CN109516094B

CN109516094B - Remote pushing device

Info

Publication number: CN109516094B
Application number: CN201811348485.8A
Authority: CN
Inventors: 张强
Original assignee: Hefei Institutes of Physical Science of CAS
Current assignee: Hefei Institutes of Physical Science of CAS
Priority date: 2018-11-13
Filing date: 2018-11-13
Publication date: 2020-07-24
Anticipated expiration: 2038-11-13
Also published as: CN109516094A

Abstract

The invention discloses a remote pushing device, which is characterized in that a combined diamond-shaped telescopic mechanism is fixedly arranged at the top of a multifunctional mobile vehicle; the remote pushing device is controlled to do push-pull movement along a set direction by coordinating the advancing, steering and braking states of the multifunctional moving vehicle and the extending and contracting movement of the combined diamond-shaped telescopic mechanism; by carrying corresponding tools, the invention can replace manual work to carry out various remote-end conveying operation tasks, and has the advantages of simple and compact structure, stable and reliable operation, easy control, low manufacturing cost, multiple applications and the like.

Description

Remote pushing device

Technical Field

The invention relates to a remote pushing device, which is used in engineering machinery operation occasions and belongs to the technical field of mechanical and electrical integration.

Background

In the current engineering field, a required task execution part is often conveyed to an appointed operation position by means of manual work or automatic engineering machinery, however, the manual work is time-consuming, labor-consuming and expensive, the automatic engineering machinery mainly comprises some electromechanical equipment or industrial robots and generally comprises a base moving system and a remote pushing mechanical arm system thereof, wherein the remote pushing mechanical arm system is formed by sequentially connecting multiple sections of articulated arms in series, and the structural form of the remote pushing mechanical arm system causes multiple degrees of freedom of system motion, complex structure, high manufacturing cost and large control difficulty; on the other hand, the pushing of the multi-section mechanical arm occupies a larger working space, which is not beneficial to the integration level and stability of the system; some telescopic remote pushing devices have simple structures, but can only realize a certain unidirectional pushing function, so that the flexibility of the system omni-directional control is not ideal enough, and the use occasions are limited.

Disclosure of Invention

The invention aims to avoid the defects of the prior art, and provides the remote pushing device which is simple and light in shape, stable and reliable in operation, practical in function, simple and convenient in control method and low in manufacturing cost, and is used for engineering machinery operation occasions.

The invention adopts the following technical scheme for solving the technical problems:

the remote pushing device is characterized in that a combined diamond-shaped telescopic mechanism is fixedly arranged at the top of the multifunctional moving vehicle;

the multifunctional mobile vehicle comprises a vehicle body and a vehicle frame fixedly arranged in the vehicle body;

a driving gear train, a first driven gear train, a first cylindrical cam system and a first brake strut are sequentially arranged on one side of the vehicle body along the longitudinal direction; the other side of the vehicle body is provided with a third driven gear train, a second cylindrical cam train and a second brake strut in sequence along the longitudinal direction; and:

the driving wheel train and the third driven wheel train are symmetrical at the left side and the right side of the vehicle body;

the first driven wheel train and the second driven wheel train are symmetrically arranged at the left side and the right side of the vehicle body;

the first cylindrical cam system and the second cylindrical cam system are symmetrical at the left side and the right side of the vehicle body;

the first brake strut and the second brake strut are symmetrical at the left side and the right side of the vehicle body;

the end of the vehicle body where the driving gear train and the third driven gear train are located is the front end, and the end where the first brake strut and the second brake strut are located is the rear end;

the steering driving motor in the driving wheel train is used for driving the steering of the multifunctional moving vehicle, and the driving wheel in the driving wheel train is used for driving the motor to drive the multifunctional moving vehicle to move; the first cylindrical cam system and the second cylindrical cam system are utilized to correspondingly drive the first brake strut and the second brake strut one by one, so that the single-side or double-side braking of the multifunctional mobile vehicle is realized;

the rhombic telescopic mechanism is characterized in that a vertical column plate is vertically and fixedly installed at the top of a vehicle body, a screw rod sliding module is installed on the front side of the vertical column plate, the rhombic telescopic mechanism is provided with two groups of rhombic telescopic units which are respectively a first rhombic telescopic mechanism arranged between the screw rod sliding module and a switching support column and a second rhombic telescopic mechanism arranged between the switching support column and a carrying and pushing platform, and the screw rod sliding module is used for driving the rhombic telescopic mechanism to perform telescopic motion; the rear side of the upright post plate is fixedly provided with a winch retracting device and a weight box, one end of a flexible steel cable is fixedly connected to a winch, the other end of the flexible steel cable is fixedly connected to the carrying and pushing platform along the horizontal broken line direction of the rhombic telescopic mechanism, and a winch in the winch retracting device is driven by a winch driving motor to retract and release the flexible steel cable.

The remote pushing device of the invention is also characterized in that: the driving wheel system comprises a driving wheel system, a driving wheel system support, a steering driving motor, a driving wheel driving motor support and a driving wheel driving motor, wherein the driving wheel system support is positioned in the vehicle body and is fixedly arranged on the vehicle frame; the driving wheel is positioned outside the vehicle body; the steering driving motor and the driving wheel driving motor support and the driving wheel driving motor and the driving wheel are in rolling fit.

The remote pushing device of the invention is also characterized in that: a third driven gear train support of the third driven gear train is positioned in the vehicle body and fixedly arranged on the vehicle frame, and the third driven gear train support is matched with the third driven gear train support in a rolling manner by a vertical shaft; and the third driven wheel is positioned outside the vehicle body and is in rolling fit with the third driven gear train support by utilizing a horizontal shaft.

