阅读说明：本技术 一种用于方舱的行走系统 (Traveling system for shelter ) 是由 鲍方明 徐银富 陈超 陶名扬 王国华 熊帮辉 周亚迪 于 2020-12-28 设计创作，主要内容包括：本发明公开一种用于方舱的行走系统,包括升降机构、转向机构与行走机构；升降机构包括升降架、升降电机、升降传动减速组件与升降组件,升降组件包括螺杆轴与螺母件；螺杆轴通过升降传动减速组件与升降电机的输出端传动相连；螺母件螺纹连接在螺杆轴上；转向组件包括转向架、转向电机、转向传动减速组件,转动架固定连接在螺母件的底端；行走机构包括行走架以及转动连接在行走架上的行走轮,行走架的顶端通过转向传动减速组件与转向电机的输出端传动相连。电动升降与转向保障了方舱升降同步,不会出现卡死等故障,而且一个人控制遥控器即可实现升降,节省了时间、人力成本的同时,还避免了因为角度不一致无法移动方舱等问题。(The invention discloses a walking system for a shelter, which comprises a lifting mechanism, a steering mechanism and a walking mechanism, wherein the lifting mechanism is arranged on the upper part of the shelter; the lifting mechanism comprises a lifting frame, a lifting motor, a lifting transmission speed reducing assembly and a lifting assembly, and the lifting assembly comprises a screw shaft and a nut piece; the screw shaft is in transmission connection with the output end of the lifting motor through a lifting transmission speed reducing assembly; the nut piece is in threaded connection with the screw shaft; the steering assembly comprises a steering frame, a steering motor and a steering transmission speed reducing assembly, and the steering frame is fixedly connected to the bottom end of the nut piece; the walking mechanism comprises a walking frame and walking wheels rotatably connected to the walking frame, and the top end of the walking frame is in transmission connection with the output end of the steering motor through a steering transmission speed reducing assembly. Electric lift with turn to and ensure the shelter lift synchronous, can not appear blocking trouble such as dead, control the remote controller alone and can realize going up and down moreover, when having saved time, human cost, still avoided because the inconsistent unable shelter scheduling problem that removes of angle.)

1. A traveling system for a shelter is characterized by comprising a lifting mechanism, a steering mechanism and a traveling mechanism;

the lifting mechanism comprises a lifting frame, a lifting motor, a lifting transmission speed reducing assembly and a lifting assembly, wherein the lifting motor, the lifting transmission speed reducing assembly and the lifting assembly are arranged on the lifting frame;

the screw shaft is vertically and rotatably connected to the lifting frame, and the top end of the screw shaft is in transmission connection with the output end of the lifting motor through the lifting transmission speed reducing assembly so that the screw shaft is driven by the lifting motor to rotate;

the nut piece is in threaded connection with the screw shaft, so that the nut piece can be lifted and lowered in the rotating process of the screw shaft;

the steering assembly comprises a steering frame, a steering motor and a steering transmission speed reducing assembly, wherein the steering motor and the steering transmission speed reducing assembly are arranged on the steering frame;

the traveling mechanism comprises a traveling frame and traveling wheels rotatably connected to the traveling frame, and the top end of the traveling frame is in transmission connection with the output end of the steering motor through the steering transmission speed reducing assembly, so that the traveling mechanism is driven by the nut piece and driven by the steering motor to lift and steer.

2. The walking system for a shelter of claim 1, wherein said elevating transmission reduction assembly comprises an elevating worm, an elevating worm gear and first and second gears meshing with each other;

the fixed cover of first gear is established on elevator motor's output, the fixed cover of second gear is established on the lift worm, the fixed cover of lift turbine is established on the top of screw shaft, the lift turbine constitutes the worm gear cooperation with the lift worm.

3. The walking system for the shelter of claim 2, wherein the end of said lifting worm is detachably provided with a lifting hand cranking assembly.

4. The walking system for a shelter of claim 1, wherein said steering transmission reduction assembly comprises a steering worm, a steering worm gear and third and fourth gears meshing with each other;

the third gear is fixedly sleeved on the output end of the steering motor, the fourth gear is fixedly sleeved on the steering worm, the steering worm wheel is fixedly connected to the top end of the walking frame, and the steering worm wheel and the steering worm form a worm gear and worm matching.

5. The walking system for the shelter of claim 4, wherein the end of the steering worm is detachably provided with a steering hand-cranking assembly.

