CN220953147U - Work vehicle and obstacle avoidance system thereof - Google Patents

Abstract

The utility model provides an operation vehicle and an obstacle avoidance system thereof, wherein the obstacle avoidance system comprises an obstacle avoidance platform, an obstacle avoidance telescopic shaft assembly and an executing mechanism; the obstacle avoidance platform comprises a platform main body and cantilever beams which are arranged at intervals, and an avoidance space for the passage of an obstacle is formed between the platform main body and the cantilever beams; the obstacle avoidance telescopic shaft assembly is arranged on the platform main body, one end of the obstacle avoidance telescopic shaft assembly is connected with the cantilever beam, and the other end of the obstacle avoidance telescopic shaft assembly is connected with one side of the platform main body facing the cantilever beam in a telescopic manner; the actuating mechanism is arranged on the cantilever beam and comprises an operation arm support and a rolling brush assembly, two ends of the operation arm support are respectively hinged with the obstacle avoidance platform and the rolling brush assembly, and the lifting mechanism is used for driving the obstacle avoidance platform to move in the height direction. According to the obstacle avoidance system of the working vehicle, the position of the actuating mechanism is prevented from being adjusted every time an obstacle passes through by the extension and retraction of the obstacle avoidance telescopic shaft assembly, so that normal cleaning can be ensured while the obstacle avoidance is performed, and the working efficiency of the working vehicle is improved.

Description

Work vehicle and obstacle avoidance system thereof

Technical Field

The utility model belongs to the technical field of working machinery, and particularly relates to a working vehicle and an obstacle avoidance system thereof.

Background

The working vehicle such as a wall cleaning vehicle is mainly used for cleaning the wall surface of a highway tunnel, an overhead sound insulation screen of a city, a road middle guardrail and a bridge protective fence. Along with the improvement of the mechanization degree of the sanitation vehicle, the wall surface cleaning vehicle is widely applied. At present, the soundproof screen is in a man-machine combined operation mode, the cleaning frequency of the inner side and the outer side of the soundproof screen is about 1 time per week, the cleaning time is longer for 4-10 hours, and the operation time is generally 10 pm to 2 am. The maximum speed of the cleaning operation on the inner side is 8km/h, and the maximum speed of the cleaning operation on the outer side is 4km/h. Products in the market can basically meet the operation demands, but still need man-machine combination, and the operation efficiency, the safety, the intelligent degree and the use convenience of the products are all to be improved.

The whole vehicle is not intelligent enough, and an operator needs to arrange an operation room for controlling the posture of the operation device while observing the operation condition. The obstacle avoidance mode of recovering and resetting the arm support to the operation posture consumes a great deal of time, and reduces the operation efficiency of the wall washing vehicle. And the command and the monitoring beside the vehicle are needed to be carried out manually, so that the potential safety hazard exists. When the obstacle avoidance is performed, the arm support is retracted due to the fact that the operation is stopped, the vehicle can be restored to the position without the obstacle when running forwards, and the section of the outer wall of the sound insulation screen with the obstacle cannot be cleaned.

Disclosure of utility model

The utility model mainly aims to provide a working vehicle and an obstacle avoidance system thereof, and aims to solve the technical problem that the cleaning efficiency is low due to manual obstacle avoidance of the working vehicle in the working process in the prior art.

In order to achieve the above object, the present utility model provides an obstacle avoidance system for a work vehicle, comprising:

The obstacle avoidance platform comprises platform bodies and cantilever beams which are arranged at intervals, and an avoidance space for the passage of an obstacle is formed between the platform bodies and the cantilever beams;

The obstacle avoidance telescopic shaft assembly is arranged on the platform main body, one end of the obstacle avoidance telescopic shaft assembly is connected with the cantilever beam, and the other end of the obstacle avoidance telescopic shaft assembly is telescopically inserted into one side, facing the cantilever beam, of the platform main body; and

The actuating mechanism is arranged on the cantilever beam and comprises an operation arm support and a rolling brush assembly, and two ends of the operation arm support are respectively hinged with the obstacle avoidance platform and the rolling brush assembly;

and the lifting mechanism is used for driving the obstacle avoidance platform to move in the height direction.

