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 status listed.)
- Granted
Links
Images
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D55/00—Endless track vehicles
- B62D55/08—Endless track units; Parts thereof
- B62D55/104—Suspension devices for wheels, rollers, bogies or frames
- B62D55/108—Suspension devices for wheels, rollers, bogies or frames with mechanical springs, e.g. torsion bars
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D24/00—Connections between vehicle body and vehicle frame
- B62D24/04—Vehicle body mounted on resilient suspension for movement relative to the vehicle frame
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D55/00—Endless track vehicles
- B62D55/08—Endless track units; Parts thereof
- B62D55/084—Endless-track units or carriages mounted separably, adjustably or extensibly on vehicles, e.g. portable track units
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D55/00—Endless track vehicles
- B62D55/08—Endless track units; Parts thereof
- B62D55/104—Suspension devices for wheels, rollers, bogies or frames
- B62D55/116—Attitude or position control of chassis by action on suspension, e.g. to compensate for a slope
Landscapes
- Engineering & Computer Science (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Vehicle Body Suspensions (AREA)
Abstract
The invention discloses a mechanical mechanism of an all-terrain wounded personnel transportation platform. The device comprises a slope adaptation module, a left adaptation module, a right adaptation module, an upper adaptation module and a lower adaptation module, wherein the slope adaptation module comprises a left adaptation module and a right adaptation module; the left and right adaptation modules are connected with the gradient adaptation module and the upper and lower adaptation modules and can actively adapt to left and right unevenness of a road surface; the upper and lower adaptive modules support the transported object and can adapt to the height change of the road surface. The invention realizes the active adaptation of the transportation platform to the road surface with the gradient, simultaneously realizes the passive adaptation to the road surfaces with different heights and different gradients on the left and the right, can reduce the jolt of the wounded transportation platform caused by the uneven road in the moving process, and reduces the secondary damage of the wounded.
Description
Technical Field
The invention relates to a mechanical mechanism of an all-terrain wounded personnel transportation platform, and belongs to the technical field of transportation platforms. The invention also relates to a working method of the all-terrain wounded personnel transportation platform mechanical mechanism.
Background
The existing wounded transport platform selects general vehicles as a main body of the vehicle body, and is combined with a mobile stretcher to implement regional transfer of the wounded. Because of the unevenness of road, often can cause unnecessary secondary injury to the wounded in the transportation, nevertheless medical personnel have adopted various flexible thing to cushion but have not solved the problem from the source.
Disclosure of Invention
Aiming at the defects in the prior art, the invention provides a mechanical mechanism of an all-terrain wounded personnel transportation platform, aiming at shielding jolts of the wounded personnel transportation platform caused by uneven roads in the moving process and reducing secondary injuries of the wounded personnel.
The invention is realized by the following technical scheme: the utility model provides an all-terrain wounded person transportation platform mechanical mechanism which characterized by: the device comprises a slope adaptation module, a left adaptation module, a right adaptation module, an upper adaptation module and a lower adaptation module, wherein the slope adaptation module comprises a left module and a right module, each slope adaptation module comprises a sizing wheel set, a diameter-changing wheel set, a motor driving module and a crawler belt, the sizing wheel set comprises a sizing crawler wheel, two large piston rods and a bearing assembly A, the sizing crawler wheel is rotatably connected with the bearing assembly A, the two large piston rods are respectively arranged at two sides of the sizing crawler wheel and rotatably connected with the bearing assembly A, the diameter-changing wheel set comprises a diameter-changing hub, a radial wheel set, a bearing assembly B and two large cylinder barrels, the diameter-changing hub is fixedly connected with the bearing assembly B, the radial wheel set comprises a plurality of rotatable radial wheels arranged around the diameter-changing hub in a radial direction, and two sides of the radial wheels are connected, a plurality of groups of cylinder barrels are uniformly and fixedly connected with the circumference of the reducing hub, piston rods on two sides of the radial wheel are correspondingly matched and connected with the cylinder barrels arranged on the reducing hub, two large cylinder barrels are respectively arranged on two sides of the reducing hub and are rotatably connected with the bearing assembly B, the two large cylinder barrels are respectively matched and connected with two large piston rods of the sizing wheel group, the motor driving module comprises a motor mounting seat, a motor arranged on the motor mounting seat, a