The remote pushing device of the invention is also characterized in that:

the first driven gear train and the second driven gear train have the same structural form, and the structural arrangement of the first driven gear train and the second driven gear train is composed of a driven gear train bracket, a driven gear train support and a driven wheel; the driven gear train bracket is positioned in the vehicle body and is in sliding fit with the vehicle body by using a vertical shaft; the passive gear train support is in rolling fit with the passive gear train support through a vertical shaft; the driven wheel is positioned outside the vehicle body and is in rolling fit with the driven gear train support by using a horizontal shaft; a convex front cylindrical shifting finger is fixedly connected to one side of the driven gear train support, which is towards the rear end of the vehicle body, and a front cylindrical roller which can rotate relatively is sleeved on the front cylindrical shifting finger;

the first cylindrical cam system and the second cylindrical cam system have the same structural form, and the structural arrangement of the first cylindrical cam system and the second cylindrical cam system is composed of a cylindrical cam system support, a cylindrical cam driving motor and a cylindrical cam; the cylindrical cam system support is fixedly arranged in the vehicle body, a cylindrical cam driving motor which is vertically and fixedly arranged on the cylindrical cam system support is connected with the cylindrical cam through an output shaft, the cylindrical cam driving motor is used for driving the cylindrical cam to rotate in a horizontal plane, and the upper end and the lower end of the cylindrical cam are in rolling fit with the cylindrical cam system support through a vertical shaft; an elliptical channel c is arranged on the outer cylindrical surface of the cylindrical cam;

the first brake strut and the second brake strut have the same structural form, and the structural arrangement of the first brake strut and the second brake strut is respectively composed of a brake strut support and a cylindrical brake pile fixedly connected to the brake strut support; the brake strut support is positioned in the vehicle body and is in sliding fit with the vehicle body by using a vertical shaft; the cylindrical brake pile is positioned outside the vehicle body; a convex rear cylindrical shifting finger is fixedly connected to one side, facing the front end of the vehicle body, of the brake strut support, and a rear cylindrical roller capable of rotating relatively is sleeved on the rear cylindrical shifting finger;

on one side of the vehicle body, a front cylindrical roller in the first driven gear train and a rear cylindrical roller in the first brake strut are embedded in an elliptical channel c of the cylindrical cam on the same side;

and on the other side of the vehicle body, the front cylindrical roller in the second driven gear train and the rear cylindrical roller in the second brake strut are embedded in the elliptical channel c of the cylindrical cam on the same side.

The remote pushing device of the invention is also characterized in that:

in the combined diamond-shaped telescopic mechanism, a winch support in a winch retracting device is fixedly arranged on a column plate, a winch is driven to rotate by a winch driving motor arranged on the winch support, and the winch support are matched in a rolling mode through a horizontal shaft;

the lead screw sliding module comprises a module support, a lead screw driving motor, a ball lead screw, a sliding seat and guide rods, wherein the ball lead screw driven to rotate by the lead screw driving motor is vertically arranged by utilizing the module support, a lead screw nut is matched between the sliding seat and the ball lead screw, the two vertical guide rods are supported on two sides of the sliding seat by the module support, the sliding seat is in sliding fit with the guide rods, and the guide rods are utilized for vertically guiding the movement of the sliding seat;

the switching pillar comprises fixed fan-shaped platform, traveller and removal fan-shaped platform, the upper end of traveller concreties in the bottom surface middle part that is horizontally fixed fan-shaped platform, the lower extreme of traveller runs through in the middle part that is horizontally removal fan-shaped platform, makes removal fan-shaped platform can be followedThe traveller removes, the traveller is vertical setting, fixed fan-shaped platform is in with being in vertical leading flank A with the leading flank that removes fan-shaped platform, fixed fan-shaped platform is in with being in with the trailing flank that removes fan-shaped platform in being vertical trailing flank B, leading flank A is the contained angle with trailing flank B in the horizontal projection face and is

And comprises the following components:

the carrying pushing platform consists of a carrying platform sliding seat and a sliding table, and the sliding table is sleeved in the carrying platform sliding seat and is in sliding fit with the carrying platform sliding seat in the vertical direction;

the first diamond-shaped telescopic mechanism and the second diamond-shaped telescopic mechanism have the same structural form and are formed by sequentially hinging and connecting a plurality of shear type hinge mechanisms in series end to end; the scissors-type hinge mechanism is provided with a first connecting rod, a second connecting rod, a third connecting rod and a fourth connecting rod which are equal in length; the first connecting rod and the second connecting rod are hinged at the middle part to form a hinge point a, the third connecting rod and the fourth connecting rod are hinged at the middle part to form a hinge point b, and the horizontal middle connecting rod is hinged at the two rod ends to the hinge point a and the hinge point b respectively; forming a pair of diamond-shaped telescopic trusses symmetrically distributed at two ends of the middle connecting rod, wherein the pair of diamond-shaped telescopic trusses are provided with a pair of front end upper rod ends and a pair of front end lower rod ends at the front ends, and the pair of diamond-shaped telescopic trusses are provided with a pair of tail end upper rod ends and a pair of tail end lower rod ends at the tail ends;

a pair of tail end upper rod ends in the first diamond-shaped telescopic mechanism are hinged on the module support;

a pair of tail end lower rod ends in the first diamond-shaped telescopic mechanism are hinged on the sliding seat;

a pair of front end upper rod ends in the first diamond-shaped telescopic mechanism are hinged on the rear side surface of the fixed fan-shaped platform;

a pair of front end lower rod ends in the first diamond-shaped telescopic mechanism are hinged on the rear side surface of the movable fan-shaped platform;

the upper rod ends of a pair of tail ends in the second diamond-shaped telescopic mechanism are hinged on the front side surface of the fixed fan-shaped platform;

a pair of tail end lower rod ends in the second diamond-shaped telescopic mechanism are hinged on the front side surface of the movable fan-shaped platform;

a pair of front end upper rod ends in the second diamond-shaped telescopic mechanism are hinged to the top of the carrying platform sliding seat;

and a pair of front end lower rod ends in the second diamond-shaped telescopic mechanism is hinged on the sliding table.

