CN220764507U - Chassis and overhead working equipment - Google Patents

Abstract

The utility model discloses a chassis and high-altitude operation equipment, wherein the chassis comprises a center frame; the bridge expanding unit comprises a supporting leg and a wheel assembly, wherein the inner end of the supporting leg is hinged with the central frame, the outer end of the supporting leg is hinged with the wheel assembly, and the supporting leg can drive the wheel assembly to swing around the inner end of the supporting leg along the swinging arc of the supporting leg; the wheel assembly comprises a wheel steering driving mechanism and a wheel rotation driving mechanism; the controller is configured to: receiving a first bridge expansion instruction signal; controlling a wheel steering driving mechanism to drive the wheels to steer until the wheel axle sections of the wheels are tangent to the swing circular arcs of the support legs; and controlling the wheel rotation driving mechanism to drive the wheels to walk towards the bridge expansion direction and drive the supporting legs to swing. The high-altitude operation equipment and the chassis thereof have the advantages that the structure of the bridge expansion device is simplified, the assembly and the installation are convenient, the processing is facilitated, and the cost of parts is low; the number of hinge points is small, and the control precision is higher; the bridge expansion angle and the steering angle of the tire can be accurately controlled by detecting and controlling the plurality of angle sensors.

Description

Chassis and overhead working equipment

Technical Field

The utility model belongs to the field of aerial work platforms, and particularly relates to a chassis capable of in-situ bridge expansion.

Background

The chassis of the aerial working platform needs to be opened when in operation, and can stably support the boarding action, and mainly comprises a frame, supporting legs, a bridge expansion oil cylinder, a tire component and the like. In order to ensure the stability of the whole machine and reduce the supporting force of the tire during operation, the chassis support legs can be opened to meet the requirements during operation.

Fig. 1 is a schematic structural view of a bridge expansion device of a chassis of a conventional overhead working equipment. The bridge expanding device comprises a supporting leg 3, a bridge expanding oil cylinder 5, a hydraulic motor 8, a wheel frame 11, wheels 4 and the like which are connected with the main frame and are in a parallelogram structure, the composition structure is extremely complex, and the control operation requirement is higher. In addition, the defects are also reflected in more parts and small installation space, so that the installation is inconvenient; the parts are more, and the processing cost, the purchasing and mounting cost of the parts are relatively higher; the hinge points are more, and the control precision is lower under the condition of the clearance existing in the shaft hole matching.

Disclosure of Invention

The utility model aims to provide a chassis and overhead working equipment, so as to realize chassis in-situ bridge expansion with simpler and more reliable structure and control.

To achieve the above object, an aspect of the present utility model provides a chassis including:

a center frame;

the bridge expansion unit extends out of the side direction of the center frame and comprises a supporting leg and a wheel assembly, the inner end of the supporting leg is hinged with the center frame, the outer end of the supporting leg of the bridge expansion unit is hinged with the wheel assembly, and the supporting leg of the supporting leg can drive the wheel assembly to swing around the inner end of the supporting leg along a swinging arc of the supporting leg; the wheel assembly comprises a wheel steering driving mechanism for driving the wheel to steer and a wheel rotating driving mechanism for driving the wheel to rotate; and

a controller configured to:

receiving a first bridge expansion instruction signal;

controlling the wheel steering driving mechanism to drive the wheel to steer until the wheel axle section of the wheel is tangent to the swing arc of the supporting leg;

and controlling the wheel rotation driving mechanism to drive the wheels to walk towards the bridge expansion direction and drive the supporting legs to swing.

In some embodiments, the chassis further comprises a bridge expansion cylinder, a first end of the bridge expansion cylinder is hinged to the center frame, and a second end of the bridge expansion cylinder is hinged to the inner side of the supporting leg;

and, the controller is further configured to:

receiving a second bridge expansion instruction signal;

controlling the wheel steering driving mechanism to drive the wheel to steer until the wheel axle section of the wheel is tangent to the swing arc of the supporting leg;

and controlling the bridge expansion oil cylinder to drive the supporting leg to swing towards the bridge expansion direction.

