CN103448787B - Wheelspan adjustment chassis steering linkage - Google Patents
Wheelspan adjustment chassis steering linkage Download PDFInfo
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- CN103448787B CN103448787B CN201310395602.7A CN201310395602A CN103448787B CN 103448787 B CN103448787 B CN 103448787B CN 201310395602 A CN201310395602 A CN 201310395602A CN 103448787 B CN103448787 B CN 103448787B
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Abstract
The present invention relates to vehicle to run field, disclose a kind of wheelspan adjustment chassis steering linkage, comprise vehicle frame, driving lever, deflecting bar and symmetrical front-rear linkage, guide rod, spindle arm, steering swivel, wheel composition, with the interlock isosceles steering trapezium ABFE of wheelspan adjustment, realize in wheelspan adjustment process and the traveling that all can adapt to vehicle after setting up any wheelspan turns to; Present invention also offers a kind of car gage stepless adjusting mechanism, adjusted in chassis steering linkage by wheelspan and retain wheelspan adjustment member, remove linked steering part and form, be made up of one group of wheelspan adjustment chassis steering linkage and one group of car gage stepless adjusting mechanism and adapt to the front-wheel steering chassis that wheelspan adjusts vehicle, adjust chassis steering linkage by two groups of identical wheelspans and form the four-wheel steering chassis adapting to wheelspan adjustment vehicle, the crops do mechanization operation requirement of different spacings can be adapted to.
Description
Technical field
The present invention relates to a kind of wheelspan adjustment chassis steering linkage, belong to vehicle chassis technical field, the Vehicular turn technical scope particularly under vehicle chassis flexible wheel base condition.
Background technology
China is a large agricultural country vast in territory, and proportion of crop planting scope is wide, and southern and northern proportion of crop planting kind is many and difference large, and the line-spacing of different crops is generally different, and the line-spacing of crops zones of different of the same race or Different Ways of Planting is general not identical yet.In the growth period of crops, weeding, equalization such as machinery such as field management such as spray medicine and fertilising etc. require that working truck is along crop row apart from walking, therefore require that the wheelspan of agricultural vehicle chassis regulates apart from change with crop row, need the agricultural vehicle chassis of significantly adjusting knurl distance.After the wheelspan change of agricultural vehicle chassis, steering hardware also needs the change adapting to wheelspan.At present, the steering hardware on domestic trac., farm power chassis is generally Ackermam Ackerman steering mechanism, can not meet steering hardware and wheelspan in the adjustable chassis of wheelspan and regulate the requirement adapted.And in existing public technology, have multiple steering hardware can adapt to the adjustment of wheelspan, application number is " 201110000166.X ", the pull that the patent of invention that name is called " flexible wheel base becomes ground gap front steering device " moves castellated shaft and right interlock castellated shaft by the Left-wing Federation carrys out adjusting knurl distance, bearing circle adapts to the change of relative position between bearing circle and wheel by steering power transfer device, and what can meet the adjustable chassis of wheelspan turns to requirement.Research both at home and abroad, application at present concentrates on front-wheel independent steering and four-wheel independent steering, and employing hydraulic-driven, servocontrol steered wheel meet Ackermann steering condition, or Serve Motor Control steered wheel meets Ackermann steering condition; External model is the self-propelled spraying machine of AIRONE2000, adopts hydraulic-driven, servocontrol four-wheel independent steering, can adapt to wheelspan and change Turning travel in forward and backward and wheelspan adjustment process.
Summary of the invention
The present invention seeks to provide a kind of wheelspan to adjust chassis steering linkage, be applied to the steering swivel system of adjustable wheelspan vehicle, left and right wheel relative vehicle central plane symmetric motion, realize wheelspan stepless changing, in wheelspan adjustment process and the normal direction of rotation that all can adapt to vehicle after setting up wheelspan travel.
