CN109910532A

CN109910532A - Traction mechanism of self-propelled bicycle and self-propelled bicycle

Info

Publication number: CN109910532A
Application number: CN201910168535.2A
Authority: CN
Inventors: 卿丽纯; 郭方云; 徐亮; 程科
Original assignee: HUNAN SHUANGDA ELECTROMECHANICAL Co Ltd
Current assignee: HUNAN SHUANGDA ELECTROMECHANICAL Co Ltd
Priority date: 2019-03-06
Filing date: 2019-03-06
Publication date: 2019-06-21

Abstract

The invention provides a traction mechanism of a self-propelled vehicle. The self-propelled vehicle includes a vehicle axle, and the traction mechanism includes a rotating connecting component, a telescopic mechanism and a first locking member; The second end of the mechanism is rotatably connected with the steering mechanism of the axle; the first locking member is used to lock the telescopic mechanism to limit the expansion and contraction of the telescopic mechanism; the rotating connecting assembly can drive the locked telescopic mechanism to drive the steering mechanism to turn by rotating. . The present invention also provides a self-propelled bicycle. By adopting the present invention, the self-propelled bicycle does not need to be activated, and the traction mechanism is used to drive the steering mechanism to steer, so that the self-propelled bicycle in the traction can be steered autonomously, and the steering is more flexible and convenient. When the self-propelled vehicle is disconnected from the tractor and travels autonomously, the restriction on the telescopic mechanism by the first locking member is released, and the self-propelled vehicle uses its own power to drive the steering mechanism to turn.

Description

The traction mechanism and autonomous traveling vehicle of autonomous traveling vehicle

Technical field

The present invention relates to the technical field of vehicle connector, a kind of traction mechanism of autonomous traveling vehicle is particularly related to and from walking Vehicle.

Background technique

A kind of autonomous traveling vehicle of the prior art both can control its walking by the dynamical system of itself, can also be at itself Dynamical system when not working, its walking is driven by the traction of tractor.

But the usual draw bar and tractor by being fixed on the car body of autonomous traveling vehicle of existing autonomous traveling vehicle connects It connecing, in distraction procedure, the steering mechanism in the vehicle bridge of autonomous traveling vehicle can not turn to simultaneously with the steering of tractor, therefore, During tractor pulls round, the turning radius of autonomous traveling vehicle is larger, turns to not flexible.

Summary of the invention

In view of this, the main purpose of the present invention is to provide a kind of traction mechanism of autonomous traveling vehicle and autonomous traveling vehicle, with Solve the problems, such as that autonomous traveling vehicle in the prior art can not flexibly turn to during being pulled round by tractor.

In order to achieve the above objectives, the technical scheme of the present invention is realized as follows:

The present invention provides a kind of traction mechanism of autonomous traveling vehicle, the autonomous traveling vehicle includes vehicle bridge, the traction mechanism Including rotation connection component, telescoping mechanism and the first lock piece；

It is described rotation connection component and the telescoping mechanism first end be rotatablely connected, the second end of the telescoping mechanism with The steering mechanism of the vehicle bridge is rotatablely connected；

First lock piece limits the flexible of the telescoping mechanism for telescoping mechanism described in locking；

For the rotation connection component by rotation, the telescoping mechanism after can driving locking drives the steering mechanism It turns to.

Further, the telescoping mechanism is sleeve assembly, and the sleeve assembly includes first sleeve and second sleeve；Institute The first end and the rotation connection component for stating first sleeve are rotatablely connected, the second end of the first sleeve and described second set The first end of cylinder is mutually socketed, and the steering mechanism of the second end of the second sleeve and the vehicle bridge is rotatablely connected；Described first Sleeve and the second sleeve can be along the axial relative movements of the sleeve.

Further, it is provided with the first locking hole in the first sleeve, is provided in the second sleeve and described Second locking hole of one locking hole cooperation, first lock piece are the first bolt；First bolt is also cross described One locking hole and second locking hole, to limit the relative motion of the first sleeve and the second sleeve.

Further, the rotation connection component includes oscillating rod and traction bars；The first end of the oscillating rod with The first end of the traction bars connection, the second end of the oscillating rod and the telescoping mechanism is rotatablely connected.

Further, the second end of the traction bars and the first end of the oscillating rod are rotatablely connected；The traction Connecting rod passes through rotation, the height of the first end of the adjustable traction bars.

Further, the rotation connection component further includes the second lock piece, and second lock piece can limit described Traction bars rotation.