In an embodiment of the utility model, the obstacle avoidance system of the working vehicle further comprises a first swing mechanism, the first swing mechanism is installed on the lifting mechanism, the obstacle avoidance platform is installed on the first swing mechanism, and the lifting mechanism and the first swing mechanism are matched to adjust the space position of the obstacle avoidance platform.

In the embodiment of the utility model, the center of gravity of the obstacle avoidance platform, the center of the lifting mechanism and the center of the first slewing mechanism are positioned on the same straight line.

In the embodiment of the utility model, the obstacle avoidance telescopic shaft assembly comprises a plurality of telescopic shafts which are arranged at intervals and a telescopic driving piece which is used for driving the telescopic shafts to linearly and telescopically move along the direction vertical to the wall surface, and one end of each telescopic shaft, which is connected with the cantilever beam, is a telescopic end or a fixed end.

In an embodiment of the utility model, the obstacle avoidance system of the working vehicle further comprises a plurality of sensors arranged on the obstacle avoidance platform and a control unit electrically connected with the sensors, wherein the sensors are used for detecting the distance between the obstacle and the telescopic shafts, and the control unit is used for receiving the distance signals sent by the sensors and controlling the action of each telescopic shaft according to the distance signals.

In an embodiment of the present utility model, a telescopic shaft includes:

The fixed arm is arranged in a hollow way, one end of the fixed arm is a plug-in end, the other end of the fixed arm is a connecting end, the connecting end is connected with the first slewing mechanism, and an avoidance space is formed between the plug-in end and the cantilever beam; and

The obstacle avoidance shaft is coaxially inserted from the insertion end of the fixed arm, and can extend or retract the fixed arm;

the telescopic driving piece is arranged in the fixed arm, and the driving end is connected with the obstacle avoidance shaft.

In an embodiment of the present utility model, a work boom includes:

The turntable is arranged on the cantilever beam and can rotate in the horizontal plane; and

At least two sections of arm sections are hinged in sequence from head to tail, the head end of the arm section positioned at the head is hinged with the rotary table, the tail end of the arm section positioned at the tail is hinged with the rolling brush assembly, a first driving oil cylinder is hinged between the rotary table and the arm section positioned at the head, and a second driving oil cylinder is hinged between any two adjacent arm sections.

In the embodiment of the utility model, the arm joint connected with the rolling brush assembly comprises a main arm, an auxiliary arm and a telescopic driving piece connected between the main arm and the auxiliary arm, wherein the telescopic driving piece is used for driving the main arm and the auxiliary arm to perform amplitude-changing movement on a central axis.

In an embodiment of the utility model, the working arm rest further comprises a second slewing mechanism, wherein the second slewing mechanism is mounted on the cantilever beam and can drive the turntable to rotate in a horizontal plane.

In an embodiment of the utility model, a work vehicle is also presented, comprising a chassis and an obstacle avoidance system of the work vehicle as described above provided on the chassis.

Through the technical scheme, the obstacle avoidance system of the working vehicle provided by the embodiment of the utility model has the following beneficial effects:

An avoidance space for the passage of an obstacle is formed between a platform main body and a cantilever beam of the obstacle avoidance platform, an obstacle avoidance telescopic shaft assembly is arranged on the platform main body, one end of the obstacle avoidance telescopic shaft assembly is connected with the cantilever beam, and the other end of the obstacle avoidance telescopic shaft assembly is connected with one side of the platform main body, which faces the cantilever beam, in a telescopic manner; the actuating mechanism is arranged on the cantilever beam and comprises an operation arm support and a rolling brush assembly, and two ends of the operation arm support are respectively hinged with the obstacle avoidance platform and the rolling brush assembly. In the running process of the working vehicle, the wall surface is cleaned through the rolling brush assembly, and obstacles such as street lamps are arranged at two sides of a road, when the working vehicle passes through the obstacles, the obstacles pass through the position of the chassis through the position adjustment of the platform body and the cantilever beams, then the obstacle avoidance telescopic shaft assembly and the cantilever beams are disconnected according to the distance between the obstacle avoidance telescopic shaft assembly and the obstacles, the obstacle avoidance telescopic shaft assembly is driven to sequentially stretch out after the obstacles pass through and restore to be connected with the cantilever beams until the obstacles pass through completely, part of the structure of the obstacle avoidance telescopic shaft assembly is connected with the actuating mechanism to enable the actuating mechanism to keep stable and continuously work, and the rest part of the structure is stretched to realize obstacle avoidance, so that normal cleaning can be ensured while the obstacles are avoided, and the working efficiency of the working vehicle is improved.

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

Drawings

The accompanying drawings are included to provide an understanding of the utility model, and are incorporated in and constitute a part of this specification, illustrate the utility model and together with the description serve to explain, without limitation, the utility model. In the drawings:

FIG. 1 is a schematic front view of an obstacle avoidance system for a work vehicle in accordance with an embodiment of the present utility model;

FIG. 2 is a schematic diagram of an obstacle avoidance system for a work vehicle according to an embodiment of the present disclosure;

FIG. 3 is a schematic top view of an obstacle avoidance system for a work vehicle in accordance with an embodiment of the present utility model;

FIG. 4 is a schematic front view of a work vehicle according to an embodiment of the utility model;

fig. 5 is a schematic top view of a work vehicle according to an embodiment of the utility model.

Description of the reference numerals

Reference numerals	Name of the name	Reference numerals	Name of the name
				10	Obstacle avoidance platform	3132	Main arm
11	Platform main body	3131	Auxiliary arm
				12	Cantilever beam	32	Rolling brush assembly
20	Telescopic shaft	33	First driving oil cylinder
				21	Fixing arm	34	Second driving oil cylinder
22	Obstacle avoidance shaft	40	Lifting mechanism
				30	Cleaning mechanism	41	Telescopic arm
31	Arm support for operation	42	Connecting piece
				311	Turntable	43	First slewing mechanism
312	Fixed arm joint	50	Second slewing mechanism
				313	Telescopic arm joint

Detailed Description

Specific embodiments of the present utility model will be described in detail below with reference to the accompanying drawings. It should be understood that the specific embodiments described herein are for purposes of illustration and explanation only and are not intended to limit the present utility model.

The work vehicle and the obstacle avoidance system thereof according to the present utility model are described below with reference to the accompanying drawings.

As shown in fig. 1 and 3, in an embodiment of the present utility model, an obstacle avoidance system for a work vehicle is provided, comprising an obstacle avoidance platform 10, an obstacle avoidance telescoping shaft 20 assembly, and an actuator 30; the obstacle avoidance platform 10 comprises a platform main body 11 and cantilever beams 12 which are arranged at intervals, wherein an avoidance space for the passage of an obstacle is formed between the platform main body 11 and the cantilever beams 12; the obstacle avoidance telescopic shaft 20 assembly is arranged on the platform main body 11, one end of the obstacle avoidance telescopic shaft 20 assembly is connected with the cantilever beam 12, and the other end of the obstacle avoidance telescopic shaft 20 assembly is telescopically inserted into one side, facing the cantilever beam 12, of the platform main body 11; the actuating mechanism 30 is arranged on the cantilever beam 12 and comprises an operation arm support 31 and a rolling brush assembly 32, and two ends of the operation arm support 31 are respectively hinged with the obstacle avoidance platform 10 and the rolling brush assembly 32.