The technical scheme taked to reach object of the present invention comprises: vehicle frame 15 is provided with longitudinal slipway 151, right sideslipway 152 and left sideslipway 153, right sideslipway 152 and left sideslipway 153 axis of movement vertical with the axis of movement of longitudinal slipway 151 and be arranged symmetrically with altogether, right front connecting rod 4 is rotationally connected with C point with right guide rod 8, right guide rod 8 and vehicle frame 15 move to connect and are retrained by right sideslipway 152, one end of right guide rod 8 and right steering arm 10 are rotationally connected with A point, right back connecting rod 6 is rotationally connected with B point with the other end of right steering arm 10, getting right steering arm 10 long is L
aB, craspedodrome base angle g
0, right steering arm 10 is g with the angle of right guide rod 8
0time wheel straight-line travelling, right steering joint 12 and right steering arm 10 one-tenth 180 ° of-g
0angle is connected, jointly around the rotation of A point, right steering joint 12 connects right wheel 14 and also controls its direction, and right front connecting rod 4 is isometric with right back connecting rod 6, and on right guide rod 8, two hinge-point distances are L
aC=L
aB× cosg
0, left front connecting rod 3 is rotationally connected with G point with left guide rod 7, left guide rod 7 and vehicle frame 15 move to connect and are retrained by left sideslipway 153, one end of left guide rod 7 and left steering arm 9 are rotationally connected with E point, left back connecting rod 5 is rotationally connected with F point with the other end of left steering arm 9, left steering joint 11 and left steering arm 9 one-tenth 180 ° of-g
0angle is connected, jointly rotate around E point, left steering joint 11 connects left wheel 13 and controls its direction, left front connecting rod 3 is isometric with right front connecting rod 4, left back connecting rod 5 is isometric with right back connecting rod 6, on left guide rod 7, two hinge-point distances equal two hinge-point distances on right guide rod 8, left steering arm 9 is isometric with right steering arm 10, and left steering joint 11 and right steering save 12 isometric, driving lever 1 and vehicle frame 15 move to connect and are retrained by longitudinal slipway 151, the rear end of driving lever 1 is rotationally connected with M point with the other end of deflecting bar 2 one end and left front connecting rod 3, right front connecting rod 4 respectively, deflecting bar 2 other end is rotationally connected with N point with the other end of left back connecting rod 5, right back connecting rod 6 respectively, and deflecting bar 2 is long is L
mN=L
aB× sing
0, form the craspedodrome Left-wing Federation and meet parallelogram FGMN and right connection parallelogram BCMN, the longitudinal slipway 151 of driving lever 1 relative frame 15 moves, the wheelspan of left and right wheel changes, deflecting bar 2 rotates around M point relative to driving lever 1, interlock isosceles steering trapezium ABFE two base angle is unequal, realize turning to of left and right wheel, when deflecting bar 2 and driving lever 1 conllinear, interlock isosceles steering trapezium ABFE two base angle is equal, left and right wheel straight-line travelling.Form wheelspan of the present invention adjustment chassis steering linkage (as shown in Figure 1).
External force drives the longitudinal slipway 151 of driving lever 1 relative frame 15 to move, and the wheelspan of left and right wheel changes, when the longitudinal slipway 151 of driving lever 1 relative frame 15 move backward, distance become large time, the wheelspan of left and right wheel reduces (as shown in Figure 2); When the longitudinal slipway 151 of driving lever 1 relative frame 15 move forward, distance diminish time, the wheelspan of left and right wheel increases (as shown in Figure 3); The motion of left and right wheel relative driving lever 1 axisymmetrical, wheelspan stepless changing, meet parallelogram FGMN and right connection parallelogram BCMN by the Left-wing Federation under wheel straight travel state and keep wheelspan adjustment not affect for left and right wheel turning angle.For in wheelspan adjustment process and after setting up any wheelspan, moment of face drives deflecting bar 2 to rotate around M point relative to driving lever 1, and interlock isosceles steering trapezium ABFE two base angle is unequal, realizes turning to of left and right wheel; As deflecting bar 2 and driving lever 1 angle f
1during >180 °, left and right wheel turnon left (as shown in Figure 4); As deflecting bar 2 and driving lever 1 angle f
2during <180 °, left and right wheel right-hand corner (as shown in Figure 5); As deflecting bar 2 and driving lever 1 conllinear f
0when=180 °, interlock isosceles steering trapezium ABFE two base angle is equal, left and right wheel straight-line travelling; Adjustment is turned to not affect for left and right Wheel centre distance.
