CN103818212B - A kind of road clearance is adjustable implement porter and control method steadily - Google Patents

Abstract

The invention discloses a high ground clearance self-propelled chassis with a stable and adjustable ground clearance and a balance stability control method thereof. The self-propelled chassis includes frame, front axle, rear axle, power system, ground clearance adjustment system, stability control system, etc. The power system includes engine, clutch, pump station, hydraulic motor, proportional valve, front wheel, rear wheel, etc.; the ground clearance adjustment system includes controller, servo valve, ground clearance adjustment hydraulic cylinder, etc., and the controller adjusts the four The ground clearance adjustment hydraulic cylinders rise and fall synchronously to change the ground clearance of the chassis; the stability control system includes a gyroscope, and the controller controls the movement of the four ground clearance adjustment hydraulic cylinders through servo valves according to the unsteady signals of the front and rear axles collected by the gyroscope. flow, and then automatically adjust the balance and stability of the chassis; the engine is connected to the pump station through the clutch, and the pump station drives the hydraulic motor to drive the front and rear wheels to rotate.

Description

Self-propelled chassis with stable and adjustable ground clearance and adjustment method

Technical field:

The invention relates to a high ground clearance self-propelled chassis with adjustable ground clearance, in particular to a self-propelled chassis in which a gyroscope detects stable information and a hydraulic cylinder adjusts the ground clearance.

technical background:

In order to meet the field management requirements of high-stem crops in farmland, a high-ground-clearance walking chassis is often required. However, the existing high-ground-clearance walking chassis mostly use mechanical transmission, which has low transmission stability, heavy weight, fixed ground clearance, and small application range. It is of great significance to develop a high ground clearance walking chassis with adjustable ground clearance to meet the field operation requirements of various ground clearances of different crop heights.

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.

Invention content:

The object of the present invention is to design a high ground clearance self-propelled chassis with stable and adjustable ground clearance in order 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 high ground clearance self-propelled chassis with stable and adjustable ground clearance, including vehicle frame, front axle, rear axle, driver's cab, liftable ladder, and lift hydraulic cylinder , Power system, ground clearance adjustment system, smooth control system. The power system includes: engine, clutch, pump station, hydraulic steering gear, hydraulic motor, proportional valve, and wheels. 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: left and right swing arms, a front axle vertical shaft, a front axle connecting block, a front axle left and right anti-collision block, and a front axle damping spring. The left and right swing arms are connected to the connecting blocks of the front axle through hinges, the shock absorbing springs of the front axle are 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 connected to the left and right swing parts by welding. arm. The front axle is hinged on the vehicle frame through the front axle connecting block. The left and right swing arms can rotate around the front axle connecting block, so that the left and right wheels connected to the front axle can jump independently, thereby reducing the vibration of the vehicle body.

The rear axle includes: a rear axle intermediate shaft, 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 intermediate shaft. 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 with the liftable ladder and the front axle through the hinge.

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 adjustment hydraulic cylinders is respectively connected to the vertical shaft of the front axle and the vertical shaft of the rear axle through threaded sleeves, and the other end is respectively connected to the left swing arm and right swing arm of the front axle and the intermediate shaft of the rear axle. Solder connected. 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 stable control system includes a gyroscope. During the operation of the chassis, the controller can control the servo valves to adjust the four ground clearance adjustment hydraulic pressures in real time according to the stable information such as the angle and inclination of the front and rear axles collected by the gyroscope. The cylinder is lifted to change the posture of the front and rear axles, so as to ensure 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 chassis to move smoothly in field operations, so it can meet the requirements of various ground clearance and stable field operations. For example, during the spraying operation, it can prevent the overflow 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.

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 Figure 3

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—left swing arm; 23—connecting block of front axle; 24—right swing arm; 25—left and right front axle anti-collision Block; 26—ground clearance adjustment hydraulic cylinder; 27—threaded sleeve; 28—vertical shaft of front axle; 29—motor connection block; 30—proportional valve; 31—hydraulic motor; 32—lift hydraulic cylinder hinge block; 33 —rear axle connection block; 34—rear axle intermediate shaft; 35—rear axle vertical shaft.

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 33 . 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 left swing arm 22 and the right swing arm 24 are hingedly connected to the front axle connecting block 23, and the left and right swing arms 22 and 24 of the front axle can rotate around the front axle connecting block 23, so that the front axle left wheel 7a and the front axle right Wheel 7b jumps independently, and front axle damping spring 9 connects vehicle frame 13 and front axle 6, and the left and right anti-collision blocks of front axle are respectively connected on the left swing arm and the right swing arm by welding. The rear axle damping spring steel plate 11 is connected on the rear axle connecting block 33 and the vehicle frame by bolts. The individual beating of the left and right front wheels, and the damping spring 9 of the front axle and the damping spring steel plate 11 of the rear axle 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 adjustment hydraulic cylinders 26 are respectively connected to the front axle vertical shaft 28 and the rear axle vertical shaft 35 through threaded sleeves 27, and the other ends of the four ground clearance adjustment hydraulic cylinders are respectively welded to the left swing arm 22, Right swing arm 24 and rear axle intermediate shaft 34 . 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 26 to rise and fall synchronously to change the chassis ground clearance.