The following description will be given by taking a working vehicle as a wall washing vehicle and taking an actuator 30 as a cleaning mechanism as an example: in the process of the wall washing vehicle, the wall is cleaned through the rolling brush assemblies 32, and obstacles such as street lamps are arranged at two sides of a road, when the wall washing vehicle passes through the obstacles, firstly, the obstacles pass through between the platform main body 11 and the cantilever beams 12 through adjusting the positions of the chassis, then according to the distance between the obstacle avoidance telescopic shaft 20 assemblies and the obstacles, the obstacle avoidance telescopic shaft 20 assemblies and the cantilever beams 12 are disconnected through driving, and after the obstacles pass through, the obstacle avoidance telescopic shaft 20 assemblies are sequentially stretched out and are restored to be connected with the cantilever beams 12 until the obstacles pass through completely, and part of structures of the obstacle avoidance telescopic shaft 20 assemblies are kept to be connected with the cleaning mechanism in the whole process so that the cleaning mechanism keeps stable and continuously working, and the rest parts realize obstacle avoidance through telescoping. The position of the cleaning mechanism needs to be adjusted every time the obstacle is passed through is avoided through the extension and retraction of the obstacle avoidance telescopic shaft 20 assembly, and normal cleaning can be ensured while obstacle avoidance is performed, so that the operation efficiency of the wall washing vehicle is improved.

In an embodiment of the present utility model, the obstacle avoidance system of the working vehicle further includes a lifting mechanism 40 and a first swing mechanism 43, the first swing mechanism 43 is mounted on the lifting mechanism 40, the obstacle avoidance platform 10 is mounted on the first swing mechanism 43, the lifting mechanism 40 is used for driving the obstacle avoidance platform 10 to move in the height direction, the first swing mechanism 43 is used for driving the obstacle avoidance platform 10 to rotate in the horizontal plane, and thus the lifting mechanism 40 and the first swing mechanism 43 are matched for adjusting the spatial position of the obstacle avoidance platform 10. Specifically, the lifting mechanism needs to be adjusted when cleaning the outside of the soundproof screen to raise the obstacle avoidance platform 10 and span the soundproof screen; since the cleaning mechanism is located on the right side of the obstacle avoidance platform 10, the first swing mechanism 43 needs to be adjusted when cleaning the left wall surface of the tunnel to rotate the cleaning mechanism to a position close to the left wall surface of the tunnel in preparation for the cleaning action.

Wherein the first slewing mechanism 43 comprises a fixed disc, a rotating disc and a rotating driving piece, wherein the fixed disc is connected with the connecting piece 42; the rotating disc is coaxially and rotatably connected with the fixed disc, and the top of the rotating disc is connected with the obstacle avoidance platform 10; the rotation driving piece is used for driving the rotation disc to rotate in the horizontal plane. Specifically, the rotation driving piece adopts a servo motor, and the accuracy of the rotation angle is ensured through the servo motor.

To ensure the stability of the lifting mechanism 40 to lift the obstacle avoidance platform 10, the center of gravity of the obstacle avoidance platform 10, the center of the lifting mechanism 40, and the center of the first swing mechanism 43 are positioned on the same straight line.

In the embodiment of the present utility model, the lifting mechanism 40 includes:

The telescopic arm 41 comprises a telescopic section and a fixed section which are matched in a telescopic nesting manner, the fixed section is arranged on the frame, and the telescopic section is connected with the first slewing mechanism 43 or the fixed section is arranged on the first slewing mechanism 43; and

The telescopic driving piece is used for driving the telescopic section and the fixed section to be in telescopic fit along the vertical direction.