In some embodiments, the controller is further configured to:

and after receiving the first bridge expansion command signal, controlling the bridge expansion oil cylinder to be in a piston rod floating state.

In some embodiments, the chassis further comprises a leg angle sensor for detecting an angle of swing of the leg relative to the center frame;

wherein the controller is further configured to:

acquiring a real-time swing angle detected by the support leg angle sensor;

judging that the support leg swinging towards the bridge expansion direction swings to a preset bridge expansion angle position according to the real-time swinging angle;

and controlling and locking the bridge expansion oil cylinder.

In some embodiments, the chassis further comprises a wheel angle sensor for detecting a steering angle of the wheel;

the method comprises the steps of controlling the wheel steering driving mechanism to drive the wheel to steer until the wheel axle section of the wheel is tangent to the swing arc of the supporting leg, and further comprising:

acquiring a real-time swing angle detected by the support leg angle sensor and a real-time steering angle detected by the wheel angle sensor;

judging that the wheel axle section of the wheel is tangent to the swing arc of the supporting leg according to the real-time swing angle and the real-time steering angle;

and controlling and locking the wheel steering driving mechanism.

In some embodiments, the controller is further configured to:

controlling the supporting legs to swing to a preset bridge expansion angle position, and completing the bridge expansion action of the supporting legs;

and controlling the wheel steering driving mechanism to drive the wheel to steer until the wheel axle section of the wheel is aligned back to the front-rear direction.

In some embodiments, the leg is a single box arm.

In some embodiments, the second end of the bridge expansion cylinder is closer to the leg inner end than the leg outer end.

In some embodiments, the bridge expansion unit includes a first bridge expansion unit and a second bridge expansion unit which are respectively arranged at the left side and the right side of the front end of the center frame and extend forwards, and a third bridge expansion unit and a fourth bridge expansion unit which are respectively arranged at the left side and the right side of the rear end of the center frame and extend backwards;

the bridge expansion device comprises a first bridge expansion unit, a second bridge expansion unit, a third bridge expansion unit, a fourth bridge expansion unit and a bridge expansion cylinder, wherein the first bridge expansion unit and the second bridge expansion unit are arranged in an X shape, and the third bridge expansion unit and the fourth bridge expansion unit are also arranged in an X shape.

In some embodiments, the wheel rotation driving mechanism comprises a hydraulic motor and a speed reducer, and the two ends of the speed reducer are respectively provided with the wheel and the hydraulic motor; the wheel steering driving mechanism comprises a steering oil cylinder and a steering knuckle provided with the speed reducer, wherein the steering knuckle is hinged to the outer end of the supporting leg, one end of the steering oil cylinder is hinged to the outer end of the supporting leg, and the other end of the steering oil cylinder is hinged to the steering knuckle.

In some embodiments, the chassis further comprises a chassis hydraulic system for hydraulically driving the bridge expansion cylinder, the steering cylinder, and the hydraulic motor.

The utility model provides high-altitude operation equipment, which comprises the chassis.

In the overhead working equipment, the chassis structure is optimally designed and controlled, and the bridge expansion unit can be combined with the wheel steering driving mechanism and the wheel rotating driving mechanism to drive the supporting legs to swing through driving wheels, so that the bridge expansion action is simply and reliably realized, even a bridge expansion oil cylinder is omitted, and the cost is reduced. Furthermore, the steering angle of the tyre of the bridge expansion angle machine can be accurately controlled by combining angle control and detecting and controlling through a plurality of angle sensors.

Additional features and advantages of embodiments of the utility model will be set forth in the detailed description which follows.