6. The walking system for the shelter of any one of claims 1 to 5, wherein the crane comprises a first shell and a second shell, a first deceleration cavity is arranged in the first shell, and a lifting cavity is arranged in the second shell;

the second shell and the lifting motor are fixedly connected to the bottom of the first shell, and the first speed reduction cavity is communicated with the lifting cavity;

the lifting transmission speed reducing assembly is arranged in the first speed reducing cavity, the top end of the screw shaft is positioned in the first speed reducing cavity, and the bottom end of the screw shaft is positioned in the lifting cavity;

the top end of the nut piece is positioned in the lifting cavity, and the bottom end of the nut piece is positioned outside the lifting cavity.

7. The walking system for a shelter of claim 6 wherein a guide structure is provided between the nut member and the second shell such that the nut member can only be raised and lowered vertically.

8. The walking system for the shelter of claim 6, wherein a lifting limit structure is arranged between the nut member and the second shell for limiting the lifting stroke of the nut member.

9. The walking system for the shelter of claim 1, 2 or 3, wherein the bogie comprises a third shell, a second speed reduction cavity is arranged in the third shell, the steering transmission speed reduction assembly is positioned in the second speed reduction cavity, and the steering motor is arranged at the top of the third shell.

10. The walking system for the shelter of claim 9, wherein a steering limit structure is provided between the walking frame and the third shell for limiting the rotation amplitude of the walking frame.

Technical Field

The invention relates to the technical field of shelter walking equipment, in particular to a walking system for a shelter.

Background

The shelter is used as a bearing environment of equipment and personnel, has good maneuvering capability and environmental adaptability, is widely applied to various emergency guarantees and field operations, and is particularly used as a bearing tool of a maneuvering electronic information system. At present, a plurality of single cabins are required to be effectively placed and combined by some combined operation command systems, logistics support material storage systems, large field hospitals and large collective activity grounds, so that functional requirements of lifting, steering, walking, leveling and the like in a short time are provided for a supporting mechanism of a single square cabin, and the square cabin can be rapidly assembled for use.

The lifting and steering of the existing shelter lifting and traveling mechanism are realized mostly in a hand-cranking mode. For example, in the patent of '202010457572.8 patent for military shelter equipped with a walking mechanism', the walking mechanism is installed outside the shelter, the lifting of the walking mechanism is realized by connecting a rocker with a pair of engaged bevel gears and rotating the rocker; the steering of the wheels is realized by a manual mode after the wheels are separated from the ground. There are several major problems with this type of shelter walker:

1. the operation is complicated because the operation is only manual and cannot be automatically controlled;

2. 4 persons need to hand simultaneously during ascending, and the square cabin is difficult to ascend due to small transmission ratio and asynchronism;

3. when the square cabin is transferred, the square cabin is difficult to move due to the inconsistent directions of the travelling wheels;

4. manual leveling is time-consuming and labor-consuming, and finally the square cabin cannot be quickly assembled for use.

Disclosure of Invention

Aiming at the defects in the prior art, the invention provides a travelling system for a shelter, which realizes the automatic lifting, steering and leveling of a shelter travelling mechanism.

In order to achieve the purpose, the invention provides a traveling system for a shelter, which is characterized by comprising a lifting mechanism, a steering mechanism and a traveling mechanism;

the lifting mechanism comprises a lifting frame, a lifting motor, a lifting transmission speed reducing assembly and a lifting assembly, wherein the lifting motor, the lifting transmission speed reducing assembly and the lifting assembly are arranged on the lifting frame;

the screw shaft is vertically and rotatably connected to the lifting frame, and the top end of the screw shaft is in transmission connection with the output end of the lifting motor through the lifting transmission speed reducing assembly so that the screw shaft is driven by the lifting motor to rotate;

the nut piece is in threaded connection with the screw shaft, so that the nut piece can be lifted and lowered in the rotating process of the screw shaft;

the steering assembly comprises a steering frame, a steering motor and a steering transmission speed reducing assembly, wherein the steering motor and the steering transmission speed reducing assembly are arranged on the steering frame;

the traveling mechanism comprises a traveling frame and traveling wheels rotatably connected to the traveling frame, and the top end of the traveling frame is in transmission connection with the output end of the steering motor through the steering transmission speed reducing assembly, so that the traveling mechanism is driven by the nut piece and driven by the steering motor to lift and steer.

In one embodiment, the lifting transmission speed reducing assembly comprises a lifting worm, a lifting worm wheel and a first gear and a second gear which are meshed with each other;

the fixed cover of first gear is established on elevator motor's output, the fixed cover of second gear is established on the lift worm, the fixed cover of lift turbine is established on the top of screw shaft, the lift turbine constitutes the worm gear cooperation with the lift worm.