small belt wheel, a large belt wheel and a belt connected between the large belt wheel and the small belt wheel, the motor mounting seat is fixedly connected with the two large cylinder barrels, the large belt wheel is fixedly connected with the bearing assembly B, the left and right adaptive modules are arranged between the two gradient adaptive modules, and the left and right adaptive modules comprise two gradient adaptive modules, each left and right adaptation module comprises a supporting block, two bent rods and two parallelogram groups, wherein one bent rod and one parallelogram group are symmetrically arranged on two sides of the supporting block respectively, one end of each parallelogram group is hinged with the supporting block, the bent rods are hinged with the supporting block, the lower ends of the bent rods are hinged with a cross beam of the parallelogram group, the upper ends of the two bent rods on two sides are connected through springs, one of the left and right adaptation modules is respectively connected with the sizing wheel groups of the two gradient adaptation modules through the two parallelogram groups, the other left and right adaptation modules is respectively connected with the sizing wheel groups of the two gradient adaptation modules through the two parallelogram groups, and the upper and lower adaptation modules are arranged on the upper parts of the left and right adaptation modules, the upper and lower adaptive modules comprise a hydraulic cylinder, a scissors lifting mechanism, a load platform and a connecting mechanism, the hydraulic cylinder is connected between two adjacent cross beams at the bottom of the scissors lifting mechanism, the load platform is connected at the top of the scissors lifting mechanism, the connecting mechanism is connected at the bottom of the scissors lifting mechanism, the connecting mechanism comprises a slide rail fixedly connected at the bottom of the scissors lifting mechanism, one end of the slide rail is in sliding fit with a slide block arranged on a connecting plate, an upper ball pin is arranged at the upper part of the other end of the slide rail, the lower end of the upper ball pin is connected with a lower ball pin through a ball hinge, the lower end of the lower ball pin is connected with a fixed pin, the upper end of the upper ball pin is fixedly connected with the bottom of the scissors lifting mechanism, and the connecting plate is fixedly connected with one of the supporting blocks of the, the lower end of the fixing pin is fixedly connected with the supporting block of the other left and right adaptation module.
In the invention, the gradient adaptation module is a deformable crawler belt structure and is used for providing power for the platform to travel and actively adapting to the change of the gradient of the road surface; the left and right adaptation modules are connected with the gradient adaptation module and the upper and lower adaptation modules and can actively adapt to left and right unevenness of a road surface; the upper and lower adaptive modules support the transported object and can adapt to the height change of the road surface. According to the invention, through the gradient adaptation module, the left and right adaptation module and the up and down adaptation module, the wounded can be ensured to always keep the same pose in the process of passing through a road surface with front and back, left and right and high and low changes, the jolt of the transportation platform caused by uneven road in the moving process can be reduced, and the secondary injury to the wounded is reduced.
Furthermore, in order to adapt to the fluctuation of the road more conveniently, the left and right adapting modules are four, and the parallelogram group is connected with the slope adapting module through a spherical hinge.
Furthermore, the lower end of the lower ball head pin and the upper end of the fixing pin are cylindrical oblique sections, protrusions and grooves which can be matched are arranged on the two oblique sections respectively, and the lower ball head pin is matched and connected with the oblique sections at the upper ends of the fixing pins through the oblique sections at the lower ends of the lower ball head pin. The lower ball stud and the fixed pin can move relatively through the matched inclined plane, so that the load platform is kept horizontal.
Furthermore, for convenience of control, a hydraulic actuator consisting of the large piston rod and the large cylinder barrel and a hydraulic actuator consisting of the cylinder barrel on the reducing hub and the piston rod of the radial wheel set form a hydraulic closing system. By closing the hydraulic system, when the radial wheel set contracts inwards or extends outwards under the action of the hydraulic system, hydraulic oil flowing out of or into the hydraulic actuating element of the radial wheel set flows into or out of the hydraulic actuating element consisting of the large piston rod and the large cylinder barrel, so that the large piston rod is prompted to extend or retract, and when the radial wheel set contracts inwards or extends outwards, the large piston rod extends or retracts simultaneously, so that the length of a central connecting line of the sizing wheel set and the reducing wheel set is prolonged or shortened, and the load platform is always kept parallel to the ground in an uphill slope or a downhill slope.