In above-mentioned wheelspan adjustment chassis steering linkage, when interlock isosceles steering trapezium ABFE two base angle is equal, left and right wheel straight-line travelling, wheelspan adjustment chassis steering linkage left-half driving lever 1 relative to right half part axisymmetrical.
Above-mentioned wheelspan adjustment chassis steering linkage is double freedom mechanism, and wheelspan adjustment turns to can also can carry out by complete independently simultaneously with traveling, therefore in wheelspan adjustment process and the traveling that all can adapt to vehicle after setting up any wheelspan turn to.
In above-mentioned wheelspan adjustment chassis steering linkage, the longitudinal slipway 151 of driving lever 1 relative frame 15 moves, and the wheelspan of left and right wheel changes, the long interlock change in the upper and lower end of interlock isosceles steering trapezium ABFE; When the longitudinal slipway 151 of driving lever 1 relative frame 15 is apart from being S
0time, the wheelspan of left and right wheel is h
0, now stub distance m
0, interlock isosceles steering trapezium ABFE is set and meets Ackermann steering condition; Wheelspan h
0for basic wheelspan, now steering hardware meets Ackermam condition, adapts to turn in the vehicle traveling under any road surface, arbitrary speed condition, operation; Along with the adjustment stub distance respective change of wheelspan, steering hardware is approximate meets Ackermam condition, and the vehicle adapted under field level operation or low-speed conditions travels and turns to.For making steering hardware close for turning error when maximum wheelspan and minimum wheelspan, choose basic wheelspan h
0=(maximum wheelspan+minimum wheelspan)/2; For full size vehicle, get basic wheelspan h to reduce vehicle non-operating condition selectable width
0=minimum wheelspan, therefore basic wheelspan span is set as: h
0=minimum wheelspan ~ (maximum wheelspan+minimum wheelspan)/2.
A kind of car gage stepless adjusting mechanism, adjusted in the steering linkage of chassis by wheelspan and retain wheelspan adjustment member, remove linked steering part to form, comprise: vehicle frame 15 is provided with longitudinal slipway 151, right sideslipway 152 and left sideslipway 153, right sideslipway 152 and left sideslipway 153 axis of movement vertical with the axis of movement of longitudinal slipway 151 and be arranged symmetrically with altogether, driving lever 1 and vehicle frame 15 move to connect and are retrained by longitudinal slipway 151, driving lever 1 rear end respectively with right front connecting rod 4, left front connecting rod 3 is rotationally connected with M point, the other end of right front connecting rod 4 is rotationally connected with the C point of right guide rod 8, right guide rod 8 and vehicle frame 15 move to connect and are retrained by right sideslipway 152, one end of right guide rod 8 connects right wheel 14, the other end of left front connecting rod 3 is rotationally connected with the G point of left guide rod 7, left guide rod 7 and vehicle frame 15 move to connect and are retrained by left sideslipway 153, one end of left guide rod 7 connects left wheel 13, left front connecting rod 3 is isometric with right front connecting rod 4, left guide rod 7 upper hinge point G equals right guide rod 8 upper hinge point C apart from right wheel 14 distance apart from left wheel 13 distance, the longitudinal slipway 151 of driving lever 1 relative frame 15 moves, and the wheelspan of left and right wheel continuously changes, and forms a kind of car gage stepless adjusting mechanism (as shown in Figure 6).