In one embodiment, the end of the lifting worm is detachably provided with a lifting hand cranking assembly.

In one embodiment, the steering transmission speed reducing assembly comprises a steering worm, a steering worm wheel and a third gear and a fourth gear which are meshed with each other;

the third gear is fixedly sleeved on the output end of the steering motor, the fourth gear is fixedly sleeved on the steering worm, the steering worm wheel is fixedly connected to the top end of the walking frame, and the steering worm wheel and the steering worm form a worm gear and worm matching.

In one embodiment, the end of the steering worm is detachably provided with a steering hand-cranking assembly.

In one embodiment, the lifting frame comprises a first shell and a second shell, wherein a first speed reduction cavity is arranged in the first shell, and a lifting cavity is arranged in the second shell;

the second shell and the lifting motor are fixedly connected to the bottom of the first shell, and the first speed reduction cavity is communicated with the lifting cavity;

the lifting transmission speed reducing assembly is arranged in the first speed reducing cavity, the top end of the screw shaft is positioned in the first speed reducing cavity, and the bottom end of the screw shaft is positioned in the lifting cavity;

the top end of the nut piece is positioned in the lifting cavity, and the bottom end of the nut piece is positioned outside the lifting cavity.

In one embodiment, a guide structure is arranged between the nut piece and the second shell, so that the nut piece can only ascend and descend in the vertical direction.

In one embodiment, a lifting limit structure is arranged between the nut member and the second shell and used for limiting the lifting stroke of the nut member.

In one embodiment, the bogie comprises a third shell, a second speed reducing cavity is arranged in the third shell, the steering transmission speed reducing assembly is located in the second speed reducing cavity, and the steering motor is arranged at the top of the third shell.

In one embodiment, a steering limit structure is arranged between the walking frame and the third shell and used for limiting the rotation amplitude of the walking frame.

Compared with the prior art, the walking system for the shelter, provided by the invention, has the following beneficial effects:

1. the electric lifting ensures the lifting synchronization of the square cabin, the faults of blocking and the like can not occur, and the lifting can be realized by controlling the remote controller by one person, so that the time and the labor cost are saved;

2. the electric steering ensures that the steering angles of the four trundles are consistent, and the problems that the square cabin cannot be moved due to inconsistent angles and the like are avoided;

3. the volume is small and exquisite, hides and installs in cabin body inside four corners department, does not occupy the exterior space, does not influence actions such as the removal of the cabin body, concatenation.

Drawings

In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to the structures shown in the drawings without creative efforts.

FIG. 1 is an isometric view of a walking system in an embodiment of the present invention;

FIG. 2 is a front view of the walking system in an embodiment of the present invention;

FIG. 3 is an isometric view of the internal structure of the walking system in an embodiment of the present invention;

FIG. 4 is a schematic view of a connection structure of the lifting transmission speed reducing assembly according to an embodiment of the present invention;

FIG. 5 is a schematic view of the connection structure of the steering transmission speed reducing assembly according to the embodiment of the present invention;

fig. 6 is a cross-sectional view of a lift assembly in an embodiment of the present invention.

Reference numerals: the lifting mechanism comprises a first shell 111, a second shell 112, a lifting motor 12, a screw shaft 131, a nut member 132, a bearing 133, a lifting worm 141, a lifting worm wheel 142, a first gear 143, a second gear 144, a third shell 21, a steering motor 22, a steering worm 231, a steering worm wheel 232, a third gear 233, a fourth gear 234, a walking frame 31, a walking wheel 32, a lifting hand-cranking assembly 51, a guide structure 52, a lifting limit structure 53, a steering limit structure 54 and a connecting frame 55.

The implementation, functional features and advantages of the objects of the present invention will be further explained with reference to the accompanying drawings.

Detailed Description

The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.

It should be noted that all the directional indicators (such as up, down, left, right, front, and rear … …) in the embodiment of the present invention are only used to explain the relative position relationship between the components, the movement situation, etc. in a specific posture (as shown in the drawing), and if the specific posture is changed, the directional indicator is changed accordingly.

In addition, the descriptions related to "first", "second", etc. in the present invention are only for descriptive purposes and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one such feature. In the description of the present invention, "a plurality" means at least two, e.g., two, three, etc., unless specifically limited otherwise.

In the present invention, unless otherwise expressly stated or limited, the terms "connected," "secured," and the like are to be construed broadly, and for example, "secured" may be a fixed connection, a removable connection, or an integral part; the connection can be mechanical connection, electrical connection, physical connection or wireless communication connection; they may be directly connected or indirectly connected through intervening media, or they may be connected internally or in any other suitable relationship, unless expressly stated otherwise. The specific meanings of the above terms in the present invention can be understood by those skilled in the art according to specific situations.