Drawings

The accompanying drawings are included to provide a further understanding of embodiments of the utility model and are incorporated in and constitute a part of this specification, illustrate embodiments of the utility model and together with the description serve to explain, without limitation, the embodiments of the utility model. Other figures may be made from the structures shown in these figures without inventive effort for a person of ordinary skill in the art. In the drawings:

FIG. 1 is a schematic structural view of a bridge expansion device of a chassis of a conventional overhead working equipment;

FIG. 2 is a schematic structural view of a chassis according to an embodiment of the present utility model;

FIG. 3 is a partial schematic view of the bridge unit in the chassis shown in FIG. 2;

FIGS. 4 and 5 are schematic structural views of the wheel assembly of the chassis of FIG. 2 from different perspectives;

FIG. 6 is a schematic view of the chassis in preparation for bridge expansion according to an embodiment of the present utility model;

FIG. 7 is a schematic diagram illustrating a wheel axle cross-section of a wheel in a tangential state to a leg swing arc;

FIG. 8 is a schematic view of the chassis after a leg bridge expansion action according to an embodiment of the present utility model; and

FIG. 9 is a schematic view of the chassis after completing the bridge expansion according to an embodiment of the present utility model;

description of the reference numerals

1. Angle sensor for support leg of center frame 2

3. Wheel with support leg 4

5. Wheel angle sensor of bridge expansion cylinder 6

7. Hydraulic motor of steering cylinder 8

9. Knuckle 10 speed reducer

11. Bridge expanding unit of wheel carrier 100

S1 first hinge point S2 second hinge point

S3 third hinge point S4 fourth hinge point

C0 Wheel axle section of supporting leg swing arc C1

Detailed Description

The following describes specific embodiments of the present utility model in detail with reference to the drawings. It should be understood that the detailed description and specific examples, while indicating and illustrating the utility model, are not intended to limit the utility model.

The chassis and the aloft work equipment according to the present utility model will be described below with reference to the accompanying drawings.

In order to achieve simplification of the structure and control of the chassis bridge expansion device, the utility model discloses a novel chassis. As shown in fig. 2 to 5, in one embodiment, the chassis includes:

a center frame 1;

the bridge expansion unit 100 extends out from the side direction of the center frame 1, the bridge expansion unit 100 comprises a supporting leg 3 and a wheel assembly, the inner end of the supporting leg 3 is hinged with the center frame 1, the outer end of the supporting leg is hinged with the wheel assembly, and the supporting leg 3 can drive the wheel assembly to swing around the inner end of the supporting leg along a supporting leg swinging arc C0; the wheel assembly includes a wheel steering drive mechanism for driving the wheels 4 to steer and a wheel rotation drive mechanism for driving the wheels 4 to rotate; and

a controller configured to:

receiving a first bridge expansion instruction signal;

controlling a wheel steering driving mechanism to drive the wheel 4 to steer until the wheel shaft section C1 of the wheel 4 is tangent to the swing arc C0 of the support leg;

and controlling a wheel rotation driving mechanism to drive the wheels 4 to walk towards the bridge expansion direction and drive the supporting legs 3 to swing.

The present utility model aims to achieve the intensification and low cost of the structure and control, for which the bridge expansion unit 100 creatively combines a wheel rotation driving mechanism and a wheel rotation driving mechanism to drive the supporting legs 3 to swing through the driving wheels 4, thereby realizing the bridge expansion action, and not necessarily, the bridge expansion driving can be carried out only by means of the bridge expansion oil cylinders 5.

Different from the existing oil cylinder driving bridge expansion mode, the wheel driving bridge expansion mode needs two basic steps, namely, firstly controlling a wheel steering driving mechanism to drive a wheel 4 to steer until a wheel shaft section C1 of the wheel 4 is tangent to a supporting leg swing arc C0; and then the wheel rotation driving mechanism is controlled to drive the wheels 4 to walk towards the bridge expansion direction and drive the supporting legs 3 to swing. As shown in fig. 7, the inner end of the leg 3 is hinged to the center frame 1 in a lateral direction, namely, a first hinge point S1 is shown in the drawing, and the swing arc C0 of the leg is formed by the leg 3 driving the wheel assembly to pivot around the inner end of the leg. The wheel axis section C1 of the wheel 4 is a wheel center plane parallel to the wheel end face, as shown in fig. 7. When the wheel 4 is driven to turn until the wheel axis section C1 is tangent to the leg swing arc C0, i.e., in the state shown in fig. 7, and the wheel 4 is driven to rotate at this time, the wheel 4 will precisely move along the leg swing arc C0 under the constraint of the leg 3, thereby realizing bridge expansion.