Further, the traction bars are removably disposed in the first end of the oscillating rod, the traction connection At least one first spliced eye is provided on bar, the first end of the oscillating rod is provided with the second spliced eye and third spliced eye； Second spliced eye and the third spliced eye be disposed adjacent and second spliced eye to be located at the third spliced eye separate The side of the second end of the oscillating rod；

Second lock piece is the second bolt, and the rotation connection component further includes third bolt；Second bolt Cooperate with second spliced eye, the third bolt and first spliced eye and the third spliced eye cooperate；

The third bolt is also cross first spliced eye and the third spliced eye, so that the traction bars It can be rotated relative to the oscillating rod；Second bolt is inserted into second spliced eye, to limit the traction bars Rotation.

Further, the traction bars include the first folding rod and the second folding rod, and the of first folding rod The first end of two ends and the oscillating rod is rotatablely connected；Second folding rod is removably disposed in first folding rod On.

Further, the rotation connection component further includes the 4th bolt and the 5th bolt, is set on first folding rod Multiple 4th spliced eyes are equipped with, multiple 4th spliced eyes are arranged along the axially spaced-apart of first folding rod, and described second Multiple the 5th spliced eyes with the 4th spliced eye cooperation are provided on folding rod, the 4th bolt passes through a pair of right Neat the 4th spliced eye and the 5th spliced eye, so that second folding rod can be relative to first folding rod Rotation, the 5th bolt are inserted into the 4th spliced eye and the 5th spliced eye of another pair alignment, to lead described in limitation Draw connecting rod rotation；And/or

Second folding rod includes sequentially connected head, buffer part and bar tail, and the bar tail is removably disposed in On first folding rod, the head can be compressed relative to the bar tail by the buffer part or return.

Further, the buffer part includes guiding axis, stop nut, buffing pad, bolster and guide pad；

The buffing pad has the first cavity and the first mounting hole through first cavity, first cavity separate The side of first mounting hole has opening；

There is the bar tail the second cavity and the second mounting hole through second cavity, second mounting hole to be located at The first end of the bar tail；

The first end of the bar tail is fixedly connected with the buffing pad, and first cavity and second cavity pass through institute State the connection of the second mounting hole；

The bolster has third mounting hole, and the aperture of the third mounting hole is less than the hole of first mounting hole Diameter；

The bolster is arranged in first cavity, the end of side of the bolster far from first mounting hole Face is connected to the end face of the first end of the bar tail, and the third mounting hole is connected to first mounting hole；

The guide pad is socketed in second mounting hole, and the guide pad has the 4th mounting hole, the 4th peace Dress hole is connected to first mounting hole and the third mounting hole, and the aperture of the 4th mounting hole is installed less than the third The aperture in hole；

First terrace and second step face, the First terrace and the second step are formed on the guiding axis Towards the second end of the guiding axis, the First terrace is located at of the second step face far from the guiding axis in face The side at two ends, the outer diameter of the First terrace are greater than the outer diameter in the second step face；

The first end of the guiding axis is fixedly connected with the head, and the second end of the guiding axis passes through first peace Dress hole, the third mounting hole and the 4th mounting hole simultaneously protrude into second cavity, and the First terrace is connected to End face of the bolster close to the side of first mounting hole；

The stop nut is threadedly coupled with the second end of the guiding axis, and the outer diameter of the stop nut is greater than described the The guide pad is locked between the second step face and the stop nut by the aperture of four mounting holes.

The present invention also provides a kind of autonomous traveling vehicle, the autonomous traveling vehicle includes vehicle bridge and traction mechanism described above, The vehicle bridge includes crossbeam, the mounting base being arranged on the crossbeam and the steering mechanism being mounted on the crossbeam；The peace Filling seat includes limit hole, and one end of the rotation connection component passes through the limit hole and the first end of the telescoping mechanism rotates Connection, the rotation connection component by the mounting base and the crossbeam rotation connection, the second end of the telescoping mechanism and Steering mechanism's rotation connection.

Further, the vehicle bridge further includes being separately positioned on the first knuckle and second steering at the crossbeam both ends Section, the steering mechanism include first connecting rod, second connecting rod, switch valve and steering cylinder, and the steering cylinder is that double acting is double Piston rod oil cylinder, the cylinder barrel of the steering cylinder are fixedly connected with the crossbeam, between two rod chambers of the steering cylinder It is connected by the switch valve；

The both ends of the first connecting rod are separately connected the First piston bar of first knuckle and the steering cylinder, institute The both ends for stating second connecting rod are separately connected the second piston bar of second knuckle and the steering cylinder, the telescoping mechanism Second end and the first connecting rod or the second connecting rod be rotatablely connected.