The four hydraulic motors 31 are respectively hinged to the motor connection block 29, the motor connection block 29 is connected to the front axle vertical shaft 28 and the rear axle vertical shaft 35 by bolts, and the four proportional valves 30 are respectively connected to the four hydraulic motors by bolts. 31.

The pump station 20 drives a hydraulic motor 31, and the hydraulic motor 31 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 30, thereby adjusting the displacement of the hydraulic motor 31 to change the rotation speed of the four wheels and realize four-wheel differential steering, effectively reducing the turning radius and making the steering more stable .

The gyroscope 12 is installed on the front axle 6 and the rear axle 10, and the controller 16 acts on the ground clearance adjustment hydraulic cylinder 26 through the servo valve 17 according to the stability information of the front axle 6 and the rear axle 10 collected by the gyroscope 12. To adjust the stability of the front and rear axles and chassis.

Claims (5)

1. A chassis with a stable and adjustable ground clearance, including a lifting hydraulic cylinder (4), a front axle (6), wheels (8), a rear axle (10), a vehicle frame (13), and a ground clearance adjustment system , power system, and stable control system; the front axle (6) is provided with a left swing arm (22), a right swing arm (24), a front axle connecting block (23), and a front axle damping spring (9). The vehicle axle (6) is hinged with the vehicle frame (13) through the front vehicle axle connection block (23), and the front vehicle axle damping spring (9) is connected with the front vehicle axle (6) and the vehicle frame (13); the rear vehicle axle ( 10) There are rear axle intermediate shaft (34), rear axle connecting block (33), rear axle vertical shaft (35), rear axle damping spring steel plate (11), and rear axle (10) passes The rear axle connecting block (33) is hinged with the vehicle frame (13), and the rear axle damping spring steel plate (11) is connected with the rear axle (10) and the vehicle frame (13); the ground clearance adjustment system is controlled by the controller (16) , servo valve (17), and four ground clearance adjustment hydraulic cylinders (26), the controller (16) adjusts the four ground clearance adjustment hydraulic cylinders (26) through the servo valve (17) to rise and fall synchronously to change the ground clearance of the chassis ; It is characterized in that: the stable control system includes a gyroscope (12), which is installed on the front axle (6) and the rear axle (10), and the controller (16) gathers the front axle (12) according to the gyroscope (12). 6) and the stable information of the rear axle (10), the four ground clearance adjustment hydraulic cylinders (26) are respectively adjusted in real time by the servo valve (17) to lift and adjust the stability of the front and rear axles and the chassis. 2. The chassis with a stable and adjustable ground clearance according to claim 1, characterized in that: one end of the ground clearance adjustment hydraulic cylinder (26) is respectively connected to the vertical shaft (28) of the front axle through a threaded sleeve (27) And rear axle vertical shaft (35), the other end is consolidated with left swing arm (22), right swing arm (24) and rear axle intermediate shaft (34) respectively. 3. The chassis with stable and adjustable ground clearance according to claim 1, characterized in that: the power system includes a clutch (14), an engine (15), a pump station (20), a hydraulic motor (31), The proportional valve (30); the engine (15) is connected with the vehicle frame (13); the four hydraulic motors (31) are respectively hinged with the four motor connection blocks (29), and the four motor connection blocks (29) are respectively connected with the front axle The vertical shaft (28) and the rear axle vertical shaft (35) are connected, and the four proportional valves (30) are respectively connected to the four hydraulic motors (31). 4. The chassis with a stable and adjustable ground clearance according to any one of claims 1-3, wherein the hydraulic cylinder is replaced by a pneumatic cylinder. 5. The stable adjustment method of a stable and adjustable ground clearance chassis according to claim 1, 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 four ground clearance adjustment hydraulic cylinders (26) to rise and fall synchronously to change the chassis. Ground clearance to meet the required requirements; Step 2, the gyroscope (12) collects the inclination angles of the front axle (6), the rear axle (10) and the vehicle frame (13) in real time during the running of the chassis; Step 3, the controller (16) predicts four ground clearance adjustment hydraulic pressures in real time according to the tilt angle information of the front axle (6), rear axle (10) and vehicle frame (13) collected by the gyroscope (12). Cylinder (26) respectively required adjustment amount; Step 4: According to the real-time adjustments required by each of the four ground clearance hydraulic cylinders (26), the servo valve (17) acts on the ground clearance adjustment hydraulic cylinder (26) through hydraulic flow control to adjust the inclination of the front and rear axles and chassis. Adjust to meet the stability requirements of the chassis.