The invention also provides a working method of the all-terrain wounded personnel transportation platform mechanical mechanism, which adopts the technical scheme that: in the process of flat road running, a wounded person lies on a load platform, a motor drives a small belt wheel to rotate, a large belt wheel is driven to rotate through a belt, a reducing hub is driven to rotate through a bearing assembly B, a track is driven to rotate, and the mechanical mechanism of the all-terrain wounded person transporting platform can move forward, backward and turn through controlling the speed and the positive and negative of gradient adaptation modules on two sides;
when the diameter-variable wheel set is in the front and the diameter-variable wheel set is in the rear when the diameter-variable wheel set is on an uphill road surface, the radial wheel set is contracted inwards in the radial direction by controlling the hydraulic system, and meanwhile, the large piston rod is extended out by the relatively large cylinder barrel, so that the front end point is pressed downwards and the length is extended under the condition that the connecting line segment between the centers of the diameter-variable wheel set and the diameter-variable wheel set is kept immovable at the rear end point, and the load platform is always kept parallel to the ground in;
when the diameter-variable wheel set is in front and the sizing wheel set is in back when the downhill pavement is met, the radial wheel set is ejected outwards along the radial direction by controlling the hydraulic system, and meanwhile, the large piston rod is contracted relative to the large cylinder, so that the front end point is lifted up and the length is shortened under the condition that the connecting line segment between the centers of the sizing wheel set and the diameter-variable wheel set is kept immovable at the rear end point, and the load platform is always kept parallel to the ground in the uphill process;
the load platform moves up and down by controlling the extension and retraction of the hydraulic cylinder, so that the acceleration in the vertical direction brought by the process of ascending and descending roads is actively counteracted;
when the road surface with different heights on the left side and the right side is met, the slopes on the two sides are passively adjusted to adapt to the height of the module through the deformation of the two groups of parallelogram groups;
when the road surface is not parallel to the left and right sides, the slope adaptation modules on the two sides deflect automatically relative to the left and right adaptation modules.
The invention has the beneficial effects that: the invention realizes the active adaptation of the transportation platform to the road surface with the gradient, and simultaneously realizes the passive adaptation to the road surfaces with different heights and different gradients, thereby further improving the safety protection of the wounded in the transportation process, reducing the jolt of the wounded transportation platform caused by the uneven road in the moving process and reducing the secondary injury of the wounded.
Drawings
FIG. 1 is a schematic diagram of the structure in an embodiment of the present invention;
FIG. 2 is a schematic diagram of a slope adaptation module of the present invention;
FIG. 3 is a schematic view of the sizing wheel set in the grade adaptation module of the present invention;
FIG. 4 is a schematic structural diagram of a variable diameter wheel set in a gradient adaptation module according to the present invention;
FIG. 5 is a schematic diagram of the motor drive module in the grade adaptation module of the present invention;
FIG. 6 is a schematic diagram of the left and right adaptation modules of the present invention;
FIG. 7 is a schematic structural diagram of the upper and lower adaptive modules of the present invention;
FIG. 8 is a schematic view of the connection mechanism in the upper and lower compliant modules of the present invention;
FIG. 9 is a schematic view of the construction of the lower ball stud of the present invention;
FIG. 10 is a schematic view of the construction of the fixing pin of the present invention;
FIG. 11 is a schematic diagram of the hydraulic system of the present invention;
FIG. 12 is a schematic representation of the operation of the grade adaptation module of the present invention;
in the figure, 1 is a gradient adaptive module, 1-1 is a sizing wheel set, 1-1-1 is a sizing crawler wheel, 1-1-2 is a large piston rod, 1-1-3 a bearing assembly A, 1-2 is a reducing wheel set, 1-2-1 is a reducing wheel hub, 1-2-1-1 is a cylinder barrel, 1-2-2 is a radial wheel set, 1-2-2-1 is a radial wheel, 1-2-2-2 is a piston rod, 1-2-3 is a bearing assembly B, 1-2-4 is a large cylinder barrel, 1-3 is a motor driving module, 1-3-1 is a motor mounting seat, 1-3-2 is a motor, 1-3-3 is a small belt pulley, 1-3-4 is a large belt pulley, 1-3-5 is a belt, 1-4 is a crawler belt;
2 is a left and right adaptive module, 2-1 is a supporting block, 2-2 is a spring, 2-3 is a curved bar, and 2-4 is a parallelogram group;
3 is an upper and lower adaptive module, 3-1 is a hydraulic cylinder, 3-2 is a scissors lifting mechanism, 3-3 is a load platform, 3-4 is a connecting mechanism, 3-4-1 is a sliding rail, 3-4-2 is a sliding block, 3-4-3 is a connecting plate, 3-4-4 is a lower ball stud, 3-4-5 is a fixed pin, and 3-4-6 is an upper ball stud.