The present invention provides a kind of traction mechanism of autonomous traveling vehicle and autonomous traveling vehicle, by by traction mechanism and autonomous traveling vehicle Vehicle bridge steering mechanism's connection, during autonomous traveling vehicle is pulled round by tractor, with the first lock piece by telescoping mechanism Locking does not need the self power of starting autonomous traveling vehicle, drives steering mechanism to be turned to using traction mechanism, can be realized and lead Autonomous traveling vehicle self-steering in drawing turns to more flexible and convenient.When autonomous traveling vehicle disconnects the connection autonomous with tractor When, limitation of first lock piece to telescoping mechanism is released, autonomous traveling vehicle is turned to using self power driving steering mechanism.

Detailed description of the invention

Fig. 1 is a kind of perspective view of the traction mechanism for autonomous traveling vehicle that the embodiment of the present invention one provides, and is also shown in figure The vehicle bridge and mounting base being connect with traction mechanism；

Fig. 2 is the top view of Fig. 1；

Fig. 3 is the A-A cross-sectional view of Fig. 2；

Fig. 4 is the partial enlarged view in Fig. 3 at B；

Fig. 5 is a kind of external structure schematic diagram of autonomous traveling vehicle provided by Embodiment 2 of the present invention；

Fig. 6 is a kind of bottom substance schematic diagram of autonomous traveling vehicle provided by Embodiment 2 of the present invention.

Appended drawing reference: traction mechanism 100；Vehicle bridge 200；Steering mechanism 210；First connecting rod 211；Second connecting rod 212；It turns to Oil cylinder 213；Cylinder barrel 2131；First piston bar 2132；Second piston bar 2133；Crossbeam 220；First knuckle 230；Second turns to Section 240；Mounting base 300；Limit hole 300a；It is rotatablely connected component 1；Oscillating rod 11；Second spliced eye 11a；Third spliced eye 11b；Traction bars 12；First spliced eye 12a；First folding rod 121；4th spliced eye 121a；Second folding rod 122；Bar First 1221；Guiding axis 1222；First terrace 1222a；Second step face 1222b；Stop nut 1223；Buffing pad 1224；The One cavity 1224a；First mounting hole 1224b；Bolster 1225；Third mounting hole 1225a；Guide pad 1226；4th mounting hole 1226a；Bar tail 1227；Second cavity 1227a；Second mounting hole 1227b；5th spliced eye 122a；Telescoping mechanism 2；First set Cylinder 21；First locking hole 21a；Second sleeve 22；Second locking hole 22a；First lock piece 3；First storage rack 4；First storage Hole 4a；Second lock piece 5；Third bolt 6；4th bolt 7；5th bolt 8；Second storage rack 9；Second receiving hole 9a.

Specific embodiment

With reference to the accompanying drawing and specific embodiment the present invention is further described in more detail.

In the description of the present invention, for ease of description, the both ends of component are distinguished using " first end " and " second end ", This is used for description purposes only, and is not understood to indicate or imply its relative importance or implicitly indicates indicated technology spy The quantity or sequence of sign.

In the description of the present invention, "upper", "lower" orientation or positional relationship are the normal operating condition based on autonomous traveling vehicle, I.e. attached orientation or positional relationship shown in FIG. 1, wherein " vertical view " is the lower direction of attached drawing 1, and " height " is the upper and lower of attached drawing 1 To.It is to be appreciated that these directional terminologies are merely for convenience of description of the present invention and simplification of the description, rather than indication or suggestion Signified device or element must have a particular orientation, be constructed and operated in a specific orientation, therefore should not be understood as to this The limitation of invention.

Refer to a kind of vehicle that can walk but be not provided with driver's cabin by self power in autonomous traveling vehicle of the present invention , such as self-propelled aerial working vehicle, self-propelled building hoist etc., the speed of travel of the autonomous traveling vehicle is slower, and walks certainly When can only walk in the place of the relative closures such as plant area, construction site, when traction, can pull traveling, area with tractor on road The general motor vehicle travelled on the roads such as Bie Yuneng highway.

Embodiment one

The embodiment of the present invention one provides a kind of traction mechanism of autonomous traveling vehicle.As depicted in figs. 1 and 2, traction mechanism 100 Including rotation connection component 1, telescoping mechanism 2 and the first lock piece 3.The first end for being rotatablely connected component 1 and telescoping mechanism 2 rotates The steering mechanism 210 of connection, the vehicle bridge 200 of the second end and autonomous traveling vehicle of telescoping mechanism 2 is rotatablely connected, and the first lock piece 3 is used Flexible to limit telescoping mechanism 2 in locking telescoping mechanism 2, rotation connection component 1 is flexible after can driving locking by rotation Mechanism 2 drives steering mechanism 210 to turn to.