Arranged before and after L according to given axletree on same vehicle frame by one group of wheelspan adjustment chassis steering linkage and one group of car gage stepless adjusting mechanism, shared same vehicle central plane, it is isometric that two right front connecting rods 4 in wheelspan adjustment chassis steering linkage and car gage stepless adjusting mechanism are set, and there is same basic wheelspan h
0, form the front-wheel steering chassis (as shown in Figure 7) adapting to wheelspan adjustment vehicle; When continuous equidistant change wheelspan adjusts the distance of respective longitudinal slipway 151 on two driving lever 1 relative frame 15 in chassis steering linkage and car gage stepless adjusting mechanism simultaneously, the distance symmetry change of each wheel relative vehicle central plane, vehicle chassis wheel base is equal, realize the stepless changing of vehicle chassis wheelspan, deflecting bar 2 rotates around M point the front-wheel steering realizing vehicle chassis relative to driving lever 1, in wheelspan adjustment process and the traveling that all can adapt to vehicle after setting up any wheelspan turn to.
By two groups of identical wheelspans adjust chassis steering linkage on same vehicle frame according to given axletree apart from incorgruous layout before and after L, share same vehicle central plane, form the four-wheel steering chassis (as shown in Figure 8) adapting to wheelspan adjustment vehicle.When continuous equidistant change front and rear wheel distance adjusts the distance of respective longitudinal slipway 151 on two driving lever 1 relative frame 15 in the steering linkage of chassis simultaneously, the distance symmetry change of each wheel relative vehicle central plane, vehicle chassis wheel base is equal, realize the stepless changing of vehicle chassis wheelspan, former and later two deflecting bars 2 rotate around M point the four-wheel steering realizing vehicle chassis relative to respective driving lever 1 respectively, in wheelspan adjustment process and the traveling that all can adapt to vehicle after setting up any wheelspan turn to.
Beneficial effect of the present invention is, a kind of wheelspan adjustment chassis steering linkage proposed, be applied to the steering swivel system of adjustable wheelspan vehicle, achieve left and right wheel relative vehicle central plane symmetric motion, wheelspan stepless changing, in wheelspan adjustment process and set up the normal direction of rotation that all can adapt to vehicle after wheelspan and travel.For crop row apart from adjustment Wheel centre distance, the crops do mechanization operation requirement of different spacings can be adapted to.
Accompanying drawing explanation
Fig. 1 is wheelspan adjustment chassis steering linkage sketch;
Fig. 2 is that wheelspan adjustment chassis steering linkage reduces wheelspan fundamental diagram;
Fig. 3 is that wheelspan adjustment chassis steering linkage increases wheelspan fundamental diagram;
Fig. 4 is wheelspan adjustment chassis steering linkage turnon left fundamental diagram;
Fig. 5 is wheelspan adjustment chassis steering linkage right-hand corner fundamental diagram;
Fig. 6 is car gage stepless adjusting mechanism sketch;
Fig. 7 is the front-wheel steering chassis fundamental diagram adapting to wheelspan adjustment vehicle;
Fig. 8 is the four-wheel steering chassis fundamental diagram adapting to wheelspan adjustment vehicle.
In figure: 1--driving lever, 2--deflecting bar, the left front connecting rod of 3--, the right front connecting rod of 4--, the left back connecting rod of 5--, the right back connecting rod of 6--, the left guide rod of 7--, the right guide rod of 8--, 9--left steering arm, 10--right steering arm, 11--left steering saves, and 12--right steering saves, 13--left wheel, the right wheel of 14--, 15--vehicle frame, 151--longitudinal slipway, the right sideslipway of 152--, the left sideslipway of 153--.
Detailed description of the invention
With reference to the accompanying drawings embodiments of the invention are described below.