The first bridge expansion command signal corresponds to a wheel driving bridge expansion mode, as will be explained below, and the second bridge expansion command signal corresponds to an oil cylinder driving bridge expansion mode, and the command can be given by an upper computer or set by an operator.

It should be noted that, when the controller controls the wheels 4 to walk in the bridge expansion direction and drives the supporting legs 3 to swing, the chassis can expand the bridge outwards, and the bridge expansion direction refers to the outward pivoting direction of the supporting legs 3 around the inner ends of the supporting legs. Of course, when the controller controls the wheels 4 to walk towards the expanding direction and drives the supporting legs 3 to swing, the chassis can also retract inwards to expand the bridge, and the expanding direction at this time refers to the inward pivoting direction of the supporting legs 3 around the inner ends of the supporting legs. The term "inner" and "outer" in the present utility model are based on the rotation center of the center frame 1, and are, for example, far from the rotation center, and near to the rotation center.

The chassis of the present utility model may also include a bridge expansion cylinder 5, a first end (i.e., an inner end, illustrated as a piston rod end) of the bridge expansion cylinder 5 being hinged to the center frame 1, and a second end being hinged to an inner side of the leg 3, so that the leg 3 can be driven to move the bridge expansion outwardly, see fig. 2 and 3. And, the controller may be further configured to:

receiving a second bridge expansion instruction signal;

controlling a wheel steering driving mechanism to drive the wheel 4 to steer until the wheel shaft section C1 of the wheel 4 is tangent to the swing arc C0 of the support leg;

and controlling the bridge expansion cylinder 5 to drive the supporting leg 3 to swing towards the bridge expansion direction.

Therefore, the hydraulic bridge expansion mode is an oil cylinder driving bridge expansion mode in which the bridge expansion oil cylinder 5 drives the landing legs to expand the bridge, and the wheel driving bridge expansion modes are parallel, so that operators can select one for use or can combine the two modes for use. In the cylinder driving bridge expansion mode, the wheels 4 are driven to steer until the wheel axle section C1 of the wheels 4 is tangent to the swing arc C0 of the supporting leg, so that the contact friction force between the wheels 4 and the ground is minimum when the bridge expansion cylinder 5 drives the bridge expansion, and the driving load of the cylinder is reduced.

In the cylinder drive axle expanding mode, the wheels 4 should be in a following state, i.e. the wheels are not locked and not driven in the reverse direction. Similarly, in the wheel drive axle expanding mode, the axle expanding cylinder 5 should also be in a follow-up telescopic state, i.e. the controller is further configured to: after receiving the first bridge expansion command signal, the bridge expansion cylinder 5 is controlled to be in a floating state of a piston rod, namely the piston rod can be pulled by external force to stretch and retract, and the hydraulic system can not give pulling resistance or assistance.

To further realize high-precision control, the chassis of the present embodiment further includes a leg angle sensor 2 for detecting a swing angle of the leg 3 with respect to the center frame 1; wherein the controller may be further configured to:

acquiring a real-time swing angle detected by the support leg angle sensor 2;

judging that the supporting leg 3 swinging towards the bridge expansion direction swings to a preset bridge expansion angle position according to the real-time swinging angle;

and controlling the locking bridge expansion cylinder 5.