Specifically, when the first lock piece 3 is in the unlocked state, traction mechanism 100 is in off working state, autonomous traveling vehicle The dynamical system of itself is relied primarily on to control its walking.It is moved when steering mechanism 210 generates steering under the control of dynamical system When making, steering mechanism 210 will drive telescoping mechanism 2 and move together, and since telescoping mechanism 2 is not by 3 locking of the first lock piece, Therefore, telescoping mechanism 2 can also both have been correspondingly rotated during moving with steering mechanism 210 with free extension, So that traction mechanism 100 will not influence the normal direction of rotation of steering mechanism 210.When the first lock piece 3 is in lockup state, Traction mechanism 100 is in running order, and the dynamical system of autonomous traveling vehicle stops working, and traction mechanism 100 is being led with corresponding After drawing vehicle connection, autonomous traveling vehicle can drive by the power traction of tractor itself walks.And due to 2 quilt of telescoping mechanism First lock piece, 3 locking, telescoping mechanism 2 can not stretch, and telescoping mechanism 2 at this time is equivalent to a connecting rod, and rotation connection group Part 1, telescoping mechanism 2 and steering mechanism 210 have collectively constituted a link mechanism, therefore, when tractor turns to, rotation connection Component 1 is by rotation, and the telescoping mechanism 2 after can driving locking drives steering mechanism 210 to turn to, so that autonomous traveling vehicle exists It can also be flexibly turned to when being drawn.

Further, in the present embodiment, telescoping mechanism 2 is sleeve assembly, and sleeve assembly includes first sleeve 21 and the Two sleeves 22, the first end of first sleeve 21 and rotation connection component 1 are rotatablely connected, the second end of first sleeve 21 with second set The first end of cylinder 22 is mutually socketed, and the second end of second sleeve 22 and the steering mechanism 210 of vehicle bridge 200 are rotatablely connected；First set Cylinder 21 and second sleeve 22 can be achieved in expanding-contracting action along the axial relative movement of sleeve.The present embodiment is by second set Cylinder 22 is socketed in first sleeve 21, it is to be understood that in other embodiments, is also possible to first sleeve 21 and is socketed in In second sleeve 22.In other embodiments, telescoping mechanism 2 is also possible to the combination of cylinder barrel and piston rod, can also be sliding The combination of slot and guide rail, as long as being able to achieve Telescopic described in the present embodiment.

Further, for the ease of locking sleeve assembly, in the present embodiment, the first locking is provided in first sleeve 21 Hole 21a, the second locking hole 22a with the first locking hole 21a cooperation is provided in second sleeve 22, and the first lock piece 3 is first Bolt can limit 21 He of first sleeve after the first bolt is also cross the first locking hole 21a and the second locking hole 22a The relative motion of second sleeve 22.In other embodiments, the first lock piece 3 is also possible to be arranged in the lock on sleeve assembly Buckle structure can also be other arbitrary locking modes, as long as it is flexible to limit telescoping mechanism 2.

Further, it is additionally provided with the first storage rack 4 on traction mechanism 100, is provided with the first storage on the first storage rack 4 First bolt can be plugged on the first receiving hole 4a, when not needing using the first bolt in order to store first by hole 4a Bolt prevents the first bolt from losing.

Further, the rotation connection component 1 of the present embodiment includes oscillating rod 11 and traction bars 12, oscillating rod 11 First end is connect with traction bars 12, and the second end of oscillating rod 11 and the first end of telescoping mechanism 2 are rotatablely connected.Traction connection Bar 12 is mainly used for connecting with tractor, and oscillating rod 11 can be in order to drive telescoping mechanism 2 movement in traction.Due to different The height of fixing end on tractor for fixed traction connecting rod 12 is variant, and therefore, the present embodiment is by traction bars 12 Second end and oscillating rod 11 first end be rotatablely connected, traction bars 12 by rotation, adjustable traction bars 12 First end height, it is possible thereby to adapt to different tractors.In other embodiments, the second end of traction bars 12 It can also be fixedly connected with the first end of oscillating rod 11.

Further, the rotation connection component 1 of the present embodiment further includes the second lock piece 5, and the second lock piece 5, which can limit, to be led Draw the rotation of connecting rod 12, that is to say, that when the second lock piece 5 is in the unlocked state, traction bars 12 can be rotated, when the When two lock pieces 5 are in lockup state, traction bars 12 are locked up and can not rotate, so that traction mechanism 100 can be with Meet different use needs.

