CN103802628B - A kind of wide cut ground Clearance adjustable base and control method - Google Patents

Abstract

The invention discloses an adjustable chassis with a wide ground clearance and a stable adjustment method thereof. The adjustable chassis is composed of a vehicle frame, a front axle, a rear axle, a power system, a swinging ground clearance adjustment system, a stable adjustment system and the like. The swing ground clearance adjustment system includes controllers, servo valves, swing hydraulic cylinders, etc.; the balance and stability control system includes gyroscopes, controllers, servo valves, swing hydraulic cylinders, etc. installed on the front and rear axles; the power system includes engines, Clutches, pump stations, hydraulic motors, proportional valves, front wheels, rear wheels, etc.; the controller controls the servo valves to adjust the synchronous lifting of the four swing hydraulic cylinders to smoothly change the ground clearance of the chassis, and even make the ground clearance of the chassis Smaller than the wheel radius, the ultra-low ground clearance of the chassis is realized; the stability controller controls the flow of the swing hydraulic cylinder through the servo valve according to the unsteady signals of the front axle and the rear axle collected by the gyroscope, so as to automatically adjust the balance and stability of the chassis.

Description

A wide ground clearance adjustable chassis and its adjustment method

Technical field:

The invention relates to a high ground clearance self-propelled chassis with adjustable ground clearance, in particular to a hydraulically driven self-propelled chassis whose ground clearance is adjusted through hydraulic cylinder swing.

technical background:

In order to meet the field management requirements of high-stem crops in the farmland, a walking chassis with a high clearance is often required, but sometimes, a walking chassis with a lower clearance is required during different growth periods of the crops. However, the existing high ground clearance walking chassis mostly adopt mechanical transmission, which has low transmission stability, heavy weight, fixed ground clearance, and small application range, which cannot meet the requirements of different ground clearance walking chassis in different growth periods of crops. Therefore, in order to meet the field operation requirements of various ground clearances of different crop heights, it is of great significance to develop a high ground clearance walking chassis with adjustable ground clearance.

The Chinese patent "A High Ground Clearance Self-Propelled Chassis with Adjustable Ground Clearance" with the publication number CN103158480A is equipped with a ground clearance adjustment system, which consists of a controller, a servo valve, and four hydraulic cylinders for ground clearance adjustment. When the chassis needs When changing the ground clearance operation, the ground clearance of the chassis can be changed by adjusting the synchronous lifting of the four ground clearance adjustment hydraulic cylinders through the controller and the control servo valve. But the lifting actions of the four ground clearance adjusting hydraulic cylinders are always in step and the lifting height is consistent, so the running stability of the chassis is relatively poor. When the ground in the field is not stable, it will cause the chassis to tilt, reduce the efficiency and quality of the sprayer spray, and even damage the spray boom.

In addition, only the lifting hydraulic cylinder is used to adjust the ground clearance of the walking chassis, and its adjustment range is often very limited.

Invention content:

The object of the present invention is to design a wide ground clearance adjustable chassis to meet various ground clearance and field walking stability requirements.

In order to achieve the above object, the technical solution adopted by the present invention is: a wide ground clearance adjustable chassis, including a vehicle frame, a front axle, a rear axle, a driver's cab, a liftable ladder, a lift hydraulic cylinder, a power system, a swing Ground clearance adjustment system, stable control system. The power system includes: engine, clutch, pump station, hydraulic steering gear, hydraulic motor, proportional valve. The cab is connected to the frame, the engine and the pump station are connected to the frame by bolts, the engine is connected to the pump station through the clutch, and the pump station drives four wheels to rotate by driving four hydraulic motors.