Therefore, by arranging the supporting leg angle sensor 2, the real-time detection of the swinging angle of the supporting leg can be realized, so that the bridge expansion in place and the locking in place can be accurately judged. For example, when the leg 3 pivots about the first hinge point S1, the pivot angle position that is pivoted inward to the point where the inward pivoting cannot be continued is an inner pivot limit point, the pivot angle position that is pivoted outward to the point where the outward pivoting cannot be continued is an outer pivot limit point, the preset inner pivot limit point is a set zero angle of the leg angle sensor 2, and the outer pivot limit point is a maximum angle detection range of the leg angle sensor 2. The operator can preset the bridge expansion angle within the maximum angle detection range, and when the supporting leg 3 pivots to the preset bridge expansion position, the locking bridge expansion cylinder 5 can be controlled, so that the supporting leg 3 is locked to pivot, and the bridge expansion action of the supporting leg 3 is completed, as shown in fig. 8.

Similarly, the chassis may also be provided with a wheel angle sensor 6 for detecting the steering angle of the wheels 4;

wherein, control wheel steering actuating mechanism drive wheel 4 steering until wheel 4's axletree cross-section C1 is tangent with landing leg swing circular arc C0, still include:

acquiring a real-time swing angle detected by the support leg angle sensor 2 and a real-time steering angle detected by the wheel angle sensor 6;

judging that the wheel axle section C1 of the wheel 4 is tangent to the swing arc C0 of the supporting leg according to the real-time swing angle and the real-time steering angle;

and controlling and locking the wheel steering driving mechanism.

Therefore, after the leg angle sensor 2 and the wheel angle sensor 6 are provided, it is possible to determine whether the wheel axis section C1 of the wheel 4 and the leg swing arc C0 reach the tangential position in combination. For example, the respective zero point positions of the leg angle sensor 2 and the wheel angle sensor 6 may be preset so that there is a wheel turning angle uniquely corresponding thereto at different leg yaw angle positions. Therefore, after the presetting, according to the real-time swing angle and the real-time steering angle, whether the wheel axle section C1 of the wheel 4 is tangent to the swing arc C0 of the supporting leg or not can be directly judged, and after the tangent position is reached, the wheel steering driving mechanism can be controlled to be directly locked, so that the wheel 4 is prevented from continuously steering.

Compared with the prior art bridge expanding device and the bridge expanding control mode thereof shown in fig. 1, the utility model is provided with the plurality of angle sensors, can realize accurate detection of the swing angle of the supporting leg and the steering angle of the wheel, can more accurately judge whether the section of the wheel shaft is tangent to the swing arc of the supporting leg, and can more accurately judge whether the supporting leg is pivoted in place, so that the in-situ bridge expanding precision is higher.

Referring to fig. 8 to 9, after the completion of the leg bridge expansion, the wheels should be straightened to facilitate running.

Thus, the controller may be further configured to:

controlling the supporting leg 3 to swing to a preset bridge expansion angle position, and completing the bridge expansion action of the supporting leg;

the wheel steering drive mechanism is controlled to drive the wheel 4 to steer until the wheel axis section C1 of the wheel 4 is returned to the front-rear direction.

In addition, in terms of structural design, the leg 3 of the chassis of the present embodiment adopts a single box arm structure. The landing leg box body structure is common in the field of engineering machinery, such as a box-shaped arm support and the like, is simple in material taking, mature in processing technology and low in cost, and compared with the landing leg with the parallelogram structure shown in fig. 1, the landing leg box body structure is simpler in structure, greatly reduces hinge points, is convenient to assemble and install, is convenient to process, and is low in cost of parts; fewer hinge points and higher control precision.

Referring to fig. 2 and 3, in the present embodiment, the second end (i.e., the illustrated cylinder end) of the bridge expansion cylinder 5 is closer to the inner end of the leg than the outer end of the leg is, on the inner side of the leg 3. By the arrangement, the telescopic length of the leg expanding oil cylinder 5 is shorter than that of the oil cylinder in fig. 1, so that the oil cylinder with smaller specification can be selected, and the power of the oil cylinder can meet the leg expanding requirement.