Detailed Description
The invention will now be further illustrated by way of non-limiting examples in conjunction with the accompanying drawings:
as shown in the attached drawings, the mechanical mechanism of the all-terrain wounded personnel transportation platform comprises a slope adaptation module 1, a left adaptation module, a right adaptation module 2, an upper adaptation module and a lower adaptation module 3. The gradient adaptation module 1 comprises a left gradient adaptation module and a right gradient adaptation module, wherein each gradient adaptation module 1 comprises a sizing wheel set 1-1, a reducing wheel set 1-2, a motor driving module 1-3 and a crawler belt 1-4. The sizing wheel set 1-1 comprises a sizing crawler wheel 1-1-1, two large piston rods 1-1-2 and a bearing assembly A1-1-3, wherein the sizing crawler wheel 1-1-1 is rotatably connected with the bearing assembly A1-1-3 and is axially positioned, and the two large piston rods 1-1-2 are respectively arranged on two sides of the sizing crawler wheel 1-1-1, are rotatably connected with the bearing assembly A1-1-3 and are axially positioned at the same time. The variable diameter wheel set 1-2 comprises a variable diameter wheel hub 1-2-1, a radial wheel set 1-2-2, a bearing assembly B1-2-3 and two large cylinder barrels 1-2-4, the variable diameter wheel hub 1-2-1 is fixedly connected with the bearing assembly B1-2-3, the structural form of the radial wheel set 1-2-2-1 is consistent with that of the fixed diameter wheel set 1-1, the radial wheel set 1-2-2 comprises a plurality of rotatable radial wheels 1-2-2-1 arranged around the variable diameter wheel hub 1-2-1 in a radial direction, two sides of each radial wheel are connected with rotatable piston rods 1-2-2-2, the circumferential direction of the variable diameter wheel hub 1-2-1 is uniformly and fixedly connected with a plurality of groups of cylinder barrels 1-2-1-1, the piston rods 1-2-2-2 on two sides of the radial wheel are correspondingly matched and connected with the cylinder barrels 1-2-1-1 arranged on the diameter-variable wheel hubs 1-2-1 to form a hydraulic cylinder, the two large cylinder barrels 1-2-4 are respectively arranged on two sides of the diameter-variable wheel hubs 1-2-1 and rotatably connected with the bearing assembly B1-2-3 and are axially positioned at the same time, and the two large cylinder barrels 1-2-4 are respectively matched and connected with the two large piston rods 1-1-2 of the diameter-fixed wheel sets 1-1 to form the hydraulic cylinder. The motor driving module 1-3 comprises a motor mounting seat 1-3-1, a motor 1-3-2 arranged on the motor mounting seat 1-3-1, a small belt wheel 1-3-3 arranged on an output shaft of the motor 1-3-2, a large belt wheel 1-3-4, and a belt 1-3-5 connected between the large belt wheel 1-3-4 and the small belt wheel 1-3-3, wherein the motor mounting seat 1-3-1 is fixedly connected to the two large cylinder barrels 1-2-4 to realize synchronization, and the large belt wheel 1-3-4 is fixedly connected with the bearing assembly B1-2-3. The left and right adaptive modules 2 are arranged between the two gradient adaptive modules 1, the left and right adaptive modules 2 comprise two, each left and right adaptive module 2 comprises a supporting block 2-1, two bent rods 2-3 and two parallelogram groups 2-4, two sides of the supporting block 2-1 are respectively and symmetrically provided with one bent rod 2-3 and one parallelogram group 2-4, one end of the parallelogram group 2-4 is hinged with