The remote pushing device of the invention is also characterized in that: a first hanging ring, a second hanging ring and a third hanging ring are fixedly arranged on the top surface of the module support, the top surface of the fixed fan-shaped platform and the top surface of the object carrying platform sliding seat in a one-to-one correspondence manner; the tail end of the steel cable is wound on the winch, and the front end of the steel cable penetrates through the first hanging ring and the second hanging ring in sequence and then is fixedly connected to the third hanging ring.

Compared with the prior art, the invention has the beneficial effects that:

1. the invention has practical function and low manufacturing cost. The driving wheel train and the third driven wheel train, the first driven wheel train and the second driven wheel train, the first cylindrical cam system and the second cylindrical cam system, and the first brake strut and the second brake strut of the multifunctional mobile vehicle have the same structural form and are symmetrically distributed along the center of the vehicle body, so the multifunctional mobile vehicle has simple and compact structure, is easy to process and manufacture, reduces the manufacturing cost of the mechanism and is beneficial to popularization;

2. according to the combined diamond-shaped telescopic mechanism, the first diamond-shaped telescopic mechanism and the second diamond-shaped telescopic mechanism are formed by sequentially hinging and connecting a plurality of shear type hinging mechanisms in series end to end, so that the modularization, interchangeability and universality of a system structure are realized;

3. the motion adjusting scheme of the multifunctional moving vehicle mainly adopts a cam transmission form, the ground suspension and brake switching functions of a first brake strut and a second brake strut are completed by controlling the coordinated motion of a first cylindrical cam system and a second cylindrical cam system which are symmetrically distributed along the center of the vehicle body of the multifunctional moving vehicle, a front cylindrical shifting finger on the outer surface at the rear of a passive wheel train support and a rear cylindrical shifting finger on the outer surface at the front of the brake strut support respectively form interlocking fit with an elliptic channel on the outer surface of a cylinder of a cylindrical cam, the defects that a crank connecting rod transmission mechanism is easy to generate vibration, impact and dead points due to eccentric load and a gear rack transmission mechanism is heavy and difficult to self-lock are avoided, the multifunctional moving vehicle is simple and light in shape and flexible and stable in operation, and the output efficiency and reliability of the system are improved;

4. the control method is simple and easy to implement. The ground suspension and braking motions of the first brake strut and the second brake strut are respectively realized through controlling a cylindrical cam driving motor in the multifunctional movable vehicle, and the multifunctional movable vehicle is controlled by matching with a steering driving motor of a gear train, so that the multifunctional movable vehicle is flexibly switched among three motion states of four-wheel rolling, three-wheel steering and two-wheel braking; the control of a screw rod driving motor of a screw rod sliding module in the combined type diamond telescopic mechanism is matched, so that the combined type diamond telescopic mechanism can perform forward extension and backward contraction movement according to a required distance, and a system control mode and a control scheme of the steering type remote pushing device are further formed;

5. the invention can replace manual work to implement various remote monitoring or conveying operation tasks by carrying corresponding probes and engineering application tools, and is particularly suitable for engineering machinery application occasions with special requirements on omnidirectional pushing and direction adjusting functions.

Drawings

FIG. 1 is a schematic view of the external structure of the present invention;

FIG. 2 is a schematic view of the multifunctional moving vehicle according to the present invention;

FIG. 3 is a schematic structural view of a combined diamond-shaped telescopic mechanism according to the present invention;

FIG. 4(a) is a schematic view of the internal structure of the multi-purpose vehicle according to the present invention;

FIG. 4(b) is a cross-sectional view taken along line A-A of FIG. 4 (a);

FIG. 4(c) is a cross-sectional view taken along line B-B of FIG. 4 (a);

FIG. 4(d) is a cross-sectional view taken along line C-C of FIG. 4 (a);

FIG. 4(e) is a cross-sectional view taken along line D-D of FIG. 4 (a);

FIG. 4(f) is a cross-sectional view taken along line E-E of FIG. 4 (a);

FIG. 5 is a schematic view of the internal structure of the combined diamond-shaped telescopic mechanism according to the present invention;

FIG. 6 is a schematic diagram of the operation rules of the present invention during the ground G operation process I-II;

FIG. 7 is a schematic diagram of the behavior of the present invention during ground G operations III-IV;

FIG. 8 is a schematic diagram of the action rule of V-VI in the ground G operation process.

Detailed Description

Referring to fig. 1, in the remote pushing device of the present embodiment, a combined diamond-shaped telescopic mechanism 2 is fixedly disposed at the top of a multifunctional moving vehicle 1.

The multi-function traveling vehicle 1 in the present embodiment shown in fig. 2 and 4(a) includes a vehicle body 101 and a vehicle frame 103 fixedly provided in the vehicle body 101; a driving gear train 102, a first driven gear train 104, a first cylindrical cam train 105 and a first brake strut 106 are sequentially arranged on one side of a vehicle body 101 along the longitudinal direction; a third driven gear train 110, a second driven gear train 109, a second cylindrical cam train 108 and a second brake strut 107 are sequentially arranged on the other side of the vehicle body 101 along the longitudinal direction; and: the driving gear train 102 and the third driven gear train 110 are symmetrical at the left and right sides of the vehicle body 101; the first driven gear train 104 and the second driven gear train 109 are symmetrical at the left and right sides of the vehicle body 101; the first cylindrical cam system 105 and the second cylindrical cam system 108 are symmetrical in position on the left and right sides of the vehicle body 101; the first brake strut 106 and the second brake strut 107 are symmetrical in position on the left and right sides of the vehicle body 101; the vehicle body 101 has a front end at one end where the driving gear train 102 and the third driven gear train 110 are located, and a rear end at one end where the first brake strut 106 and the second brake strut 107 are located.

In the present embodiment shown in fig. 2, 4(a) and 4(b), the turning driving motor 1022 in the main gear train 102 is used to drive the turning direction of the multi-function vehicle 1, and the driving wheel driving motor 1025 in the main gear train 102 is used to drive the traveling of the multi-function vehicle 1; the first cylinder cam system 105 and the second cylinder cam system 108 are used for driving the first brake strut 106 and the second brake strut 107 in a one-to-one correspondence mode, and therefore single-side or double-side braking of the multifunctional moving vehicle 1 is achieved.