Specifically, since the height of a part of the wall surface is high, in order to be able to complete the cleaning operation of the high wall surface, the height of the telescopic end of the telescopic arm 41 after extending needs to reach the height of the wall surface, and the height of the wall washing vehicle in the vehicle collecting state cannot exceed the regulated height of the regulations; to ensure stability of the platform body 11, the telescopic arm 41 needs to have high structural strength and cannot interfere with other components on the wall washing vehicle. In summary, the telescopic arm 41 needs to have a large telescopic amount to complete the cleaning task in each direction, and has enough stability after the telescopic operation is completed, so the telescopic arm 41 with a large cross section needs to be designed, but the telescopic arm 41 with a large cross section needs to be avoided from interfering with other components on the frame, and the following two embodiments are provided according to practical requirements:

In the first embodiment of the present utility model, as shown in fig. 1, the number of telescopic arms 41 and the number of connecting members 42 are one, and the telescopic driving member is provided in the telescopic arms 41.

Specifically, the telescopic arm 41 comprises a fixed section and a telescopic section which are in telescopic nesting fit, the telescopic driving piece adopts a telescopic oil cylinder, the telescopic oil cylinder is arranged in the fixed section, and the telescopic end of the telescopic oil cylinder is connected with the telescopic section. Because of the use of a single telescopic arm 41, the telescopic arm 41 has a large cross section, resulting in the need to remove or move away the parts of the frame that interfere with the telescopic arm 41, which parts may affect the strength of the frame, and thus the need to modify the frame to ensure its strength.

In the second embodiment of the present utility model, the number of the telescopic arms 41 is at least two, and the plurality of telescopic arms 41 are arranged at intervals, and the lifting mechanism 40 further includes a connecting member 42, where the connecting member 42 is used to connect the telescopic section of the telescopic arm 41 with the driving end of the telescopic driving member.

Specifically, the connecting piece 42 is a rectangular frame, the number of the telescopic arms 41 is four and the telescopic driving pieces are respectively located at four corner points of the rectangular frame, the number of the telescopic driving pieces is two and the telescopic driving pieces are respectively arranged between the two telescopic arms 41 located at the same short side of the rectangular frame, and the driving end of the telescopic driving piece is connected _, with the bottom of the connecting piece 42, and the fixed end of the telescopic driving piece is provided with a mounting seat and is connected with the fixed section. And a mounting seat is respectively arranged between the fixed end of each telescopic driving piece and two adjacent fixed sections, the mounting seat is sleeved on the peripheral wall of each fixed section, and one side of the mounting seat, which faces the telescopic driving piece, is provided with a threaded hole in threaded connection with the telescopic driving piece. The bottom of fixed section is installed on the frame, and the top of flexible section is connected with four corner of connecting piece 42, and flexible drive piece drives the concertina movement of flexible arm 41 through lifting connecting piece 42. The lifting action is completed through the synchronous operation of the two telescopic cylinders, and the stability of the connecting piece 42 in the lifting process is kept through four telescopic arms 41 positioned at the corner points, so that the stability of the platform main body 11 is ensured.

Further, since the height of the soundproof screen is generally about 4.5 meters, in order to clean the outside of the soundproof screen, the telescopic arm 41 of the lifting mechanism 40 must have a strong structural strength to ensure the stability of the obstacle avoidance platform 10, and meanwhile, the obstacle avoidance platform 10 must be lifted to a position a certain distance above the top of the soundproof screen, and the whole vehicle height does not exceed the requirement of the regulations during the vehicle retraction. This requires a large lifting stroke of the telescopic arm 41, and a certain overlap between the telescopic section and the fixed section of the telescopic arm 41 is still provided after the telescopic arm 41 is lifted in place, so as to ensure the safety and stability of the telescopic arm 41. The telescopic arm 41 is thus designed to be relatively rugged and thus will take up a relatively large amount of space. The chassis needs to be reworked when arranging the lifting mechanism 40, and the components interfering with the lifting mechanism 40 are removed or moved away. In particular, parts of the chassis cross beam are removed or moved, and in order not to affect the structural strength of the chassis, the cross beam which occupies a small space must be redesigned to be assembled on the chassis.