the supporting block 2-1, two ends and the middle part of each bent rod 2-3 are respectively provided with a through hole, the through hole in the middle part of each bent rod 2-3 is hinged with the supporting block 2-1 through a pin shaft, the through hole at the lower end of each bent rod 2-3 is hinged with a cross beam of the parallelogram group 2-4 through a pin shaft, the upper end through holes of the two curved rods 2-3 at the two sides are connected through a spring 2-2. One of the left and right adaptive modules 2 is respectively connected with the sizing wheel sets 1-1 of the two gradient adaptive modules 1 through the two parallelogram sets 2-4, and the other adaptive module 2 is respectively connected with the reducing wheel sets 1-2 of the two gradient adaptive modules 1 through the two parallelogram sets 2-4. The upper and lower adaptive modules 3 are arranged at the upper parts of the left and right adaptive modules 2, each upper and lower adaptive module 3 comprises a hydraulic cylinder 3-1, a scissors lifting mechanism 3-2, a load platform 3-3 and a connecting mechanism 3-4, a cylinder barrel and a piston rod of each hydraulic cylinder 3-1 are respectively hinged with two adjacent cross beams at the bottom of the scissors lifting mechanism 3-2, the load platform 3-3 is connected with the top of the scissors lifting mechanism 3-2, the connecting mechanism 3-4 is connected with the bottom of the scissors lifting mechanism 3-2, the connecting mechanism 3-4 comprises a slide rail 3-4-1 arranged at the bottom of the scissors lifting mechanism 3-2, the slide rail 3-4-1 is fixedly connected with the bottom of the scissors lifting mechanism 3-2, one end of the slide rail 3-4-1 is in sliding fit with a slide block 3-4-2 arranged on a connecting plate 3-4-3, a pin column is arranged at the lower part of the connecting plate 3-4-3, an upper ball head pin 3-4-6 is arranged at the upper part of the other end of the slide rail 3-4-1, the lower end of the upper ball head pin 3-4-6 is connected with a lower ball head pin 3-4-4 through a ball hinge, the lower end of the lower ball head pin 3-4-4 is connected with a fixed pin 3-4-5, the upper end of the upper ball head pin 3-4-6 is fixedly connected with the bottom of the scissors lifting mechanism 3-2, and the connecting plate 3-4-3 is fixedly connected with a supporting block 2-1 of one of the left and right adaptive modules 2 through a pin column at the lower, the lower ends of the fixing pins 3-4-5 are fixedly connected with the supporting block 2-1 of the other left and right adaptation modules 2, and the supporting block 2-1 is provided with corresponding pin holes.
In this embodiment, preferably, the four parallelogram groups 2-4 of the left and right adaptive modules 2 are connected with the slope adaptive module 1 through a spherical hinge.
In this embodiment, preferably, the number of the radial wheels is 6.
In this embodiment, the shapes of the lower end of the lower ball stud 3-4-4 and the upper end of the fixing pin 3-4-5 are both cylindrical oblique sections, and the two oblique sections are respectively provided with a protrusion and a groove which can be matched with each other, and the lower ball stud 3-4-4 is connected with the oblique section at the upper end of the fixing pin 3-4-5 through the oblique section at the lower end thereof in a matching manner. The lower ball head pin 3-4-4 and the fixed pin 3-4-5 can move relatively through a matched inclined plane so as to enable the load platform to be kept horizontal.
