CN103802629B - A kind of lateral wheel is apart from the chassis all adjustable with the ground Clearance and control method - Google Patents

Abstract

The invention discloses a self-propelled chassis with adjustable lateral wheelbase and ground clearance. The self-propelled chassis is composed of frame, front axle, rear axle, power system, ground clearance adjustment system, lateral wheelbase adjustment system, and stability control system. The power system includes engine, clutch, pump station, hydraulic motor, proportional valve, etc.; the ground clearance adjustment system includes controller, servo valve, ground clearance adjustment hydraulic cylinder, etc. The controller adjusts the four ground clearance adjustment hydraulic cylinders to lift synchronously through the servo valve Change the ground clearance of the chassis; the lateral wheelbase adjustment system includes servo valves, controllers, and wheelbase adjustment hydraulic cylinders. The wheels move laterally to adjust the lateral track of the chassis; the stability control system controls the flow of the four hydraulic cylinders through servo valves to automatically adjust the balance and stability of the chassis according to the unsteady signals of the front and rear axles collected by the gyroscope. .

Description

A chassis with adjustable lateral wheelbase and ground clearance and its adjustment method

Technical field:

The invention relates to a self-propelled chassis with high ground clearance, in particular to a highly adaptable self-propelled chassis with adjustable lateral wheelbase and ground clearance.

technical background:

In order to meet the field management requirements of high poles and crops with different row widths in farmland, a walking chassis with high ground clearance and the ability to adjust the width of the lateral track width is often required. However, the existing high clearance walking chassis mostly use mechanical transmission, which has low transmission stability and heavy weight. , the ground clearance is fixed, the lateral wheel base cannot be adjusted, and the scope of application is small. Therefore, in order to meet the various ground clearances of different crop heights and the field operation requirements of different row widths, a walking machine with adjustable ground clearance and lateral wheel base is developed. Chassis matters.

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 changes the ground clearance, the controller can control the servo valve to adjust the synchronous lifting of the four ground clearance adjustment hydraulic cylinders to change the ground clearance of the chassis. 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, the horizontal track of the above-mentioned chassis cannot be adjusted, and cannot meet the requirements of different ridge widths of different crops. Therefore, it is necessary to develop a chassis that can adjust the horizontal wheel track.

Invention content:

The object of the present invention is to design a high adaptability with adjustable lateral wheelbase and ground clearance in order to adapt to the field operation requirements of various ground clearances and different row widths of crops, reduce damage to crops, and improve the stability of the chassis. Self-propelled chassis.

In order to achieve the above object, the technical solution adopted by the present invention is: a high clearance self-propelled chassis with adjustable lateral wheelbase and ground clearance, including vehicle frame, front axle, rear axle, driver's cab, and liftable ladder , Lifting hydraulic cylinder, power system, ground clearance adjustment system, lateral track adjustment system, balance control system.

The power system includes engine, clutch, pump station, hydraulic steering gear, hydraulic motor, and proportional valve. The engine and the pumping station are connected to the frame by bolts, the engine is connected to the pumping station through clutches, and the pumping 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 connectors, and the motor connectors are respectively connected to the vertical shaft of the front axle and the vertical shaft of the rear axle 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 driver's cab is connected on the vehicle frame, and the front axle includes: the front axle beam, the front axle vertical shaft, the front axle connecting block, the left and right anti-collision blocks of the front axle, and the shock absorbing spring of the front axle. The front axle beam is consolidated with the front axle connecting block, the front axle is hinged with the frame through the front axle connecting block, the front axle damping spring is set on the left and right anti-collision blocks of the front axle, the front axle left The right anti-collision block and the right anti-collision block are respectively connected to the front axle beam by welding.

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 fixedly connected with the rear axle beam. The rear axle is hinged with 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 with the liftable ladder and the front axle through the hinge.

The lateral track adjustment system includes servo valves, controllers, wheel track adjustment hydraulic cylinders, wheel track adjustment hydraulic cylinders, piston rods, connecting flanges, wheel track adjustment sliders, wheel track adjustment hydraulic cylinders are installed in the front and rear axle beams The piston rod is fixedly connected to the bridge shaft connector installed on the wheelbase adjustment slider through the connecting flange. Under the instruction of the controller, the hydraulic cylinder drives the lateral displacement of the piston rod, and then drives the bridge shaft connector to move through the connecting flange. To adjust the lateral movement of the wheels and adjust the lateral track of the chassis.