In addition, to ensure stability during the entire lifting process, the center of gravity of the obstacle avoidance platform 10, the center of the connecting member 42, and the center of the telescopic arm 41 need to be located on the same straight line. That is, the center of gravity of the obstacle avoidance platform 10 is projected within the cross section of the lifting mechanism 40, thereby ensuring that the obstacle avoidance platform 10 is not unbalanced.

In the embodiment of the utility model, the obstacle avoidance telescopic shaft 20 assembly comprises a plurality of telescopic shafts 20 which are arranged at intervals and a telescopic driving piece for driving the telescopic shafts 20 to linearly and telescopically move along the direction vertical to the wall surface, and one end of each telescopic shaft 20 connected with the cantilever beam 12 is a telescopic end or a fixed end. The telescopic driving piece can select an obstacle avoidance oil cylinder, the fixed end of the obstacle avoidance oil cylinder is connected with the fixed arm 21, and the driving end is connected with the obstacle avoidance shaft 22.

In order to ensure that the telescopic shafts 20 are connected with the cleaning mechanism all the time in the obstacle avoidance process, preferably, the number of the telescopic shafts 20 is at least three, and in the obstacle avoidance process, the two telescopic shafts 20 are always connected with the cantilever beam 12. The cantilever beam 12 is provided with a through hole, and the telescopic end of the telescopic shaft 20 can freely extend out of or retract into the through hole, so that the telescopic shaft 20 and the cantilever beam 12 are connected or separated.

In an embodiment of the present utility model, the obstacle avoidance system of the working vehicle further includes a plurality of sensors disposed on the obstacle avoidance platform 10, and a control unit electrically connected to the sensors, wherein the sensors are used for detecting the distance between the obstacle and the telescopic shafts 20, and the control unit is used for receiving the distance signals sent by the sensors and controlling the motion of each telescopic shaft 20 according to the distance signals. Specifically, the outer circumferences of the shaft sleeves on the telescopic shafts 20 at the foremost end and the rearmost end are respectively provided with a front section ultrasonic sensor and a rear section ultrasonic sensor, the front section ultrasonic sensor and the rear section ultrasonic sensor are respectively used for detecting a front obstacle and a rear obstacle, the ultrasonic sensors are respectively arranged between any two adjacent telescopic shafts 20, the ultrasonic sensors are used for detecting obstacle position information between the two telescopic shafts 20, and the ultrasonic sensors are close to the former telescopic shaft 20.

Therefore, taking the wall washing vehicle as an example to wash the wall and the street lamp as an obstacle, the end of the telescopic shaft 20 connected with the cantilever beam 12 is taken as the telescopic end, the wall washing vehicle runs forward from right to left, the wall to be washed is positioned on the right side of the wall washing vehicle, the street lamps are arranged on the left side of the wall to be washed at intervals along the front-back direction, and the working process of the wall washing vehicle is further described by taking the working condition between the wall washing vehicle and the wall to be washed as a specific embodiment: firstly, a worker adjusts the left and right positions of the wall washing vehicle to enable the street lamp to pass through between the platform main body 11 and the cleaning mechanism; then, when the telescopic shaft 20 at the forefront is close to the street lamp, the control unit controls the telescopic ends of the telescopic shafts 20 to retract into the platform main body 11 to the left, at this time, the telescopic ends of the other telescopic shafts 20 are kept connected with the cleaning mechanism so as to keep the cleaning mechanism in a stable working state, and when the street lamp passes through the telescopic shaft 20 at the forefront, the telescopic shaft 20 at the forefront extends out of the platform main body 11 to restore the connection with the cleaning mechanism, and the telescopic shafts 20 repeatedly retract and extend every time the street lamp passes through one group of telescopic shafts 20; finally, the above operation is repeated every time the platform body 11 passes a street lamp.