In addition, the technical solutions in the embodiments of the present invention may be combined with each other, but it must be based on the realization of those skilled in the art, and when the technical solutions are contradictory or cannot be realized, such a combination of technical solutions should not be considered to exist, and is not within the protection scope of the present invention.

Fig. 1 to 6 show a traveling system for a shelter disclosed in this embodiment, which specifically includes a lifting mechanism, a steering mechanism, and a traveling mechanism. The walking system is arranged on the shelter and used for driving the shelter to walk; the lifting mechanism and the steering mechanism are positioned between the travelling mechanism and the square cabin and are used for realizing relative lifting and relative steering between the travelling mechanism and the square cabin.

Specifically, elevating system includes the crane and establishes lift motor 12, lift transmission speed reduction subassembly and the lift subassembly on the crane, and the lift subassembly includes screw shaft 131 and nut member 132, and wherein, screw shaft 131 rotates along vertical and connects on the crane, and the top of screw shaft 131 links to each other through the transmission of lift transmission speed reduction subassembly with the output of lift motor 12 to make screw shaft 131 rotate under the drive of lift motor 12. The nut member 132 is screw-coupled to the screw shaft 131 such that the nut member 132 is lifted and lowered during rotation of the screw shaft 131. The steering assembly comprises a steering frame, a steering motor 22 and a steering transmission speed reducing assembly, wherein the steering motor 22 and the steering transmission speed reducing assembly are arranged on the steering frame, and the steering frame is fixedly connected to the bottom end of the nut member 132 through a bolt so that the steering assembly can lift along with the nut member 132; the walking mechanism comprises a walking frame 31 and walking wheels 32 rotatably connected to the walking frame 31, and the top end of the walking frame 31 is in transmission connection with the output end of the steering motor 22 through a steering transmission speed reducing assembly, so that the walking mechanism is driven by the nut member 132 and the steering motor 22 to lift and steer. Wherein the screw shaft 131 is preferably supported to rotate on the lifting frame through a bearing 133 to ensure the stability of the rotation process of the screw shaft 131.

In this embodiment, the lifting transmission speed reducing assembly includes a lifting worm 141, a lifting worm wheel 142, and a first gear 143 and a second gear 144 engaged with each other; the first gear 143 is fixedly sleeved on the output end of the lifting motor 12, the second gear 144 is fixedly sleeved on the lifting worm 141, the lifting worm wheel 142 is fixedly sleeved on the top end of the screw shaft 131, and the lifting worm wheel 142 and the lifting worm 141 form a worm gear and worm fit. The elevating motor 12 drives the elevating worm 141 to move in forward and backward directions, and then the elevating worm 141 drives the elevating worm wheel to move in forward and backward rotation, the elevating worm wheel is connected with the screw shaft 131 in the elevating assembly through a key, and the screw shaft 131 makes forward and backward rotation, and further the nut member 132 makes elevating movement.

Preferably, the first gear 143 and the second gear 144 are both 90 ° bevel gears, so that the lifting worm 141 is perpendicular to both the screw shaft 131 and the lifting motor 12, that is, the lifting assembly and the lifting motor 12 can be arranged in parallel below the lifting deceleration assembly, and the occupied space of the walking system can be effectively reduced.

Further preferably, the end portion of the lifting worm 141 is detachably provided with a lifting hand-cranking assembly 51, specifically, the lifting hand-cranking assembly 51 is a hand-cranking hand wheel inserted at the end portion of the lifting worm 141, so that when the lifting motor 12 fails, manual lifting and leveling can be realized in a hand-cranking mode.

In this embodiment, the steering transmission speed reduction assembly includes a steering worm 231, a steering worm wheel 232, and a third gear 233 and a fourth gear 234 that mesh with each other; the third gear 233 is fixedly sleeved on the output end of the steering motor 22, the fourth gear 234 is fixedly sleeved on the steering worm 231, the steering worm wheel 232 is fixedly connected to the top end of the walking frame 31, and the steering worm wheel 232 and the steering worm 231 form a worm gear and worm fit. The end of the steering worm 231 is detachably provided with a steering hand-cranking assembly. The steering motor 22 drives the steering worm 231 to move forward and backward, and the steering worm 231 drives the steering worm wheel to move forward and backward, wherein the steering worm wheel is connected with a steering shaft through a key, so that the steering shaft moves forward and backward, and the lower part of the steering shaft is fixedly connected with the walking frame 31, so that the walking mechanism moves forward and backward along with the steering shaft synchronously.