Further, the traction bars 12 of the present embodiment are removably disposed in the first end of oscillating rod 11, and traction connects At least one first spliced eye 12a is provided on extension bar 12, the first end of oscillating rod 11 is provided with the second spliced eye 11a and third Spliced eye 11b, the second spliced eye 11a and third spliced eye 11b are disposed adjacent, and the second spliced eye 11a is located at third spliced eye The side of second end of the 11b far from oscillating rod 11, the second lock piece 5 are the second bolt, and rotation connection component 1 further includes that third is inserted Pin 6, the second bolt and the second spliced eye 11a cooperate, and third bolt 6 and the first spliced eye 12a and third spliced eye 11b cooperate. When third bolt 6 does not have grafting second also cross the first spliced eye 12a and third spliced eye 11b, and in the second spliced eye 11a When bolt, traction bars 12 can be rotated relative to oscillating rod 11, it is possible thereby to be conveniently adjusted the first of traction bars 12 The height at end, when third bolt 6 is also cross the first spliced eye 12a and third spliced eye 11b, and the second bolt insertion second is inserted When meeting hole 11a, the second bolt can limit the rotation of traction bars 12.

Further, the traction bars 12 of the present embodiment include the first folding rod 121 and the second folding rod 122, first The second end of folding rod 121 and the first end of oscillating rod 11 are rotatablely connected, and the second folding rod 122 is removably disposed in the first folding On folded bar 121.

Specifically, rotation connection component 1 further includes the 4th bolt 7 and the 5th bolt 8, is provided on the first folding rod 121 Multiple 4th spliced eye 121a are provided with multiple the 5th spliced eyes with the 4th spliced eye 121a cooperation on the second folding rod 122 122a, the 4th spliced eye 121a and the 5th spliced eye 122a are arranged along the axially spaced-apart of the first folding rod 121, it is possible thereby to just In the height for adjusting the second folding rod 122.4th bolt 7 can according to need pass through a pair of of alignment to the 4th spliced eye 121a and the 5th spliced eye 122a, so that the second folding rod 122 can be rotated relative to the first folding rod 121, and by the 5th Bolt 8 is inserted into after the 4th spliced eye 121a and the 5th spliced eye 122a of another pair alignment, can also limit the second folding rod 122 rotations.By the first folding rod 121 of setting and the second folding rod 122, traction bars 12 can be made in the height direction Adjusting it is more flexible.It is understood that the 4th spliced eye 121a can use identical aperture with the first spliced eye 12a, So that the 4th spliced eye 121a can also cooperate with third spliced eye 11b, in order to adjust the installation of the first folding rod 121 Highly.

Further, it is additionally provided with the second storage rack 9 on traction mechanism 100, is provided with the second storage on the second storage rack 9 4th bolt 7 or the 5th bolt 8 can be plugged on second when not needing using the 4th bolt 7 or five bolts 8 by hole 9a On receiving hole 9a, in order to store the 4th bolt 7 or the 5th bolt 8, prevent the 4th bolt 7 or the 5th bolt 8 from losing.

Further, traction bars 12 may be because that stress is excessive and is broken in distraction procedure in order to prevent, Buffer structure is also provided on the traction bars 12 of the present embodiment.As shown in figure 4, second folding rod 122 of the present embodiment wraps Sequentially connected head 1221, buffer part and bar tail 1227 are included, bar tail 1227 is removably disposed on the first folding rod 121, Head 1221 can be compressed relative to bar tail 1227 by the buffer part or return, to buffer because road out-of-flatness etc. is to dragger It is constructed of and teetertotters, avoid traction mechanism impaired.