The diamond-shaped telescoping mechanism 2 in the embodiment shown in fig. 3 and 5 is formed by vertically and fixedly mounting a column plate 201 on the top of the vehicle body 101, and mounting a screw rod sliding module 206 on the front side of the column plate 201, wherein the diamond-shaped telescoping mechanism 2 has two groups of diamond-shaped telescoping units, namely a first diamond-shaped telescoping mechanism 205 arranged between the screw rod sliding module 206 and the switching support 204 and a second diamond-shaped telescoping mechanism 203 arranged between the switching support 204 and the object carrying and pushing platform 202, and drives the diamond-shaped telescoping mechanism 2 to perform telescopic motion by using the screw rod sliding module 206; a winch retracting device 208 and a weight box 207 are fixedly arranged on the rear side of the upright column plate 201, one end of a flexible steel cable 210 is fixedly connected to a winch 2083, the other end of the flexible steel cable is fixedly connected to the carrying and pushing platform 202 along the horizontal broken line direction of the diamond-shaped telescopic mechanism 2, and a winch driving motor 2081 is used for driving the winch 2083 in the winch retracting device 208 to retract and release the flexible steel cable 210.

As shown in fig. 6, 7 and 8, the multifunctional mobile vehicle 1 in this embodiment is used for carrying the combined diamond-shaped telescopic mechanism 2 to move to a set ground position and realizing flexible switching of the system between three motion states of four-wheel rolling, three-wheel steering and two-wheel braking; the combined diamond telescopic mechanism 2 is a direct execution mechanism which pushes a required task execution part to a remote specified operation position at a certain set ground position; the multifunctional moving vehicle 1 and the combined diamond-shaped telescopic mechanism 2 are coordinated and matched in movement function, and the system can be flexibly controlled to realize the omnidirectional pushing function.

As shown in fig. 4(a) and 4(b), in the drive train 102, a drive train support 1021 is located inside the vehicle body 101 and is fixedly mounted on the vehicle frame 103, a steering driving motor 1022 vertically and fixedly mounted on the drive train support 1021 is coupled to a drive wheel driving motor support 1023 through an output shaft, and a drive wheel driving motor 1025 horizontally and fixedly mounted on the drive wheel driving motor support 1023 is coupled to a drive wheel 1024 through an output shaft; the driving wheel 1024 is located outside the vehicle body 101; rolling fit is arranged between the steering drive motor 1022 and the driving wheel drive motor support 1023, and between the driving wheel drive motor 1025 and the driving wheel 1024; the body 101 and the frame 103 belong to a system-carrying portion of the multi-function vehicle 1, and the drive train 102 is used to control forward, backward, and turning functions of the multi-function vehicle 1.

As shown in fig. 4(a) and 4(b), a third driven gear train 110, a third driven gear train bracket 1101 of which is positioned inside the vehicle body 101 and is fixedly installed on the vehicle frame 103, and a third driven gear train support 1102 and the third driven gear train bracket 1101 are in rolling fit by using a vertical shaft; the third driven wheel 1103 is located outside the vehicle body 101, and is in rolling engagement with the third driven gear train holder 1102 by means of a horizontal shaft.

As shown in fig. 4(a) and 4(c), the first driven gear train 104 and the second driven gear train 109 have the same structural form, and the structural arrangement thereof is composed of a driven gear train bracket 1041, a driven gear train support 1042 and a driven wheel 1043; the driven gear train bracket 1041 is positioned inside the vehicle body 101 and is in sliding fit with the vehicle body 101 by using a vertical shaft; the driven gear train support 1042 is in rolling fit with the driven gear train support 1041 by a vertical shaft; the driven wheel 1043 is positioned outside the vehicle body 101 and is in rolling fit with the driven gear train support 1042 by a horizontal shaft; a front cylindrical dial 1044 protruding toward the rear end of the vehicle body 101 is fixedly connected to the driven gear train support 1042, and a front cylindrical roller 1045 capable of rotating relatively is sleeved on the front cylindrical dial 1044.

As shown in fig. 4(a), 4(d) and 4(e), the first cylindrical cam system 105 and the second cylindrical cam system 108 have the same structural form, and the structural arrangement thereof is composed of a cylindrical cam system support 1052, a cylindrical cam driving motor 1051 and a cylindrical cam 1053; the cylindrical cam system support 1052 is fixedly arranged in the vehicle body 101, a cylindrical cam driving motor 1051 which is vertically and fixedly arranged on the cylindrical cam system support 1052 is connected with a cylindrical cam 1053 through an output shaft, the cylindrical cam driving motor 1051 is used for driving the cylindrical cam 1053 to rotate in a horizontal plane, and the upper end and the lower end of the cylindrical cam 1053 are in rolling fit with the cylindrical cam system support 1052 through a vertical shaft; an elliptical groove c is provided on the cylindrical outer surface of the cylindrical cam 1053.

As shown in fig. 4(a) and 4(e), the first brake strut 106 and the second brake strut 107 have the same structural form, and the structural arrangement is formed by a brake strut support 1061 and a cylindrical brake pile 1062 fixedly coupled to the brake strut support 1061; the brake strut mount 1061 is located inside the vehicle body 101 and is in sliding fit with the vehicle body 101 using a vertical shaft; the cylindrical brake pile 1062 is located outside the vehicle body 101; a rear cylindrical finger 1064 is fixedly connected to the brake strut support 1061 on the side facing the front end of the vehicle body 101, and a rear cylindrical roller 1063 capable of rotating relatively is sleeved on the rear cylindrical finger 1064.