Preferably, the third gear 233 and the fourth gear 234 are both 90 ° bevel gears, so that the steering worm 231 is perpendicular to both the screw shaft 131 and the steering motor 22, that is, the lifting assembly and the steering motor 22 can be arranged above the steering reduction assembly in parallel, and the occupied space of the traveling system can be effectively reduced.

Further preferably, the end portion of the steering worm 231 is detachably provided with a steering hand-cranking assembly, which is not shown in the drawings, specifically, the steering hand-cranking assembly is a hand-cranking hand wheel inserted at the end portion of the steering worm 231, so that when the steering motor 22 fails, manual steering and leveling can be realized in a hand-cranking mode.

In this embodiment, the lifting frame includes a first shell 111 and a second shell 112, a first deceleration cavity is arranged in the first shell 111, and a lifting cavity is arranged in the second shell 112; the second shell 112 and the lifting motor 12 are both fixedly connected to the bottom of the first shell 111, and the first speed reduction cavity is communicated with the lifting cavity; the lifting transmission speed reducing assembly is arranged in the first speed reducing cavity, the top end of the screw shaft 131 is positioned in the first speed reducing cavity, and the bottom end of the screw shaft 131 is positioned in the lifting cavity; the top end of the nut member 132 is located inside the elevator chamber and the bottom end of the nut member 132 is located outside the elevator chamber.

Preferably, a guide structure 52 is provided between the nut member 132 and the second housing 112, so that the nut member 132 can only be raised and lowered in the vertical direction. In this embodiment, the guiding structure 52 is a matching structure of the wire guiding block and the guiding groove, specifically, one of the wire guiding block and the guiding groove is disposed on the nut member 132, and the other one is disposed on the second housing 112, so that the nut member 132 can only vertically ascend and descend.

Preferably, a lifting limit structure 53 is provided between the nut member 132 and the second housing 112 for limiting a lifting stroke of the nut member 132. In this embodiment, the lifting limiting structure 53 is a plurality of first limiting blocks arranged on the second housing 112 along the vertical interval, one end of the first limiting block is located outside the second housing 112, the other end of the first limiting block is arranged in the lifting cavity, the first limiting block has a stroke sliding along the radial direction of the lifter, the nut member 132 is fixedly provided with a second limiting block, when the first limiting block slides inwards, the end of the first limiting block is located on the moving path of the second limiting block, and the nut member 132 is limited to lift. Of course, the elevation limiting structure 53 may be electrically connected to the controller of the elevation motor 12 by using a position sensor, in addition to the embodiment using the first limiting block and the second limiting block, so as to control the elevation motor 12 to be turned on or off based on the position of the nut member 132, thereby achieving higher automation.

Preferably, a steering limit structure 54 is disposed between the walking frame 31 and the third housing 21 for limiting the rotation amplitude of the walking frame 31, wherein a specific embodiment of the steering limit structure 54 may adopt a limit structure similar to the elevation limit structure 53, may also adopt a position sensor to control the turning on or off of the steering motor 22, and may also adopt other limit structures.

In this embodiment, the bogie includes a third housing 21, a second speed reduction cavity is provided in the third housing 21, the steering transmission speed reduction assembly is located in the second speed reduction cavity, and the steering motor 22 is provided at the top of the third housing 21. And the second shell 112 is fixedly connected with a connecting frame 55 for installing the traveling system on the shelter, wherein the connecting frame 55 is positioned between the first shell 111 and the third shell 21, so that the occupied space of the traveling system is reduced.

After the traveling system in this embodiment is applied to the shelter, that is, after the traveling system in this embodiment is disposed at the four corners of the shelter: by synchronously controlling the four lifting motors 12, the four corners of the shelter can be lifted to a fixed height at the same time, so that the shelter is lifted off the ground, and the travelling wheels 32 land; by synchronously controlling the four steering motors 22, the steering of the four walking wheels 32 can be kept consistent, and the square cabin can be easily moved to a specified position after the four walking wheels are turned to a required angle.

In this embodiment, the worm and gear structure formed by the lifting worm 141 and the lifting worm gear 142 and the worm and gear structure formed by the steering worm 231 and the steering worm gear 232 are designed with a large transmission ratio, so that the self-locking mechanism can be self-locked, and saves more labor in the lifting and steering processes.

The above description is only a preferred embodiment of the present invention, and is not intended to limit the scope of the present invention, and all modifications and equivalents of the present invention, which are made by the contents of the present specification and the accompanying drawings, or directly/indirectly applied to other related technical fields, are included in the scope of the present invention.