In an embodiment of the present utility model, the telescopic shaft 20 includes:

The fixed arm 21 is arranged in a hollow way, one end of the fixed arm 21 is a plug-in end, the other end is a connecting end, the connecting end is connected with the first slewing mechanism 43, and an avoidance space is formed between the plug-in end and the cantilever beam 12; and

The obstacle avoidance shaft 22 is coaxially inserted from the insertion end of the fixed arm 21, and the obstacle avoidance shaft 22 can extend or retract into the fixed arm 21;

The telescopic driving piece is arranged in the fixed arm 21, the driving end of the telescopic driving piece is connected with the obstacle avoidance shaft 22, and the telescopic driving piece is preferably an obstacle avoidance oil cylinder.

Specifically, the fixed arm 21 adopts a round tube or square tube form, the obstacle avoidance shaft 22 adopts a cylindrical form, the inner peripheral wall of the fixed arm 21 is embedded with a shaft sleeve, the outer peripheral wall of the obstacle avoidance shaft 22 is abutted with the inner peripheral wall of the shaft sleeve, and abrasion between the obstacle avoidance shaft 22 and the fixed arm 21 is reduced through the shaft sleeve, so that the structure is retreaded only by replacing the shaft sleeve, and the use cost of the machine is reduced.

In the embodiment of the present utility model, the work boom 31 includes:

A turntable 311 mounted on the cantilever 12 and capable of rotational movement in a horizontal plane; and

At least two sections of arm sections are hinged in sequence from head to tail, the head end of the arm section positioned at the head is hinged with a rotary table 311, the tail end of the arm section positioned at the tail is hinged with a rolling brush assembly 32, a first driving oil cylinder 33 is hinged between the rotary table 311 and the arm section positioned at the head, and a second driving oil cylinder 34 is hinged between any two adjacent arm sections.

As shown in fig. 1, the number of arm segments is two and includes a fixed arm segment 312 and a telescopic arm segment 313 hinged end to end in sequence, specifically, the arm segment close to the turntable 311 is the fixed arm segment 312, the arm segment far away from the turntable 311 is the telescopic arm segment 313, the tail end of the telescopic arm segment 313 is connected with the rolling brush assembly 32, the operation arm support 31 can perform a swinging motion under the driving of a swinging support, the fixed arm segment 312 and the telescopic arm segment 313 can perform a pitching motion relative to the turntable 311 under the driving of a hydraulic cylinder, the telescopic arm segment 313 comprises a main arm 3132 and a sub-arm 3131, a telescopic driving part is connected between the main arm 3132 and the sub-arm 3131, and the telescopic driving part is used for driving the main arm 3132 and the sub-arm 3131 to perform relative telescopic motion on a central axis. The rolling brush assembly 32 is driven by the whole working arm support 31 to work or take up the vehicle through a series of swinging, rotating and telescopic movements. Meanwhile, in order to ensure the intellectualization of the motion, a sensor for detecting the position of the rolling brush assembly 32 is arranged at the corresponding position.

Further, as shown in fig. 2, the working arm frame 31 further includes a second swing mechanism 50 for driving the turntable 311 to rotate in a horizontal plane, and the second swing mechanism 50 is mounted on the cantilever 12.

As shown in fig. 4 and 5, a work vehicle is also provided that includes a chassis and an obstacle avoidance system of the work vehicle disposed on the chassis. Because the working vehicle adopts all embodiments of the obstacle avoidance system, the working vehicle has all the beneficial effects brought by the obstacle avoidance system, and detailed description is omitted herein.

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 (10)

1. An obstacle avoidance system for a work vehicle, comprising:

The obstacle avoidance platform (10) comprises platform main bodies (11) and cantilever beams (12) which are arranged at intervals, wherein an avoidance space for an obstacle to pass through is formed between the platform main bodies (11) and the cantilever beams (12);

The obstacle avoidance telescopic shaft assembly is arranged on the platform main body (11), one end of the obstacle avoidance telescopic shaft assembly is connected with the cantilever beam (12), and the other end of the obstacle avoidance telescopic shaft assembly is connected with one side, facing the cantilever beam (12), of the platform main body (11) in a telescopic manner;

The actuating mechanism (30) is arranged on the cantilever beam (12) and comprises an operation arm support (31) and a rolling brush assembly (32), and two ends of the operation arm support (31) are respectively hinged with the obstacle avoidance platform (10) and the rolling brush assembly (32); and

And the lifting mechanism (40) is used for driving the obstacle avoidance platform (10) to move in the height direction.