In the invention, the hydraulic cylinder consisting of the large piston rod 1-1-2 and the large cylinder barrel 1-2-4 and the hydraulic cylinder consisting of the cylinder barrel on the diameter-variable hub and the piston rod of the radial wheel set can be separately controlled by a hydraulic system, and in consideration of simplicity and reliability of control, in the embodiment, the hydraulic cylinder consisting of the large piston rod 1-1-2-4 and the large cylinder barrel 1-2-1 and the hydraulic cylinder consisting of the cylinder barrel on the diameter-variable hub 1-2-2 and the piston rod of the radial wheel set 1-2-2 preferably form a hydraulic closed system, namely when the radial wheel set contracts inwards or extends outwards under the action of the hydraulic system, hydraulic oil flowing out of or into the hydraulic cylinder of the radial wheel set flows into or out of the hydraulic cylinder consisting of the large piston rod and the large cylinder barrel, so as to promote the large piston rod to extend or retract, therefore, when the radial wheel set contracts inwards or extends outwards, the large piston rod extends out or retracts simultaneously, the length of a connecting line of the centers of the sizing wheel set and the diameter-variable wheel set is prolonged or shortened, and the load platform is always kept parallel to the ground in the process of ascending or descending. As shown in fig. 11, when the left position of the reversing valve works, hydraulic oil from the hydraulic pump enters the rod cavity of the large cylinder barrel 1-2-4 through the left position of the reversing valve, the hydraulic oil in the rodless cavity of the large cylinder barrel 1-2-4 flows into the rodless cavity of the cylinder barrel 1-2-1-1 on the reducing hub 1-2-1, at this time, the large piston rod 1-1-2 retracts, the rodless cavity of the cylinder barrel 1-2-1-1 takes oil, the hydraulic oil in the rod cavity flows back to the oil tank through the left position of the reversing valve, and the piston rod 1-2-2-2 extends out;
when the right position of the reversing valve works, hydraulic oil from the hydraulic pump enters the rod cavity of the cylinder barrel 1-2-1-1 through the right position of the reversing valve, the hydraulic oil in the rodless cavity of the cylinder barrel 1-2-1-1 flows into the rodless cavity of the large cylinder barrel 1-2-4, at the moment, the piston rod 1-2-2-2 retracts, oil enters the rodless cavity of the large cylinder barrel 1-2-4, the hydraulic oil in the rod cavity returns to the oil tank through the right position of the reversing valve, and the large piston rod 1-1-2 extends out;
when the middle position of the reversing valve works, hydraulic oil from the hydraulic pump directly flows back to the oil tank through the middle position of the reversing valve, and the large piston rod 1-1-2 and the piston rod 1-2-2 stop moving.
In the invention, the motor driving module 1-3 in the gradient adaptation module 1 can drive the reducing hub 1-2-1 to rotate through belt transmission, and drive the crawler belt 1-4 to rotate, so as to realize walking. The radial wheel set 1-2-2 of the reducing wheel set 1-2 can be stretched under the action of a hydraulic system, so that the diameter of the reducing wheel set 1-2 is changed. The large piston rod can be stretched under the action of a hydraulic system, and the distance between the sizing wheel set 1-1 and the reducing wheel set 1-2 can be changed. The left and right adaptation modules 2 are connected with the slope adaptation module 1 and the upper and lower adaptation modules 3, and can actively adapt to left and right unevenness of a road surface. The upper and lower adaptive modules 3 support the transported object and can adapt to the height change of the road surface. When the distance between the sizing wheel set 1-1 and the reducing wheel set 1-2 in the slope adaptation module 1 changes, the left adaptation module and the right adaptation module 2 can drive the sliding block 3-4-2 to move along the sliding rail 3-4-1 through the connecting plate 3-4-3 so as to adapt to the change of the distance between the sizing wheel set 1-1 and the reducing wheel set 1-2.