In the chassis of the present embodiment, four bridge expansion units 100 are included, as shown in fig. 2 and 6, that is, a first bridge expansion unit and a second bridge expansion unit which are respectively arranged on the left and right sides of the front end of the center frame 1 and extend forward, and a third bridge expansion unit and a fourth bridge expansion unit which are respectively arranged on the left and right sides of the rear end of the center frame 1 and extend backward; the bridge expansion cylinders 5 in the first bridge expansion unit and the second bridge expansion unit are arranged in an X shape, and the bridge expansion cylinders 5 in the third bridge expansion unit and the fourth bridge expansion unit are also arranged in an X shape. The bridge expansion oil cylinders are arranged in an X shape, so that the bridge expansion device is higher in structural compactness.

In addition, in the present embodiment, referring to fig. 3 to 5, the wheel rotation driving mechanism may include a hydraulic motor 8 and a speed reducer 10, both ends of the speed reducer 10 being respectively mounted with the wheel 4 and the hydraulic motor 8; by the rotation driving of the hydraulic motor 8, the wheels 4 are driven to turn with greater power after the speed reduction and torque increase of the speed reducer, as shown in fig. 5. The wheel steering driving mechanism comprises a steering cylinder 7 and a steering knuckle 9 provided with a speed reducer 10, wherein the steering knuckle 9 is hinged to the outer end of a supporting leg, namely a second hinge point S2 shown in fig. 2, one end of the steering cylinder 7 is hinged to the outer end of the supporting leg (namely a third hinge point S3 shown in fig. 2), and the other end of the steering cylinder 7 is hinged to the steering knuckle 9 (namely a fourth hinge point S4 shown in fig. 4). When the wheels 4 need to be turned, the steering oil cylinder 7 pushes the steering knuckle 9, so that the tire realizes the turning function.

Wherein, the supporting leg angle sensor 2 can be installed on the shaft of a first hinge point S1 between the center frame 1 and the inner end of the supporting leg 3 for detecting the swinging angle of the supporting leg, and the wheel angle sensor 6 can be installed on the shaft of a second hinge point S2 between the outer end of the supporting leg 3 and the knuckle 9 for detecting the steering angle of the wheel 4. The structure and function of the hydraulic motor 8, the knuckle 9 and the speed reducer 10 are well known to those skilled in the art and will not be described in detail herein. The wheel rotation driving mechanism and the wheel steering driving mechanism of the chassis of the present utility model are not limited to the steering cylinder 7, the hydraulic motor 8, the knuckle 9, the speed reducer 10, and the like described above.

Those skilled in the art know that engineering machinery has large working energy due to large mass, and hydraulic systems are often used for driving various functional components. Therefore, the chassis of the utility model can also comprise a chassis hydraulic system which is used for hydraulically driving the bridge expansion cylinder 5, the steering cylinder 7 and the hydraulic motor 8, and completing the power-assisted bridge expansion action.

The utility model also discloses high-altitude operation equipment which comprises the chassis, so that the high-altitude operation equipment has an in-situ bridge expansion function and can realize quick bridge expansion in a narrow space. The chassis bridge expansion technology is simple in structure and high in structural strength; the adopted chassis bridge expansion system control technology can accurately control the angle of the supporting leg and the steering angle of the tire through the angle detection of the angle sensor, and the bridge expansion control precision is higher.

Fig. 6 to 9 show the complete process of in-situ bridge expansion. FIG. 6 is a schematic view of the chassis in preparation for bridge expansion according to an embodiment of the present utility model; FIG. 7 is a schematic diagram illustrating a wheel axle cross-section of a wheel in a tangential state to a leg swing arc; FIG. 8 is a schematic view of the chassis after a leg bridge expansion action according to an embodiment of the present utility model; fig. 9 is a schematic structural view of the chassis after completing the bridge expansion according to the embodiment of the present utility model. In preparation for bridge expansion of fig. 6, the legs of the two bridge expansion units 100 at the front end or the rear end are in an inward close posture; in this embodiment, only two bridge expansion units 100 at the rear end are subjected to bridge expansion, so that the controller controls two steering cylinders 7 at the rear end to respectively drive two corresponding steering knuckles 9 to drive two wheels 4 to steer until the wheels 4 steer to a position where a wheel axle section C1 shown in fig. 7 is tangent to a leg swing arc C0, and then the two steering cylinders 7 are locked.