As shown in fig. 4(a) and 4(f), on one side of the vehicle body 101, the front cylindrical roller 1045 in the first driven gear train 104 and the rear cylindrical roller 1063 in the first brake strut 106 are fitted together in the elliptical groove c of the cylindrical cam 1053 on the same side; on the other side of the vehicle body 101, the front cylindrical roller 1045 in the second driven gear train 109 and the rear cylindrical roller 1063 in the second brake strut 107 are fitted together in the elliptical groove c of the cylindrical cam 1053 on the same side.

The first driven gear train 104, the second driven gear train 109 and the third driven gear train 110 are matched with the motion mode of the driving gear train 102 in a following way; the first driven gear train 104 and the first brake strut 106 are respectively meshed at the front and rear corresponding positions of the first cylindrical cam system 105, and the up-and-down relative movement between the first driven gear train 104 and the first brake strut 106 is realized by controlling the rotation of the first cylindrical cam system 105, so that the mode switching between the left wheel type rolling of the vehicle body and the ground brake is realized; correspondingly, the second driven gear train 109 and the second brake strut 107 are respectively meshed at the front and rear corresponding positions of the second cylindrical cam system 108, and the up-and-down relative movement between the second driven gear train 109 and the second brake strut 107 is realized by controlling the rotation of the second cylindrical cam system 108, so that the mode switching between the wheel rolling on the right side of the vehicle body and the ground braking is realized.

The system control box 111 shown in fig. 4c, which is fixedly mounted on the frame 103, is used to house the multi-purpose vehicle 1 and the motion control hardware system of the diamond-shaped telescoping mechanism 2.

As shown in fig. 3 and 5, the combined diamond-shaped telescopic mechanism 2 in the present embodiment is configured as follows:

a winch support 2082 in the winch retracting device 208 is fixedly arranged on the column plate 201, a winch driving motor 2081 arranged on the winch support 2082 is used for driving a winch 2083 to rotate, and the winch 2083 and the winch support 2082 are in rolling fit through a horizontal shaft.

The screw sliding module 206 is composed of a module support 2061, a screw driving motor 2063, a ball screw 2062, a sliding seat 2065 and a guide rod 2064, the ball screw 2062 driven to rotate by the screw driving motor 2063 is vertically arranged by utilizing the module support 2061, the sliding seat 2065 is matched with the ball screw 2062 through a screw nut, the two vertical guide rods 2064 are erected on two sides of the sliding seat 2065 through the module support 2061, the sliding seat 2065 is in sliding fit with the guide rod 2064, and the guide rod 2064 is utilized to vertically guide the movement of the sliding seat 2065.

The transfer strut 204 is composed of a fixed sector platform 2041, a sliding column 2043 and a moving sector platform 2042, the upper end of the sliding column 2043 is fixedly connected to the middle of the bottom surface of the fixed sector platform 2041, the lower end of the sliding column 2043 penetrates through the middle of the moving sector platform 2042, so that the moving sector platform 2042 can move along the sliding column 2043, the sliding column 2043 is vertically arranged, the fixed sector platform 2041 and the front side surface of the moving sector platform 2042 are located in a vertical front side surface a, the fixed sector platform 2041 and the rear side surface of the moving sector platform 2042 are located in a vertical rear side surface B, and the front side surface a and the rear side surface B are located in a horizontal projection plane to form an included angle

And comprises the following components:

included angle

The degree of steering between the front and rear linear expansion and contraction directions of the first diamond-shaped expansion and contraction mechanism 205 and the second diamond-shaped expansion and contraction mechanism 203 is determined.

The carrying pushing platform 202 consists of a carrying platform sliding seat 2021 and a sliding table 2022, and the sliding table 2022 is sleeved inside the carrying platform sliding seat 2021 and is in sliding fit with the carrying platform sliding seat 2021 in the vertical direction; when the control screw rod sliding module 206 performs linear reciprocating motion in the vertical direction, the sliding table 2022 performs corresponding linear reciprocating motion up and down in the carrying platform sliding base 2021.

The first diamond-shaped telescopic mechanism 205 and the second diamond-shaped telescopic mechanism 203 have the same structural form and are parallelogram telescopic mechanisms formed by sequentially hinging a plurality of scissor-type hinging mechanisms 209 end to end in series; scissor linkage 209 has first linkage 2091, second linkage 2092, third linkage 2093, and fourth linkage 2094 of equal length; the first connecting rod 2091 and the second connecting rod 2092 are hinged at the middle part to form a hinge point a, the third connecting rod 2093 and the fourth connecting rod 2094 are hinged at the middle part to form a hinge point b, and the horizontal middle connecting rod 2095 is hinged at the two rod ends to the hinge point a and the hinge point b respectively; a pair of diamond-shaped telescopic trusses symmetrically distributed at both ends of the intermediate link 2095 is formed, the pair of diamond-shaped telescopic trusses having a pair of front upper rod ends and a pair of front lower rod ends at the front ends, and the pair of diamond-shaped telescopic trusses having a pair of tail upper rod ends and a pair of tail lower rod ends at the tail ends.

A pair of tail end upper rod ends in the first diamond-shaped telescopic mechanism 205 are hinged on the module support 2061, a pair of tail end lower rod ends in the first diamond-shaped telescopic mechanism 205 are hinged on the sliding seat 2065, a pair of front end upper rod ends in the first diamond-shaped telescopic mechanism 205 are hinged on the rear side surface of the fixed fan-shaped platform 2041, a pair of front end lower rod ends in the first diamond-shaped telescopic mechanism 205 are hinged on the rear side surface of the movable fan-shaped platform 2041, a pair of tail end upper rod ends in the second diamond-shaped telescopic mechanism 205 are hinged on the front side surface of the fixed fan-shaped platform 2041, a pair of tail end lower rod ends in the second diamond-shaped telescopic mechanism 205 are hinged on the front side surface of the movable fan-shaped platform 2041, a pair of front end upper rod ends in the second diamond-shaped telescopic mechanism 205 are hinged on the top of the objective platform sliding seat 2021, and a pair of front end.