2. The obstacle avoidance system of a work vehicle according to claim 1, further comprising a first swing mechanism (43), the first swing mechanism (43) being mounted on the lifting mechanism (40), the obstacle avoidance platform (10) being mounted on the first swing mechanism (43), the lifting mechanism (40) and the first swing mechanism (43) cooperating to adjust the spatial position of the obstacle avoidance platform (10).

3. Obstacle avoidance system of a work vehicle according to claim 2, characterized in that the centre of gravity of the obstacle avoidance platform (10), the centre of the lifting mechanism (40) and the centre of the first swing mechanism (43) are located on the same straight line.

4. The obstacle avoidance system of a work vehicle according to claim 2, wherein the obstacle avoidance telescopic shaft assembly comprises a plurality of telescopic shafts (20) arranged at intervals and a telescopic driving member for driving the telescopic shafts (20) to linearly move in a telescopic manner along a direction perpendicular to a wall surface, and one end of each telescopic shaft (20) connected with the cantilever beam (12) is a telescopic end or a fixed end.

5. The obstacle avoidance system of a work vehicle according to claim 4, further comprising a plurality of sensors provided on the obstacle avoidance platform (10) for detecting a distance between an obstacle and the telescopic shafts (20), and a control unit electrically connected to the sensors for receiving distance signals transmitted by the sensors and controlling an action of each of the telescopic shafts (20) in accordance with the distance signals.

6. The obstacle avoidance system of a work vehicle of claim 4 wherein said telescoping shaft (20) comprises:

the fixed arm (21) is arranged in a hollow manner, one end of the fixed arm (21) is a plug-in end, the other end of the fixed arm is a connecting end, the connecting end is connected with the first slewing mechanism (43), and the avoidance space is formed between the plug-in end and the cantilever beam (12); and

The obstacle avoidance shaft (22) is coaxially inserted from the insertion end of the fixed arm (21), and the obstacle avoidance shaft (22) can extend or retract the fixed arm (21);

The telescopic driving piece is arranged in the fixed arm (21) and the driving end is connected with the obstacle avoidance shaft (22).

7. The obstacle avoidance system of a work vehicle according to any one of claims 1 to 6, wherein the work boom (31) comprises:

A turntable (311) mounted on the cantilever beam (12) and capable of rotational movement in a horizontal plane; and

At least two sections of arm sections are hinged in sequence from head to tail, the head end of the arm section positioned at the head is hinged with the rotary table (311), the tail end of the arm section positioned at the tail is hinged with the rolling brush assembly (32), a first driving oil cylinder (33) is hinged between the rotary table (311) and the arm section positioned at the head, and a second driving oil cylinder (34) is hinged between any two adjacent arm sections.

8. The obstacle avoidance system of a work vehicle of claim 7 wherein said arm segments coupled to said roller brush assembly (32) comprise a main arm (3132), a secondary arm (3131), and a telescoping drive coupled between said main arm (3132) and said secondary arm (3131) for driving a luffing motion between said main arm (3132) and said secondary arm (3131) on a central axis.

9. The obstacle avoidance system of a work vehicle of claim 7 wherein said work boom (31) further comprises a second swing mechanism (50), said second swing mechanism (50) being mounted to said cantilever beam (12) and capable of driving said turntable (311) to rotate in a horizontal plane.

10. A work vehicle comprising a chassis and an obstacle avoidance system of the work vehicle of any one of claims 1 to 9 provided on the chassis.