The working method of the all-terrain wounded personnel transportation platform mechanical mechanism is as follows:
1) in the process of flat road running, a wounded person lies on a load platform 3-3 flatly, a motor 1-3-2 drives a small belt wheel 1-3-3 to rotate, a belt 1-3-5 drives a large belt wheel 1-3-4 to rotate, a bearing assembly B1-2-3 drives a reducing hub 1-2-1 to rotate and drives a track 1-4 to rotate, and the advancing, retreating and steering of the mechanical mechanism of the all-terrain wounded person transportation platform are realized by controlling the speed and the positive and negative speed of the slope adaptation modules 1 at two sides;
2) when the device meets an uphill road surface, assuming that the reducing wheel set 1-2 is in front and the sizing wheel set 1-1 is behind, the radial wheel set 1-2-2 is contracted inwards along the radial direction through controlling a hydraulic system, and meanwhile, the large piston rod 1-1-2 is extended out relative to the large cylinder barrel 1-2-4, so that the front end point is pressed downwards and the length is extended under the condition that the connecting line segment of the centers of the sizing wheel set 1-1 and the reducing wheel set 1-2 is kept immovable at the rear end point, and as shown in fig. 12, the load platform 3-3 is always kept parallel to the ground in the uphill process;
3) when the face of a downhill road is met, the radial wheel set 1-2 is supposed to be in front, the sizing wheel set 1-1 is supposed to be in back, the radial wheel set 1-2-2 is ejected outwards along the radial direction through a control hydraulic system, and meanwhile, the large piston rod 1-1-2 is contracted relative to the large cylinder barrel 1-2-4, so that the front end point is lifted up and the length is shortened under the condition that the connecting line segment of the centers of the sizing wheel set 1-1 and the sizing wheel set 1-2 is kept immovable at the rear end point, and the load platform 3-3 is always kept parallel to the ground in the uphill process;
4) the load platform 3-3 moves up and down by controlling the extension and retraction of the hydraulic cylinder 3-1, so that the acceleration in the vertical direction brought by the process of ascending and descending roads is actively counteracted;
5) when encountering the road surface with unequal heights on the left side and the right side, passively adjusting the slopes on the two sides to adapt to the height of the module 1 through the deformation of the two groups of parallelogram groups 2-4;
6) when the road surface is not parallel to the left and right sides, the adaptive modules 1 are deflected relative to the adaptive modules 2 by the slopes on the two sides.
Other parts in this embodiment are the prior art, and are not described herein again.
Claims (5)
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201911389774.7A CN111003070B (en) | 2019-12-30 | 2019-12-30 | All-terrain wounded personnel transportation platform mechanical mechanism and working method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201911389774.7A CN111003070B (en) | 2019-12-30 | 2019-12-30 | All-terrain wounded personnel transportation platform mechanical mechanism and working method |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN111003070A true CN111003070A (en) | 2020-04-14 |
| CN111003070B CN111003070B (en) | 2022-04-22 |
Family
ID=70119601
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201911389774.7A Active CN111003070B (en) | 2019-12-30 | 2019-12-30 | All-terrain wounded personnel transportation platform mechanical mechanism and working method |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN111003070B (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111473992A (en) * | 2020-04-17 | 2020-07-31 | 河北工程大学 | Geological survey ware for geological engineering |
| CN113895531A (en) * | 2021-11-17 | 2022-01-07 | 机械科学研究总院青岛分院有限公司 | Gear transmission structure of crawler-type robot |
| CN116654134A (en) * | 2023-06-27 | 2023-08-29 | 华侨大学 | A crawler mobile platform and robot |
Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US4650017A (en) * | 1985-02-18 | 1987-03-17 | Industries Tanguay, Inc. | Crawler-mounted machine for travel over natural terrain |
| US4763742A (en) * | 1987-02-05 | 1988-08-16 | Allied Systems Company | Tree feller-buncher |
| CN102896992A (en) * | 2012-10-29 | 2013-01-30 | 昆明理工大学 | Automatic side-tipping suspension |
| CN203818974U (en) * | 2013-09-22 | 2014-09-10 | 丛玉利 | Novel vehicle suspension mechanism and vehicle |
| CN106536401A (en) * | 2014-08-04 | 2017-03-22 | 阿尔马克公司 | A levelling group for aerial work platforms |