A first hanging ring 211, a second hanging ring 212 and a third hanging ring 213 are fixedly arranged on the top surface of the module support 2061, the top surface of the fixed fan-shaped platform 2041 and the top surface of the carrying platform sliding base 2021 in a one-to-one correspondence manner; the tail end of the steel cable 210 is wound on the winch 2083, and the front end of the steel cable 210 sequentially penetrates through the first hanging ring 211 and the second hanging ring 212 and then is fixedly connected to the third hanging ring 213; the first lifting ring 211, the second lifting ring 212 and the third lifting ring 213 are used for guiding the flexible retraction movement of the steel cable 210, so that the following stretching effect on the linear stretching movement of the system is always kept, the movement position of the object carrying pushing platform 202 is tracked in real time, and the mechanical stability of the system in the omnidirectional pushing process is ensured.

The upright column plate 201 is a system bearing part of the combined diamond telescopic mechanism 2; the screw rod sliding module 206 is used for converting the linear reciprocating motion of the screw rod sliding module in the vertical direction into the linear telescopic motion of the first diamond-shaped telescopic mechanism 205 and the second diamond-shaped telescopic mechanism 203 in the required horizontal broken line direction; the first diamond-shaped telescopic mechanism 205 and the second diamond-shaped telescopic mechanism realize the telescopic reversing function in the horizontal direction through the sector angle of the switching strut 204; the cargo pushing platform 202 is used for carrying various end engineering operation tools; the movement of the winch retracting device 208 is coordinated with the horizontal retracting movement of the first diamond-shaped retracting mechanism 205 and the second diamond-shaped retracting mechanism, and the specific movement position of the cargo pushing platform 202 is tracked in real time by controlling the retracting movement of the flexible suspension cable, so that the mechanical stability of the system in the omnidirectional pushing process is ensured; the weight box 207 is used for the system weight of the combined diamond telescopic mechanism 2, and maintains the mechanical balance of the system in the operation process.

As shown in fig. 6, 7 and 8, the remote pushing device in this embodiment has the following different operating states:

a braking state: the first brake strut 106 and the second brake strut 107 are both dropped to brake the ground G, and the vehicle body 101 of the multi-function vehicle 1 is braked.

Releasing the braking state: the first brake strut 106 and the second brake strut 107 are lifted off the ground G to release the braking state, and the vehicle body 101 of the multifunctional movable vehicle 1 can realize arbitrary steering and traveling under the driving of the driving gear train 102.

One-side braking state: the first brake strut 106 falls to brake the ground G, the second brake strut 107 rises away from the ground G and is suspended, and the vehicle body 101 of the multifunctional movable vehicle 1 can rotate by taking the first brake strut 106 as a rotation center under the driving of the driving gear train 102.

The other side braking state: the second brake strut 107 falls to brake the ground G, the first brake strut 106 is lifted off the ground G to be suspended, and the vehicle body 101 of the multifunctional movable vehicle 1 can rotate around the second brake strut 107 as a rotation center under the driving of the driving gear train 102.

The control mode is as follows:

i, a cylindrical cam driving motor 1051 of a second cylindrical cam system 108 in the multifunctional moving vehicle 1 positively rotates at a constant speed for 180 degrees, and a second brake strut 107 is in a ground brake state under the action of a cam transmission mechanism; accordingly, the first brake strut 106 is still suspended above the ground, the driving wheel 1024, the third driven wheel 1103 and the driven wheel 1043 of the first driven gear train 104 of the multi-function vehicle 1 are all kept in contact with the ground G, and the driven wheel 1043 of the second driven gear train 109 is separated from the ground G;

II, rotating a steering driving motor 1022 of a driving gear train 102 in the multifunctional moving vehicle 1 at a constant speed for a certain angle, and rotating the multifunctional moving vehicle 1 around the vertical central axis of the second brake strut 107 in situ for a certain angle to a required position; therefore, the multifunctional moving vehicle 1 drives the combined diamond-shaped telescopic mechanism 2 on the ground G to complete the steering motion of the vehicle body;

III, a cylindrical cam driving motor 1051 of a first cylindrical cam system 105 in the multifunctional moving vehicle 1 positively rotates at a constant speed for 180 degrees, and a first brake strut 106 is in a ground brake state under the action of a cam transmission mechanism; accordingly, the driving wheel 1024 and the third driven wheel 1103 of the multi-function vehicle 1 are kept in contact with the ground G, and the driven wheels 1043 of the first driven gear train 104 and the second driven gear train 109 are disengaged from the ground G;

IV, a screw rod driving motor 2063 of the screw rod sliding module 206 in the combined diamond-shaped telescopic mechanism 2 rotates forward at a constant speed for a certain angle, and the combined diamond-shaped telescopic mechanism 2 extends forward for a certain distance to a required position, so that the carrying and pushing platform 202 at the front end can carry various end tools to implement engineering operation;

after the object carrying and pushing platform 202 carries various end tools to complete engineering operation, a screw rod driving motor 2063 of a screw rod sliding module 206 in the combined diamond-shaped telescopic mechanism 2 rotates reversely at a constant speed for a certain angle, and the combined diamond-shaped telescopic mechanism 2 contracts backwards for a certain distance to be in a maximum folding state;

VI, in the multifunctional movable vehicle 1, the cylindrical cam driving motors 1051 of the first cylindrical cam system 105 and the second cylindrical cam system 108 rotate 180 degrees reversely at a constant speed, the first brake strut 106 and the second brake strut 107 are in a ground suspension state, correspondingly, the driving wheel 1024 and the third driven wheel 1103 of the multifunctional movable vehicle 1 are in contact with the ground G, the driven wheels 1043 of the first driven gear train 104 and the second driven gear train 109 are also in contact with the ground G from a separation state, and then the multifunctional movable vehicle 1 is in a four-wheel rolling state.

Therefore, the remote pushing device completes the single-cycle action process of carrying out push-pull operation on the ground through integral steering and local steering. In actual engineering operation, the periodic action process can be continuously and repeatedly carried out.