Specifically, buffer part includes guiding axis 1222, stop nut 1223, buffing pad 1224, bolster 1225 and guiding Block 1226, buffing pad 1224 have the first cavity 1224a and the first mounting hole 1224b through the first cavity 1224a, the first chamber Body 1224a has opening far from the side of the first mounting hole 1224b, and bar tail 1227 has the second cavity 1227a and through second The second mounting hole 1227b of cavity 1227a, the second mounting hole 1227b are located at the first end of bar tail 1227, and the first of bar tail 1227 End is fixedly connected with Ei, the first cavity 1224a and the second cavity 1227a with buffing pad 1224 and is connected to by the second mounting hole 1227b； Bolster 1225 has third mounting hole 1225a, aperture of the aperture less than the first mounting hole 1224b of third mounting hole 1225a； Bolster 1225 is arranged in the first cavity 1224a of buffing pad 1224, bolster 1225 far from the first mounting hole 1224b one The end face of side is connected to the end face of the first end of bar tail 1227, third mounting hole 1225a and the first mounting hole 1224b connection, delays Stamping 1225 can be along the axial stretching of the second folding rod 122.Guide pad 1226 is socketed in the second mounting hole 1227b, guiding There is block 1226 the 4th mounting hole 1226a, the 4th mounting hole 1226a and the first mounting hole 1224b and third mounting hole 1225a to connect Logical, the aperture of the 4th mounting hole 1226a is less than the aperture of third mounting hole 1225a；First step is formed on guiding axis 1222 Face 1222a and second step face 1222b, First terrace 1222a and second step face 1222b are towards the of guiding axis 1222 Two ends, First terrace 1222a are located at the side of second end of the second step face 1222b far from guiding axis 1222 and first step The outer diameter of face 1222a is greater than the outer diameter of second step face 1222b, and the first end of guiding axis 1222 is connect with head 1221, is oriented to The second end of axis 1222 is also cross the first mounting hole 1224b, third mounting hole 1225a and the 4th mounting hole 1226a and protrudes into In second cavity 1227a, First terrace 1222a is connected to bolster 1225 close to the end of the side of the first mounting hole 1224b Face, second step face 1222b are connected to guide pad 1226 close to the end face of the side of the first mounting hole 1224b, stop nut 1223 be threadedly coupled with the second end of guiding axis 1222 and the outer diameter of stop nut 1223 be greater than the 4th mounting hole 1226a hole Guide pad 1226 is locked between second step face 1222b and stop nut 1223 by diameter.

Guiding axis 1222 can be along the axial movement of the second folding rod 122, when head 1221 is pressurized, First terrace 1222a compresses bolster 1225, and second step face 1222b pushes guide pad 1226 to slide down in the 4th mounting hole 1226a, i.e., Guiding axis 1222 drives head 1221 to move down；When head 1221, which releases, to be pressurized, the restoring force of bolster 1225 is connected to first On step surface 1222a, guiding axis 1222 is made to drive 1221 return of head.The bolster of the present embodiment is disc spring, and disc spring has good Good damping performance, can be improved the service life of traction bars 12.

Embodiment two

Second embodiment of the present invention provides a kind of autonomous traveling vehicles, and as shown in Figure 5 and Figure 6, which includes vehicle bridge 200 The traction mechanism 100 provided with embodiment one, vehicle bridge 200 include crossbeam 220 and the steering mechanism 210 being mounted on crossbeam 220, It is rotatablely connected component 1 and crossbeam 220 is rotatablely connected, the second end of telescoping mechanism 2 and steering mechanism 210 are rotatablely connected.

Further, in conjunction with shown in Fig. 1-2, autonomous traveling vehicle further includes mounting base 300, and mounting base 300 is arranged in crossbeam 220 On, rotation connection component 1 is rotatablely connected by mounting base 300 and crossbeam 220, and mounting base 300 includes limit hole 300a, and rotation connects One end of connected components 1 passes through limit hole 300a and the first end of telescoping mechanism 2 is rotatablely connected.The purpose that mounting base 300 is arranged exists In, on the one hand, mounting base 300 can provide a rotation fulcrum for rotation connection component 1, in order to be rotatablely connected 1 band of component Dynamic telescoping mechanism 2 moves, and on the other hand, the limit hole 300a in mounting base 300 can also limit the swing of rotation connection component 1 Amplitude prevents rotation connection component 1 from causing second sleeve 22 to skid off from first sleeve 21 because amplitude of fluctuation is excessive.

Further, the vehicle bridge 200 of the present embodiment further includes the first knuckle 230 for being separately positioned on 220 both ends of crossbeam With the second knuckle 240, steering mechanism 210 includes first connecting rod 211, second connecting rod 212, switch valve (not shown) and steering oil Cylinder 213；Steering cylinder 213 is double acting double rod cylinder, and the cylinder barrel 2131 of steering cylinder 213 is fixedly connected with crossbeam 220, It is connected between two rod chambers of steering cylinder 213 by switch valve.The both ends of first connecting rod 211 are separately connected the first knuckle 230 and steering cylinder 213 First piston bar 2132, the both ends of second connecting rod 212 be separately connected the second knuckle 24 and turn to The second end and first connecting rod 211 of 2133 telescoping mechanism 2 of second piston bar of oil cylinder 213 are rotatablely connected.