| CN106585831A (en) * | 2016-12-13 | 2017-04-26 | 重庆宗申技术开发研究有限公司 | Front suspension deflecting structure for backing of tricycle |
| CN108450123A (en) * | 2018-01-21 | 2018-08-28 | 凌栋 | A kind of solar powered mowing-apparatus in gardens of environmental protection |
-
2019
- 2019-12-30 CN CN201911389774.7A patent/CN111003070B/en active Active
Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US4650017A (en) * | 1985-02-18 | 1987-03-17 | Industries Tanguay, Inc. | Crawler-mounted machine for travel over natural terrain |
| US4763742A (en) * | 1987-02-05 | 1988-08-16 | Allied Systems Company | Tree feller-buncher |
| CN102896992A (en) * | 2012-10-29 | 2013-01-30 | 昆明理工大学 | Automatic side-tipping suspension |
| CN203818974U (en) * | 2013-09-22 | 2014-09-10 | 丛玉利 | Novel vehicle suspension mechanism and vehicle |
| CN106536401A (en) * | 2014-08-04 | 2017-03-22 | 阿尔马克公司 | A levelling group for aerial work platforms |
| CN106585831A (en) * | 2016-12-13 | 2017-04-26 | 重庆宗申技术开发研究有限公司 | Front suspension deflecting structure for backing of tricycle |
| CN108450123A (en) * | 2018-01-21 | 2018-08-28 | 凌栋 | A kind of solar powered mowing-apparatus in gardens of environmental protection |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111473992A (en) * | 2020-04-17 | 2020-07-31 | 河北工程大学 | Geological survey ware for geological engineering |
| CN113895531A (en) * | 2021-11-17 | 2022-01-07 | 机械科学研究总院青岛分院有限公司 | Gear transmission structure of crawler-type robot |
| CN113895531B (en) * | 2021-11-17 | 2024-05-03 | 机械科学研究总院青岛分院有限公司 | Gear transmission structure of crawler robot |
| CN116654134A (en) * | 2023-06-27 | 2023-08-29 | 华侨大学 | A crawler mobile platform and robot |
Also Published As
| Publication number | Publication date |
|---|---|
| CN111003070B (en) | 2022-04-22 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN111003070B (en) | All-terrain wounded personnel transportation platform mechanical mechanism and working method | |
| CN106494166B (en) | A kind of road rail vehicle | |
| US20210354735A1 (en) | Telescopic multifunctional working vehicle capable of operating in both directions and evacuating transversely and application method thereof | |
| US9883621B2 (en) | Soil working machines including height and pitch tool adjustability | |
| CN102310710B (en) | A four-link wheel frame suitable for variable-diameter semi-walking wheels | |
| CN104070958B (en) | A kind of vehicle chassis arrangement for adjusting height and apply the vehicle of this device | |
| CN102745259B (en) | Swing arm type double-wheel-track composite special engineering vehicle chassis | |
| CN111361645A (en) | An all-terrain four-track chassis and agricultural machinery | |
| US20180298570A1 (en) | Traffic Calming Device | |
| CN107618581A (en) | A kind of crawler body and high-altitude operation vehicle | |
| CN107628136A (en) | A kind of crawler tractor side leveling device based on parallel four-bar suspension fork mechanism | |
| CN207482039U (en) | A kind of crawler body and high-altitude operation vehicle | |
| CN108533038B (en) | Vehicle fixing device for transfer platform parking robot | |
| HK1049651A1 (en) | Wheel-steering device for bogies | |
| CN100418832C (en) | Mechanical booster walking system | |
| CN104760466A (en) | Infinitely-telescopic axle assembly | |
| CN203739854U (en) | Vehicle anti-inclination support device | |
| CN110116765A (en) | A kind of chassis system and its working method being suitable for a variety of field road conditions | |
| CN108382151B (en) | An intelligent control method for hydraulic suspension of a multi-wheeled all-electric mobile platform | |
| CN106515905A (en) | Electric distance-adjustable automobile carrier | |
| CN205554235U (en) | Quick barrier carrier that leads to | |
| CN111572280B (en) | One-axis arc one-axis linear telescopic length-adjusting type axle and wheel tread adjusting method | |
| CN212289387U (en) | Axle with double shafts capable of adjusting length in linear stretching mode | |
| CN115387652A (en) | Integral lifting type parking robot | |
| CN111516600B (en) | Passive interval-adjustable crawling ladder for flat transport vehicle |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CP03 | Change of name, title or address | ||
| CP03 | Change of name, title or address |
Address after: 250353 University Road, Changqing District, Ji'nan, Shandong Province, No. 3501 Patentee after: Qilu University of Technology (Shandong Academy of Sciences) Country or region after: China Address before: 250353 University Road, Changqing District, Ji'nan, Shandong Province, No. 3501 Patentee before: Qilu University of Technology Country or region before: China |