Claims

1. A remote pushing device is characterized in that a combined diamond-shaped telescopic mechanism (2) is fixedly arranged at the top of a multifunctional moving vehicle (1);

the multifunctional moving vehicle (1) comprises a vehicle body (101) and a vehicle frame (103) fixedly arranged in the vehicle body (101);

a driving gear train (102), a first driven gear train (104), a first cylindrical cam train (105) and a first brake strut (106) are sequentially arranged on one side of the vehicle body (101) along the longitudinal direction; a third driven gear train (110), a second driven gear train (109), a second cylindrical cam train (108) and a second brake strut (107) are sequentially arranged on the other side of the vehicle body (101) along the longitudinal direction; and:

the driving gear train (102) and the third driven gear train (110) are symmetrical at the left side and the right side of the vehicle body (101);

the first driven gear train (104) and the second driven gear train (109) are symmetrical at the left side and the right side of the vehicle body (101);

the first cylindrical cam system (105) and the second cylindrical cam system (108) are symmetrical at the left and right sides of the vehicle body (101);

the first brake strut (106) and the second brake strut (107) are symmetrical at the left side and the right side of the vehicle body (101);

the end, where the driving gear train (102) and the third driven gear train (110) are located, of the vehicle body (101) is the front end, and the end, where the first brake strut (106) and the second brake strut (107) are located, of the vehicle body is the rear end;

the steering driving motor (1022) in the active gear train (102) is used for driving the steering of the multifunctional moving vehicle (1), and the active gear driving motor (1025) in the active gear train (102) is used for driving the multifunctional moving vehicle (1) to move; the first cylinder cam system (105) and the second cylinder cam system (108) are utilized to correspondingly drive the first brake strut (106) and the second brake strut (107) one by one, so that the single-side or double-side braking of the multifunctional moving vehicle (1) is realized;

the rhombic expansion mechanism (2) is characterized in that a vertical column plate (201) is vertically and fixedly installed at the top of a vehicle body (101), a screw rod sliding module (206) is installed on the front side of the vertical column plate (201), the rhombic expansion mechanism (2) is provided with two groups of rhombic expansion units, namely a first rhombic expansion mechanism (205) arranged between the screw rod sliding module (206) and a switching support column (204) and a second rhombic expansion mechanism (203) arranged between the switching support column (204) and an object carrying and pushing platform (202), and the screw rod sliding module (206) is utilized to drive the rhombic expansion mechanism (2) to perform expansion and contraction movement; a winch retracting device (208) and a weight box (207) are fixedly arranged on the rear side of the upright column plate (201), one end of a flexible steel cable (210) is fixedly connected to a winch (2083), the other end of the flexible steel cable is fixedly connected to the object carrying and pushing platform (202) along the horizontal broken line direction of the rhombic telescopic mechanism (2), and a winch driving motor (2081) is used for driving a winch (2083) in the winch retracting device (208) to retract and release the flexible steel cable (210);

the driving wheel train (102) is characterized in that a driving wheel train support (1021) of the driving wheel train (102) is positioned in the vehicle body (101) and fixedly installed on the vehicle frame (103), a steering driving motor (1022) vertically and fixedly installed on the driving wheel train support (1021) is connected with a driving wheel driving motor support (1023) through an output shaft, and a driving wheel driving motor (1025) horizontally and fixedly installed on the driving wheel driving motor support (1023) is connected with a driving wheel (1024) through an output shaft; the driving wheel (1024) is positioned outside the vehicle body (101); a rolling fit is arranged between the steering drive motor (1022) and a driving wheel drive motor support (1023) and between the driving wheel drive motor (1025) and a driving wheel (1024);

the third driven gear train (110) is characterized in that a third driven gear train bracket (1101) is positioned inside the vehicle body (101) and is fixedly arranged on the vehicle frame (103), and a third driven gear train support (1102) is matched with the third driven gear train bracket (1101) in a rolling mode through a vertical shaft; the third driven wheel (1103) is positioned outside the vehicle body (101) and is in rolling fit with the third driven gear train support (1102) by utilizing a horizontal shaft;

the first driven gear train (104) and the second driven gear train (109) have the same structural form, and the structural arrangement of the first driven gear train and the second driven gear train is respectively composed of a driven gear train bracket (1041), a driven gear train support (1042) and a driven wheel (1043); the driven gear train bracket (1041) is positioned inside the vehicle body (101) and is in sliding fit with the vehicle body (101) by using a vertical shaft; the driven gear train support (1042) is in rolling fit with the driven gear train support (1041) by a vertical shaft; the driven wheel (1043) is positioned outside the vehicle body (101) and is in rolling fit with the driven gear train support (1042) by a horizontal shaft; a protruding front cylindrical shifting finger (1044) is fixedly connected to one side of the driven gear train support (1042) towards the rear end of the vehicle body (101), and a front cylindrical roller (1045) capable of rotating relatively is sleeved on the front cylindrical shifting finger (1044);

the first cylindrical cam system (105) and the second cylindrical cam system (108) have the same structural form, and the structural arrangement of the first cylindrical cam system and the second cylindrical cam system is composed of a cylindrical cam system support (1052), a cylindrical cam driving motor (1051) and a cylindrical cam (1053); the cylindrical cam system support (1052) is fixedly arranged inside the vehicle body (101), a cylindrical cam driving motor (1051) which is vertically and fixedly arranged on the cylindrical cam system support (1052) is connected with a cylindrical cam (1053) through an output shaft, the cylindrical cam driving motor (1051) is used for driving the cylindrical cam (1053) to rotate in a horizontal plane, and the upper end and the lower end of the cylindrical cam (1053) are in rolling fit with the cylindrical cam system support (1052) through a vertical shaft; an oval channel c is arranged on the outer cylindrical surface of the cylindrical cam (1053);