And then, according to the selection of the leg expanding mode, the leg expanding oil cylinder 5 or the hydraulic motor 8 is correspondingly driven to directly or indirectly drive the supporting leg 3 to swing outwards to expand the bridge, and the supporting leg 3 shown in fig. 8 reaches the preset bridge expanding angle position, so that the bridge expanding action of the supporting leg is completed. Finally, after the landing leg bridge expansion action is completed, the hydraulic motor 8 is driven again to turn the wheels 4, so that the wheels 4 return to the front-back orientation, and the overhead working equipment can conveniently run forwards or backwards.

If the front end and the rear end need to be expanded, that is, the four bridge expansion units 100 need to perform the supporting leg bridge expansion actions, the bridge expansion directions of the four bridge expansion units 100, the steering directions of the wheels 4 and the self-rotation directions of the tires are different, and the controller gives different instructions to enable the synchronous or asynchronous bridge expansion.

In conclusion, the overhead working equipment and the chassis thereof have the advantages that through the optimized structural design, the bridge expanding device is simpler in structure, convenient to assemble and install, beneficial to processing and lower in cost of parts; the number of hinge points is small, and the control precision is higher; the bridge expansion angle and the steering angle of the tire can be accurately controlled by detecting and controlling the plurality of angle sensors.

In the description of the present utility model, it should be understood that the terms "first," "second," and the like are used for descriptive purposes only and are not to be construed as indicating or implying a relative importance or number of technical features indicated. Thus, a feature defining "a first" or "a second" may explicitly or implicitly include at least one such feature. In the description of the present utility model, the meaning of "plurality" means at least two, for example, two, three, etc., unless specifically defined otherwise.

In the present utility model, unless explicitly specified and limited otherwise, the terms "mounted," "connected," "secured," and the like are to be construed broadly, and may be, for example, fixedly connected, detachably connected, or integrally formed; may be mechanically connected, may be electrically connected or may be in communication with each other; either directly or indirectly, through intermediaries, or both, may be in communication with each other or in interaction with each other, unless expressly defined otherwise. The specific meaning of the above terms in the present utility model can be understood by those of ordinary skill in the art according to the specific circumstances.

In the description of the present specification, a description referring to terms "one embodiment," "some embodiments," "examples," "specific examples," or "some examples," etc., means that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the present utility model. In this specification, schematic representations of the above terms are not necessarily directed to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples. Furthermore, the different embodiments or examples described in this specification and the features of the different embodiments or examples may be combined and combined by those skilled in the art without contradiction.

While embodiments of the present utility model have been shown and described above, it will be understood that the above embodiments are illustrative and not to be construed as limiting the utility model, and that variations, modifications, alternatives and variations may be made to the above embodiments by one of ordinary skill in the art within the scope of the utility model.

Claims (12)

1. A chassis, the chassis comprising:

a center frame (1);

the bridge expansion unit (100) extends out from the side direction of the center frame (1), the bridge expansion unit (100) comprises a supporting leg (3) and a wheel assembly, the inner end of the supporting leg (3) is hinged with the center frame (1), the outer end of the supporting leg is hinged with the wheel assembly, and the supporting leg (3) can drive the wheel assembly to swing around the inner end of the supporting leg along a supporting leg swinging arc (C0); the wheel assembly comprises a wheel steering driving mechanism for driving the wheels (4) to steer and a wheel rotation driving mechanism for driving the wheels (4) to rotate; and

a controller configured to:

receiving a first bridge expansion instruction signal;

controlling the wheel steering driving mechanism to drive the wheel (4) to steer until a wheel shaft section (C1) of the wheel (4) is tangent to the support leg swing arc (C0);

and controlling the wheel rotation driving mechanism to drive the wheels (4) to walk towards the bridge expansion direction and drive the supporting legs (3) to swing.