The four proportional valves are respectively connected to the four hydraulic motors through bolts, the hydraulic motors are respectively hinged to the motor connecting blocks, and the motor connecting blocks are respectively connected to the vertical shafts of the front axle and the vertical shafts of the rear axles through bolts. The hydraulic steering gear is connected to the steering wheel, and by turning the steering wheel to adjust the hydraulic steering gear to control the openings of the four proportional valves, thereby adjusting the displacement of the four hydraulic motors to adjust the speed of the four wheels to achieve four-wheel differential steering.

The front axle includes: front axle beam, front axle vertical shaft, front axle connecting block, front axle left and right anti-collision blocks, front axle damping spring. The front axle beam is connected to the front axle connecting block, the front axle damping spring is set on the left and right anti-collision blocks of the front axle, and the left and right anti-collision blocks of the front axle are respectively fixed on the front axle beam, such as Welded to the front axle beam. The front axle is hinged on the vehicle frame through the front axle connecting block.

The rear axle includes: a rear axle beam, a rear axle vertical shaft, a rear axle connecting block, and a rear axle damping spring steel plate. The rear axle connecting block is welded to the rear axle beam. The rear axle is hinged on the vehicle frame through the rear axle connecting block. The shock-absorbing spring steel plate is connected to the rear axle connecting block and the frame by bolts.

The liftable ladder is hinged on the vehicle frame, and the lift hydraulic cylinder is respectively connected to the liftable ladder and the front axle through the hinge.

The swing ground clearance adjustment system includes a controller, a servo valve, and a swing hydraulic cylinder. There are four swing hydraulic cylinders installed in the front and rear axle beams. Under the instructions of the controller, the swing hydraulic cylinder drives the output shaft to drive the axle shaft through the connecting flange. The connecting piece rotates around the axis of the output shaft to adjust the ground clearance of the chassis.

The swing hydraulic cylinder is fixedly connected to the axle beam, and one end of the axle connector installed on the axle support seat is connected with the output shaft of the swing hydraulic cylinder, and the other end is connected with the vertical shafts of the front and rear axles; The valve is used to adjust the synchronous rotation of the four swing hydraulic cylinders to change the ground clearance of the chassis.

The smooth control system includes gyroscopes, servo valves, controllers, and swing hydraulic cylinders installed on the front and rear axles; during chassis operation, the angle and inclination of the front and rear axles collected by the gyroscopes The controller controls the servo valve to adjust the swing angles of the four swing hydraulic cylinders in real time to change the attitude of the front and rear axles, thereby ensuring the stability of the chassis.

The present invention has the following technical beneficial effects: the present invention can collect the stable information of the front axle and the rear axle through the gyroscope, and the controller controls the servo valve to adjust the four ground clearance adjustment hydraulic cylinders in real time to change the front and rear axles. It can adjust the ground clearance of the chassis smoothly, overcome the unevenness of the field ground, and ensure the stable progress of the chassis in field operations. Therefore, it can meet the requirements of various ground clearances and stable field operations. For example, during the spraying operation, it can prevent the spillage and pollution of the liquid medicine, damage the spray rod, maintain the uniformity of the spraying of the liquid medicine, improve the quality of spraying and prolong the life of the sprayer, etc. The invention can meet the requirements of different ground clearances of the chassis, and can even make the ground clearance of the chassis smaller than the radius of the wheel, realize the wide range adjustment of the chassis from low ground clearance to high ground clearance, and further realize the multifunctional use of the chassis.

Description of drawings:

Fig. 1 is an axonometric view of the present invention

Fig. 2 is the top view of the present invention

Figure 3 is the front view of the front axle

Figure 4 is the axonometric view of the front axle

Figure 5 is the axonometric view of the rear axle

Figure 6 is a schematic diagram of the structure of the swing hydraulic cylinder

Figure 7 is a schematic diagram of ground clearance adjustment

In the figure: 1—cab; 2—handrail; 3—left wheel of front axle; 4—lift hydraulic cylinder; 5—lift ladder; 6—front axle; 7—right wheel of front axle; 8—wheel; 9—front Axle damping spring; 10—rear axle; 11—rear axle damping spring steel plate; 12—gyroscope; 13—frame; 14—clutch; 15—engine; 16—controller; 17—servo valve; 18—steering wheel; 19—hydraulic steering gear; 20—pump station; 21—hydraulic oil tank; 22—anti-collision block; 23—front axle connecting block; 24—bolt; 25—axle beam; 26—swing hydraulic cylinder; 27—Output shaft; 28—Connecting flange; 29—Axle shaft support seat; 30—Axle shaft connector; 31—Axle vertical shaft; 32—Motor connector; 33—Proportional valve; 34—Hydraulic motor; 35 —Rear axle connector; 36—blade; 37—swing cylinder; 38—partition plate; 39—cover plate; 40—seal.

detailed description:

The present invention will be further described below in conjunction with the accompanying drawings.

The cab 1 is connected to the vehicle frame 13 , the front axle 6 is hinged on the vehicle frame 13 through the front axle connecting block 23 , and the rear axle 9 is hinged on the vehicle frame 13 through the rear axle connecting piece 35 .

The liftable ladder 5 realizes the lifting of the ladder 5 through the movement of the lifting hydraulic cylinder 4. The liftable ladder 5 is connected to the vehicle frame 13 through a hinge, and the liftable hydraulic cylinder 4 is hinged to connect the liftable ladder 5 and the front axle 6. The handrail 2 ensures that the driver can go up and down. car safety.

In the pumping station 20 , the engine 15 is connected to the vehicle frame 13 through bolts, and the engine 15 is connected to the pumping station 20 through the clutch 14 .

The front axle damping spring 9 connects the vehicle frame 13 and the front axle 6, and the left and right anti-collision blocks of the front axle are respectively connected on the front axle beam 25 by welding. The rear axle damping spring steel plate 10 is connected on the rear axle connector and the vehicle frame by bolts. The front axle damping spring 9 and the rear axle damping spring steel plate 11 can reduce the vibration and impact of the vehicle body due to ground excitation, and improve the driving stability and driving comfort of the walking chassis.

The four hydraulic motors 34 are respectively hinged to the motor connectors 32, the motor connectors 32 are connected to the front and rear axle vertical shafts 31 by bolts, and the four proportional valves 33 are respectively connected to the four hydraulic motors 34 by bolts.

The pump station 20 drives a hydraulic motor 34, and the hydraulic motor 34 drives the front and rear wheels connected thereto to rotate. By turning the steering wheel 18 to adjust the hydraulic steering gear 19 to control the opening of the proportional valve 33, thereby adjusting the displacement of the hydraulic motor 34 to change the speed of the four wheels and realize four-wheel differential steering, effectively reducing the turning radius and making the steering more stable .

The front and rear axle beams 25 are equipped with a swing hydraulic cylinder 26, a piston rod 27, a connecting flange 28, and an axle shaft support seat 29. Under the instruction of the controller 16, the swing hydraulic cylinder 26 drives the output shaft 27 to drive the output shaft 27 to rotate. The axis of the shaft 27 rotates, and the output shaft 27 drives the bridge shaft connector 30 to rotate around the axis of the output shaft 27 through the connecting flange 28. One end of the bridge shaft connector 30 is connected with the output shaft 27 of the swing hydraulic cylinder 26, and the other end is connected with the output shaft 27 of the swing hydraulic cylinder 26. The front and rear axle vertical shafts 31 are connected, and then the front and rear axles swing in the vertical plane thereupon, so that the ground clearance of the chassis is adjusted. When the swing angle is large, the height of the chassis can be lower than the height of the wheels, and the ground clearance of the chassis transitions from high to low to low, realizing wide adjustment.

The gyroscope 12 is installed on the front axle 6 and the rear axle 10, and the controller 16 adjusts the swing hydraulic cylinder 26 through the servo valve 17 according to the stable information of the front axle 6 and the rear axle 10 collected by the gyroscope 12. The front and rear axles and chassis are stable.