The ground clearance adjustment system consists of a controller, a servo valve, and four ground clearance adjustment hydraulic cylinders. One end of the four ground clearance adjusting hydraulic cylinders is respectively connected to the vertical shaft of the front axle and the vertical axle of the rear axle through threaded sleeves. The other end is respectively connected to the axle shaft connectors of the front and rear axles; when the chassis needs to change the ground clearance operation, the controller can control the servo valve to adjust the synchronous lifting of the four ground clearance adjustment hydraulic cylinders to change the ground clearance of the chassis .

The smooth control system includes gyroscopes installed on the front and rear axles, servo valves, controllers, and ground clearance adjustment hydraulic cylinders; during chassis operation, the angles of the front and rear axles collected by the gyroscopes , inclination and other stable information, the controller controls the servo valve to adjust the lift of the four ground clearance adjustment hydraulic cylinders in real time to change the posture of the front and rear axles, thereby ensuring the stability of the chassis.

The present invention has the following technical beneficial effects: the stability information of the front axle and the rear axle can be collected by the gyroscope, and the controller controls the servo valve to respectively adjust the four ground clearance adjustment hydraulic cylinders in real time to change the front and rear axles. Stance, adjust the ground clearance of the chassis smoothly, overcome the unevenness of the field ground, ensure the smooth travel of the chassis, and meet the requirements of field operations with various ground clearances. The controller can also control the expansion and contraction of the wheelbase adjustment hydraulic cylinder in the axle beam to adjust the lateral distance of the wheels, so as to meet the requirements of various crops and different row spacings of the same crop on the wheelbase width.

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 axle

Figure 4 is the axonometric view of the axle

Figure 5 is the axonometric view of the rear axle

Figure 6 is the system work flow chart

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—wheelbase adjustment hydraulic pressure Cylinder; 27—piston rod; 28—connecting flange; 29—wheelbase adjustment slider; 30—axle connector; 31—ground clearance adjustment hydraulic cylinder; 32—threaded sleeve; 33—axle vertical shaft; 34—motor connector; 35—proportional valve; 36—hydraulic motor; 37—rear axle connection block.

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 10 is hinged on the vehicle frame 13 through the rear axle connecting block 37 . 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 pump station 20 drives a hydraulic motor 36, and the hydraulic motor 36 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 35, thereby adjusting the displacement of the hydraulic motor 36 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 four hydraulic motors 36 are respectively hinged to the motor connectors 34, the motor connectors 34 are connected to the front axle vertical shaft 33 and the rear axle vertical shaft 33 by bolts, and the four proportional valves 35 are respectively connected to the four hydraulic motors 36 by bolts. .

The front axle damping spring 9 connects the vehicle frame 13 and the front axle 6, and the left and right anti-collision blocks 22 of the front axle are respectively fixed on the front axle beam 25, such as being welded to the front axle beam 25. The rear axle damping spring steel plate 11 is connected on the rear axle connecting block 37 and the vehicle frame 13 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.

One ends of the four ground clearance adjusting hydraulic cylinders 31 are respectively connected to the front axle vertical shaft 33 and the rear axle vertical shaft 33 through threaded sleeves 32, and the other ends of the four ground clearance adjusting hydraulic cylinders 31 are welded to the axle shafts respectively. 30 pieces. When the walking chassis needs to work at different ground clearances, the controller 16 can control the servo valve 17 to adjust the four ground clearance adjustment hydraulic cylinders 31 to rise and fall synchronously to change the chassis ground clearance.

The gyroscope 12 is installed on the front axle 6 and the rear axle 10. During the operation of the chassis, the controller 16 acts on the front axle 6 and the rear axle 10 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. Four ground clearance adjustment hydraulic cylinders 31 adjust the stability of the front and rear axles and chassis in real time.

The front and rear axle beams 25 are equipped with a wheelbase adjustment hydraulic cylinder 26, a piston rod 27, a connecting flange 28, and a wheelbase adjustment slider 29. The flange 28 drives the axle shaft connector 30 to move laterally, and then pushes the wheel 8 to move laterally, to adjust the lateral wheelbase between the left and right front wheels and between the left and right rear wheels respectively. The wheelbase adjustment slide block 29 can slide horizontally in the front and rear axle beams 25, and is used to support the front and rear axle axle connectors 30 to realize the lateral width adjustment of the wheelbase, and ensure that the axle axles of the front and rear axles are fully adjusted. The strength and rigidity of the connector 30.