When needing to draw autonomous traveling vehicle, the self power of autonomous traveling vehicle is closed, opens the switch valve of steering cylinder 213, Two rod chambers of steering cylinder 213 are connected, and steering mechanism 210 can realize turning function under the drive of telescoping mechanism 2. In other embodiments, steering cylinder 213 can also be not provided in steering mechanism 210, for example steering mechanism 210 can be energy One or more connecting rod for enough driving the first knuckle 230 and the second knuckle 240 to turn to.The second end of telescoping mechanism 2 is not yet It is limited to be rotatablely connected with first connecting rod 211, in other embodiments, the second end of telescoping mechanism 2 can also be with second connecting rod 212 rotation connections.

The autonomous traveling vehicle of the present embodiment is self-walking aerial working equipment, should be from walking dimension specially from walking maintenance vehicle It protects vehicle to be mainly used for safeguarding aircraft, maintain, for example can be used for carrying out deicing, cleaning and maintenance to aircraft.The application Autonomous traveling vehicle can also be the traction mechanism with embodiment one other equipment, herein and with no restrictions.

The various embodiments described above each provide the traction mechanism and autonomous traveling vehicle of a kind of autonomous traveling vehicle, by by traction mechanism It is connect with the steering mechanism of the vehicle bridge of autonomous traveling vehicle, during autonomous traveling vehicle is pulled round by tractor, with the first lock piece By telescoping mechanism locking, the self power of starting autonomous traveling vehicle is not needed, drives steering mechanism to be turned to using traction mechanism, The autonomous traveling vehicle self-steering in traction can be realized, turn to more flexible and convenient.When autonomous traveling vehicle disconnects the company with tractor When connecing autonomous, limitation of first lock piece to telescoping mechanism is released, autonomous traveling vehicle drives steering mechanism using self power It turns to.

The above description is merely a specific embodiment, but simultaneously difference is limited to this to protection scope of the present invention, any Those familiar with the art in the technical scope disclosed by the present invention, can easily think of the change or the replacement, and should all contain Lid is within protection scope of the present invention.Therefore, protection scope of the present invention should be based on the protection scope of the described claims.

Claims

1. A traction mechanism for a self-propelled vehicle, the self-propelled vehicle comprising a vehicle axle, wherein the traction mechanism comprises a rotating connection assembly, a telescopic mechanism and a first locking member;

the rotating connection assembly is rotatably connected with the first end of the telescopic mechanism, and the second end of the telescopic mechanism is rotatably connected with the steering mechanism of the axle;

the first locking member is used for locking the telescopic mechanism to restrict the telescopic mechanism from being telescopic;

The rotation of the rotating connecting assembly can drive the locked telescopic mechanism to drive the steering mechanism to turn.

2 . The traction mechanism according to claim 1 , wherein the telescopic mechanism is a sleeve assembly, and the sleeve assembly includes a first sleeve and a second sleeve; the first sleeve of the first sleeve The end is rotatably connected with the rotating connection assembly, the second end of the first sleeve is sleeved with the first end of the second sleeve, and the second end of the second sleeve is connected with the axle The steering mechanism is rotatably connected; the first sleeve and the second sleeve can move relatively along the axial direction of the sleeve.

3 . The traction mechanism according to claim 2 , wherein the first sleeve is provided with a first locking hole, and the second sleeve is provided with a locking hole matched with the first locking hole. 4 . a second locking hole, the first locking member is a first pin; the first pin passes through the first locking hole and the second locking hole at the same time to restrict the first sleeve and the relative movement of the second sleeve.

4. The traction mechanism according to any one of claims 1-3, wherein the rotating connection assembly comprises a swing rod and a traction connection rod; the first end of the swing rod is connected with the traction connection rod, The second end of the swing rod is rotatably connected with the first end of the telescopic mechanism.

5 . The traction mechanism according to claim 4 , wherein the second end of the traction connecting rod is rotatably connected with the first end of the swing rod; the traction connecting rod can be rotated to adjust the traction The height of the first end of the connecting rod.

6 . The traction mechanism according to claim 5 , wherein the rotation connecting assembly further comprises a second locking member, and the second locking member can limit the rotation of the traction connecting rod. 7 .

7 . The traction mechanism according to claim 6 , wherein the traction connecting rod is detachably disposed at the first end of the swing rod, and at least one first insertion hole is provided on the traction connecting rod. 8 . , the first end of the swing rod is provided with a second insertion hole and a third insertion hole; the second insertion hole and the third insertion hole are arranged adjacent to each other, and the second insertion hole is located in the A side of the third insertion hole away from the second end of the swing rod;

The second locking member is a second plug, and the rotary connection assembly further includes a third plug; the second plug is matched with the second insertion hole, and the third plug is connected with the first plug the hole is matched with the third insertion hole;

The third plug passes through the first and third plug holes at the same time, so that the traction connecting rod can rotate relative to the swing rod; the second plug is inserted into the second plug The insertion hole is used to limit the rotation of the traction connecting rod.