the first brake strut (106) and the second brake strut (107) have the same structural form, and the structural arrangement of the first brake strut and the second brake strut is respectively composed of a brake strut support (1061) and a cylindrical brake pile (1062) fixedly connected to the brake strut support (1061); the brake strut support (1061) is positioned inside the vehicle body (101) and is in sliding fit with the vehicle body (101) by virtue of a vertical shaft; the cylindrical brake pile (1062) is positioned outside the vehicle body (101); a protruded rear cylindrical shifting finger (1064) is fixedly connected to one side of the brake strut support (1061) facing the front end of the vehicle body (101), and a rear cylindrical roller (1063) capable of rotating relatively is sleeved on the rear cylindrical shifting finger (1064);

on one side of the vehicle body (101), a front cylindrical roller (1045) in the first driven gear train (104) and a rear cylindrical roller (1063) in the first brake strut (106) are jointly embedded in an oval channel c of a cylindrical cam (1053) on the same side;

on the other side of the vehicle body (101), the front cylindrical roller (1045) in the second driven gear train (109) and the rear cylindrical roller (1063) in the second brake strut (107) are jointly embedded in the oval channel c of the cylindrical cam (1053) on the same side.

2. The remote pushing device as claimed in claim 1, wherein:

in the combined diamond-shaped telescopic mechanism (2), a winch support (2082) in a winch retracting device (208) is fixedly arranged on a column plate (201), a winch driving motor (2081) arranged on the winch support (2082) is used for driving a winch (2083) to rotate, and the winch (2083) is in rolling fit with the winch support (2082) through a horizontal shaft;

the lead screw sliding module (206) comprises a module support (2061), a lead screw driving motor (2063), a ball screw (2062), a sliding seat (2065) and a guide rod (2064), the ball screw (2062) driven to rotate by the lead screw driving motor (2063) is vertically arranged by utilizing the module support (2061), the sliding seat (2065) is matched with the ball screw (2062) through a lead screw nut, the two vertical guide rods (2064) are supported on two sides of the sliding seat (2065) through the module support (2061), the sliding seat (2065) is in sliding fit with the guide rod (2064), and the guide rod (2064) is utilized to vertically guide the movement of the sliding seat (2065);

switching pillar (204) comprises fixed fan-shaped platform (2041), traveller (2043) and removal fan-shaped platform (2042), the upper end of traveller (2043) concreties in the bottom surface middle part that is horizontally fixed fan-shaped platform (2041), the lower extreme of traveller (2043) runs through in the middle part that is horizontally removal fan-shaped platform (2042), makes removal fan-shaped platform (2042) can be followed traveller (2043) and removed, traveller (2043) are vertical setting, fixed fan-shaped platform (2041) is in with the leading flank of removal fan-shaped platform (2042) and is vertical leading flank A, the trailing flank of fixed fan-shaped platform (2041) and removal fan-shaped platform (2042) is in with being vertical trailing flank B, leading flank A and trailing flank B are the contained angle for the horizontal projection face

And comprises the following components:

the carrying pushing platform (202) consists of a carrying platform sliding seat (2021) and a sliding table (2022), and the sliding table (2022) is sleeved inside the carrying platform sliding seat (2021) and is in sliding fit with the carrying platform sliding seat (2021) in the vertical direction;

the first diamond-shaped telescopic mechanism (205) and the second diamond-shaped telescopic mechanism (203) have the same structural form and are formed by sequentially hinging and connecting a plurality of shear type hinge mechanisms (209) in series end to end; the scissor-type hinge mechanism (209) has a first link (2091), a second link (2092), a third link (2093), and a fourth link (2094) of equal length; the first connecting rod (2091) and the second connecting rod (2092) are hinged at the middle part to form a hinge point a, the third connecting rod (2093) and the fourth connecting rod (2094) are hinged at the middle part to form a hinge point b, and the horizontal middle connecting rod (2095) is hinged at two rod ends to the hinge point a and the hinge point b respectively; forming a pair of diamond-shaped telescopic trusses symmetrically distributed at two ends of a middle connecting rod (2095), wherein the pair of diamond-shaped telescopic trusses are provided with a pair of front end upper rod ends and a pair of front end lower rod ends at the front ends, and the pair of diamond-shaped telescopic trusses are provided with a pair of tail end upper rod ends and a pair of tail end lower rod ends at the tail ends;

a pair of tail end upper rod ends in the first diamond-shaped telescopic mechanism (205) are hinged on the module support (2061);

a pair of lower rod ends at the tail ends of the first diamond-shaped telescopic mechanism (205) is hinged on the sliding seat (2065);

a pair of front end upper rod ends in the first diamond-shaped telescopic mechanism (205) are hinged on the rear side surface of the fixed fan-shaped platform (2041);

a pair of front end lower rod ends in the first diamond-shaped telescopic mechanism (205) are hinged on the rear side surface of the movable sector platform (2041);

a pair of tail end upper rod ends in the second diamond-shaped telescopic mechanism (205) are hinged on the front side surface of the fixed fan-shaped platform (2041);

a pair of tail end lower rod ends in the second diamond-shaped telescopic mechanism (205) are hinged on the front side surface of the movable sector platform (2041);

a pair of front end upper rod ends in the second diamond-shaped telescopic mechanism (205) are hinged to the top of the carrying platform sliding seat (2021);

a pair of front end lower rod ends in the second diamond-shaped telescopic mechanism (205) are hinged on the sliding table (2022).

3. The remote pushing device as claimed in claim 2, wherein: a first hanging ring (211), a second hanging ring (212) and a third hanging ring (213) are fixedly arranged on the top surface of the module support (2061), the top surface of the fixed fan-shaped platform (2041) and the top surface of the carrying platform sliding seat (2021) in a one-to-one correspondence manner; the tail end of the steel cable (210) is wound on a winch (2083), and the front end of the steel cable (210) sequentially penetrates through the first hanging ring (211) and the second hanging ring (212) and then is fixedly connected to the third hanging ring (213).