Claims (7)

1. lateral wheel is apart from a chassis all adjustable with the ground Clearance, comprise lifting hydraulic cylinder (4), front axle (6), wheel (8), front axle damper spring (9), rear axle (10), rear axle damper spring steel plate (11), vehicle frame (13), gap control system, lateral wheel apart from control system, power system, front axle (6) is provided with front axle attaching parts (23), front axle crossbeam, front axle damper spring (9), front axle (6) is hinged by front axle attaching parts (23) and vehicle frame (13), is provided with front axle damper spring (9) in the middle of front axle (6) and vehicle frame (13), rear axle (10) is provided with rear axle contiguous block (37), rear axle crossbeam, rear axle damper spring steel plate (11), rear axle (10) is hinged by back axle contiguous block (37) and vehicle frame (13), is provided with rear axle damper spring steel plate (11) in the middle of rear axle (10) and vehicle frame (13), it is characterized in that: lateral wheel comprises servovalve (17) apart from control system, controller (16), wheelspan regulator solution cylinder pressure (26), before, rear axle crossbeam is built with wheelspan regulator solution cylinder pressure (26), its piston rod (27) is affixed with the bridge shaft coupling piece (30) be arranged on wheelspan adjusting slider (29) by connecting flange (28), controller (16) regulates wheel (8) transverse shifting be connected with bridge shaft coupling piece (30) by the cross travel of servovalve (17) adjusting piston bar (27), regulate the lateral wheel distance on chassis.

2. lateral wheel according to claim 1 is apart from chassis all adjustable with the ground Clearance, it is characterized in that: described ground gap control system comprise servovalve (17), controller (16), gap regulator solution cylinder pressure (31); Gap regulator solution cylinder pressure (31) one end, four ground connects forward and backward vehicle bridge vertical axes respectively, the other end is connected with the bridge shaft coupling piece (30) of forward and backward vehicle bridge respectively, and controller (16) regulates four ground gap regulator solution cylinder pressure (31) synchronization liftings by servovalve (17) and changes the chassis ground Clearance.

3. lateral wheel according to claim 1 and 2 is apart from chassis all adjustable with the ground Clearance, it is characterized in that: also comprise steady regulator control system, steady regulator control system is by gyroscope (12), controller (16), servovalve (17), four ground gap regulator solution cylinder pressure (31) compositions, gyroscope (12) is installed in front axle (6) and rear axle (10), the steady information of the front axle (6) that controller (16) gathers according to gyroscope (12) and rear axle (10), before acting on the adjustment in real time of four ground gap regulator solution cylinder pressure (31) respectively by servovalve (17), rear axle and chassis steady.

4. lateral wheel according to claim 1 is apart from chassis all adjustable with the ground Clearance, it is characterized in that: described power system comprises power-transfer clutch (14), driving engine (15), pumping plant (20), HM Hydraulic Motor (36), apportioning valve (35); Driving engine (15) connects with vehicle frame (13); Four HM Hydraulic Motor (36) are hinged with four motor attaching partss (34) respectively, four motor attaching partss (34) are connected with forward and backward vehicle bridge vertical axes (33) respectively, and four apportioning valves (35) are connected to four HM Hydraulic Motor (36).

5., according to the lateral wheel distance chassis all adjustable with the ground Clearance one of claim 1,2,4 Suo Shu, it is characterized in that: described hydraulic actuating cylinder can be replaced by air cylinder.

6. lateral wheel according to claim 3 is apart from chassis all adjustable with the ground Clearance, it is characterized in that: described hydraulic actuating cylinder can be replaced by air cylinder.

7. a kind of lateral wheel, apart from the control method with ground Clearance all adjustable chassis, is characterized in that comprising the following steps according to claim 1:

Step one, according to required chassis lateral wheel apart from requiring, lateral wheel is controlled apart from control system by the flow of controller (16) to servovalve (17), the cross travel of four wheelspan regulator solution cylinder pressures (26) is regulated to change chassis lateral wheel distance, to meet necessary requirement;

Step 2, according to required chassis ground Clearance requirement, ground gap control system is controlled by the flow of controller (16) to servovalve (17), regulates four ground gap regulator solution cylinder pressure (31) synchronization liftings and changes the chassis ground Clearance to meet necessary requirement;

Step 3, gyroscope (12), in the traveling process of chassis, carries out Real-time Collection to the angle of inclination of front axle (6), rear axle (10) and vehicle frame (13);

Step 4, the angle of inclination information of the front axle (6) that controller (16) gathers according to gyroscope (12), rear axle (10) and vehicle frame (13), goes out four ground gap regulator solution cylinder pressure (31) regulated quantity required separately by related algorithm real-time estimate;

Step 5, the real-time regulated quantity required separately according to four ground gap regulator solution cylinder pressure (31), servovalve (17) by hydraulic flow control action in ground gap regulator solution cylinder pressure (31), the inclination on tandem axle and chassis is regulated, to meet the stationarity requirement on chassis.