8 . The traction mechanism according to claim 4 , wherein the traction connecting rod comprises a first folding rod and a second folding rod, and the second end of the first folding rod is connected to the first folding rod of the swing rod. 9 . The end is pivotally connected; the second folding rod is detachably arranged on the first folding rod.

9 . The traction mechanism according to claim 8 , wherein the rotational connection assembly further comprises a fourth plug and a fifth plug, and the first folding rod is provided with a plurality of fourth insertion holes, a plurality of 9 . The fourth insertion holes are arranged at intervals along the axial direction of the first folding rod, the second folding rod is provided with a plurality of fifth insertion holes matched with the fourth insertion holes, and the first folding rod is provided with a plurality of fifth insertion holes. Four bolts pass through a pair of aligned fourth and fifth insertion holes, so that the second folding rod can rotate relative to the first folding rod, and the fifth plug is inserted into Another pair of aligned fourth insertion holes and fifth insertion holes to limit the rotation of the traction connecting rod; and/or,

The second folding rod includes a rod head, a buffer part and a rod tail which are connected in sequence, the rod tail is detachably arranged on the first folding rod, and the rod head can be relative to the rod head through the buffer part. Tail compression or return.

10 . The traction mechanism according to claim 9 , wherein the buffer portion comprises a guide shaft, a limit nut, a buffer seat, a buffer member and a guide block; 10 .

The buffer seat has a first cavity and a first installation hole penetrating the first cavity, and a side of the first cavity away from the first installation hole has an opening;

the rod tail has a second cavity and a second installation hole penetrating the second cavity, the second installation hole is located at the first end of the rod tail;

The first end of the rod tail is fixedly connected with the buffer seat, and the first cavity and the second cavity are communicated through the second installation hole;

The buffer member has a third installation hole, and the diameter of the third installation hole is smaller than that of the first installation hole;

The buffer member is disposed in the first cavity, the end face of the buffer member on the side away from the first installation hole abuts on the end face of the first end of the rod tail, and the third installation hole communicated with the first mounting hole;

The guide block is sleeved in the second installation hole, the guide block has a fourth installation hole, the fourth installation hole communicates with the first installation hole and the third installation hole, and the first installation hole is connected to the third installation hole. The diameter of the four installation holes is smaller than the diameter of the third installation hole;

A first stepped surface and a second stepped surface are formed on the guide shaft, the first stepped surface and the second stepped surface are both facing the second end of the guide shaft, and the first stepped surface is located at the second end of the guide shaft. A side of the second stepped surface away from the second end of the guide shaft, the outer diameter of the first stepped surface is larger than the outer diameter of the second stepped surface;

The first end of the guide shaft is fixedly connected with the rod head, and the second end of the guide shaft passes through the first installation hole, the third installation hole and the fourth installation hole and extends into the In the second cavity, the first stepped surface abuts on the end surface of the buffer member on the side close to the first installation hole;

The limit nut is threadedly connected with the second end of the guide shaft, and the outer diameter of the limit nut is larger than the diameter of the fourth mounting hole, so as to lock the guide block on the second step surface and the limit nut.

11. A self-propelled vehicle, characterized in that the self-propelled vehicle comprises a vehicle axle and the traction mechanism according to any one of claims 1-10, the vehicle axle comprises a cross beam, and a mounting device provided on the cross beam A seat and a steering mechanism installed on the beam; the installation seat includes a limit hole, one end of the rotating connection assembly passes through the limit hole and is connected with the first end of the telescopic mechanism in rotation, and the rotation The connecting assembly is rotatably connected with the beam through the mounting seat, and the second end of the telescopic mechanism is rotatably connected with the steering mechanism.

12 . The self-propelled vehicle according to claim 11 , wherein the vehicle axle further comprises a first steering knuckle and a second steering knuckle respectively arranged at both ends of the beam, and the steering mechanism comprises a first connecting rod. 13 . , the second connecting rod, the switch valve and the steering oil cylinder, the steering oil cylinder is a double-acting double piston rod oil cylinder, the cylinder barrel of the steering oil cylinder is fixedly connected with the beam, and the two rod cavities of the steering oil cylinder are between the two rod cavities. connected through the on-off valve;

Both ends of the first connecting rod are respectively connected to the first steering knuckle and the first piston rod of the steering oil cylinder, and both ends of the second connecting rod are respectively connected to the second steering knuckle and the steering oil cylinder The second piston rod of the telescopic mechanism is rotatably connected with the first connecting rod or the second connecting rod.