2. Chassis according to claim 1, characterized in that it further comprises a bridge-expanding cylinder (5), a first end of the bridge-expanding cylinder (5) being hinged to the central frame (1) and a second end being hinged to the inner side of the leg (3);

and, the controller is further configured to:

receiving a second bridge expansion instruction signal;

controlling the wheel steering driving mechanism to drive the wheel (4) to steer until a wheel shaft section (C1) of the wheel (4) is tangent to the support leg swing arc (C0);

and controlling the bridge expansion oil cylinder (5) to drive the supporting leg (3) to swing towards the bridge expansion direction.

3. The chassis of claim 2, wherein the controller is further configured to:

and after receiving the first bridge expansion command signal, controlling the bridge expansion oil cylinder (5) to be in a piston rod floating state.

4. Chassis according to claim 2, characterized in that it further comprises a leg angle sensor (2) for detecting the swing angle of the leg (3) with respect to the centre frame (1);

wherein the controller is further configured to:

acquiring a real-time swing angle detected by the supporting leg angle sensor (2);

judging that the supporting leg (3) swinging towards the bridge expansion direction swings to a preset bridge expansion angle position according to the real-time swinging angle;

and controlling and locking the bridge expansion cylinder (5).

5. Chassis according to claim 4, characterized in that it further comprises a wheel angle sensor (6) for detecting the steering angle of the wheels (4);

wherein, control the wheel steering actuating mechanism drive wheel (4) steering until wheel axle cross-section (C1) of wheel (4) tangent with landing leg swing circular arc (C0), still include:

acquiring a real-time swing angle detected by the supporting leg angle sensor (2) and a real-time steering angle detected by the wheel angle sensor (6);

judging that a wheel axle section (C1) of the wheel (4) is tangent to the support leg swing arc (C0) according to the real-time swing angle and the real-time steering angle;

and controlling and locking the wheel steering driving mechanism.

6. The chassis of claim 2, wherein the controller is further configured to:

controlling the supporting leg (3) to swing to a preset bridge expansion angle position, and completing the bridge expansion action of the supporting leg;

the wheel steering driving mechanism is controlled to drive the wheel (4) to steer until the wheel axle section (C1) of the wheel (4) is restored to the front-rear direction.

7. Chassis according to any of claims 2-6, characterized in that the leg (3) is a single box arm.

8. Chassis according to claim 7, characterized in that the second end of the bridge expansion cylinder (5) is closer to the leg inner end than to the leg outer end on the inner side of the leg (3).

9. The chassis according to claim 7, wherein the bridge expansion unit (100) includes first and second bridge expansion units which are respectively arranged at left and right sides of the front end of the center frame (1) and protrude forward, and third and fourth bridge expansion units which are respectively arranged at left and right sides of the rear end of the center frame (1) and protrude rearward;

the bridge expansion device comprises a first bridge expansion unit, a second bridge expansion unit, a third bridge expansion unit, a fourth bridge expansion unit and a bridge expansion cylinder (5), wherein the first bridge expansion unit and the second bridge expansion unit are arranged in an X shape, and the third bridge expansion unit and the fourth bridge expansion unit are also arranged in the X shape.

10. Chassis according to claim 7, characterized in that the wheel rotation driving mechanism comprises a hydraulic motor (8) and a speed reducer (10), both ends of the speed reducer (10) being respectively provided with the wheel (4) and the hydraulic motor (8); the wheel steering driving mechanism comprises a steering oil cylinder (7) and a steering knuckle (9) provided with the speed reducer (10), wherein the steering knuckle (9) is hinged to the outer end of the supporting leg, one end of the steering oil cylinder (7) is hinged to the outer end of the supporting leg, and the other end of the steering oil cylinder is hinged to the steering knuckle (9).

11. Chassis according to claim 10, characterized in that the chassis further comprises a chassis hydraulic system for hydraulically driving the bridge expansion cylinder (5), the steering cylinder (7) and the hydraulic motor (8).

12. An aerial work device, characterized in that it comprises a chassis according to any one of claims 1-11.