Claims (6)

1. A chassis with adjustable wide ground clearance, including lifting hydraulic cylinder (4), front axle (6), wheels (8), rear axle (10), frame (13), swing ground clearance adjustment system, power system; the front axle (6) is provided with a front axle connector (23), an axle beam (25), and a front axle damping spring (9), and the front axle (6) is connected through the front axle The block (23) is hinged with the vehicle frame (13), and a front axle damping spring (9) is installed between the front axle (6) and the vehicle frame (13); the rear axle (10) is provided with a rear axle connector (35), axle beam (25), rear axle damping spring steel plate (11), rear axle (10) is hinged with vehicle frame (13) through rear axle connector (35), rear axle (10) A rear axle damping spring steel plate (11) is installed in the middle of the vehicle frame (13); it is characterized in that the swing ground clearance adjustment system includes a controller (16), a servo valve (17), a swing hydraulic cylinder (26), and the front 4. Four swing hydraulic cylinders (26) are installed in the rear axle beam (25). Under the instruction of the controller (16), the swing hydraulic cylinder (26) drives the output shaft (27) to drive the axle through the connecting flange (28). The shaft connector (30) rotates around the axis of the output shaft (27) to adjust the ground clearance of the chassis. 2. The chassis with adjustable wide ground clearance according to claim 1, characterized in that: the swing hydraulic cylinder (26) is fixedly connected to the axle beam (25) and installed on the axle support seat (29) One end of the axle shaft connector (30) is connected with the output shaft (27) of the swing hydraulic cylinder (26), and the other end is connected with the vertical shaft (31) of the front and rear axles; the controller (16) is connected through the servo valve ( 17) to adjust four swing hydraulic cylinders (26) to rotate synchronously to change the ground clearance of the chassis. 3. A chassis with adjustable wide ground clearance according to claim 1, characterized in that: it also includes a smooth control system, the smooth control system includes a front axle (6) and a rear axle (10) gyroscope (12), servo valve (17), controller (16), swing hydraulic cylinder (26); in the chassis operation process, the controller (16) collects the front axle (6) according to the gyroscope (12) ) and the stable information of the rear axle (10), act on the swing hydraulic cylinder (26) through the servo valve (17) to adjust the stability of the front and rear axles and chassis in real time. 4. A wide ground clearance adjustable chassis according to claim 1, characterized in that: said power system includes a clutch (14), an engine (15), a pumping station (20), a hydraulic motor (34 ), proportional valve (33); engine (15) is connected with vehicle frame (13); hydraulic motor (34) is respectively hinged with four motor connectors (32), and four motor connectors (32) are respectively connected with front and rear The axle vertical shafts (31) are connected; the four proportional valves (33) are respectively connected to the four hydraulic motors (34). 5. The chassis with adjustable wide ground clearance according to any one of claims 1-4, characterized in that the hydraulic cylinder can be replaced by a pneumatic cylinder. 6. According to claim 3, the adjustment method of a chassis with adjustable wide ground clearance is characterized in that it comprises the following steps: Step 1, according to the required chassis ground clearance, the ground clearance adjustment system controls the flow rate of the servo valve (17) through the controller (16), and adjusts the synchronous rotation of the four swing hydraulic cylinders (26) to change the chassis ground clearance. Clearance to meet the required requirements; Step 2, during the running of the chassis, the gyroscope (12) collects the inclination angles of the front axle (6), the rear axle (10), and the vehicle frame (13) in real time; Step 3, the controller (16) predicts in real time four swing hydraulic cylinders ( 26) The amount of adjustment required by each; Step 4, according to the real-time adjustments required by the four swing hydraulic cylinders (26), the servo valve (17) acts on the swing hydraulic cylinders (26) through hydraulic flow control to adjust the inclination of the front and rear axles and the chassis, so as to Meet the stability requirements of the chassis.