Wheelspan adjustment chassis steering linkage sketch shown in Fig. 1, comprises driving lever 1, deflecting bar 2, left front connecting rod 3, right front connecting rod 4, left back connecting rod 5, right back connecting rod 6, left guide rod 7, right guide rod 8, left steering arm 9, right steering arm 10, left steering joint 11, right steering joint 12, left wheel 13, right wheel 14, the longitudinal slipway 151 of vehicle frame 15 and upper setting thereof, right sideslipway 152, left sideslipway 153 forms; Vehicle frame 15 is provided with longitudinal slipway 151, right sideslipway 152 and left sideslipway 153, right sideslipway 152 and left sideslipway 153 axis of movement vertical with the axis of movement of longitudinal slipway 151 and be arranged symmetrically with altogether, right front connecting rod 4 is rotationally connected with C point with right guide rod 8, right guide rod 8 and vehicle frame 15 move to connect and are retrained by right sideslipway 152, one end of right guide rod 8 and right steering arm 10 are rotationally connected with A point, right back connecting rod 6 is rotationally connected with B point with the other end of right steering arm 10, and getting right steering arm 10 long is L
aB, craspedodrome base angle g
0, right steering arm 10 is g with the angle of right guide rod 8
0time wheel straight-line travelling, right steering joint 12 and right steering arm 10 one-tenth 180 ° of-g
0angle is connected, jointly around the rotation of A point, right steering joint 12 connects right wheel 14 and also controls its direction, and right front connecting rod 4 is isometric with right back connecting rod 6, and on right guide rod 8, two hinge-point distances are L
aC=L
aB× cosg
0; Left front connecting rod 3 is rotationally connected with G point with left guide rod 7, left guide rod 7 and vehicle frame 15 move to connect and are retrained by left sideslipway 153, one end of left guide rod 7 and left steering arm 9 are rotationally connected with E point, left back connecting rod 5 is rotationally connected with F point with the other end of left steering arm 9, left steering joint 11 and left steering arm 9 one-tenth 180 ° of-g
0angle is connected, jointly rotate around E point, and left steering joint 11 connects left wheels 13 and also controls its direction, and left front connecting rod 3 is isometric with right front connecting rod 4, and left back connecting rod 5 is isometric with right back connecting rod 6, and on left guide rod 7, two hinge-point distances to equal on right guide rod 8 two hinge-points apart from, i.e. L
eG=L
aC, left steering arm 9 is isometric with right steering arm 10, and left steering joint 11 and right steering save 12 isometric; Driving lever 1 and vehicle frame 15 move to connect and are retrained by longitudinal slipway 151, the rear end of driving lever 1 is rotationally connected with M point with the other end of deflecting bar 2 one end and left front connecting rod 3, right front connecting rod 4 respectively, deflecting bar 2 other end is rotationally connected with N point with the other end of left back connecting rod 5, right back connecting rod 6 respectively, and deflecting bar 2 is long is L
mN=L
aB× sing
0, form the craspedodrome Left-wing Federation and meet parallelogram FGMN and right connection parallelogram BCMN; Hydraulic ram provides external force to drive the longitudinal slipway 151 of driving lever 1 relative frame 15 to move, the wheelspan of left and right wheel changes, the long interlock change in the upper and lower end of interlock isosceles steering trapezium ABFE, deflector provides moment of face to drive deflecting bar 2 to rotate around M point relative to driving lever 1, interlock isosceles steering trapezium ABFE two base angle is unequal, realizes turning to of left and right wheel, when deflecting bar 2 and driving lever 1 conllinear, interlock isosceles steering trapezium ABFE two base angle is equal, left and right wheel straight-line travelling.Wheelspan adjustment chassis steering linkage is double freedom mechanism, wheelspan adjustment turns to can also can carry out by complete independently simultaneously with traveling, therefore in wheelspan adjustment process and the traveling that all can adapt to vehicle after setting up any wheelspan turn to, namely can carry out wheelspan adjustment in vehicle travel process.
In wheelspan adjustment chassis steering linkage shown in Fig. 1, the longitudinal slipway 151 of driving lever 1 relative frame 15 moves, and the wheelspan of left and right wheel changes, the long interlock change in the upper and lower end of interlock isosceles steering trapezium ABFE; When the longitudinal slipway 151 of driving lever 1 relative frame 15 is apart from being S
0time, the wheelspan of left and right wheel is h
0, now stub distance m
0, interlock isosceles steering trapezium ABFE is set and meets Ackermann steering condition: cot (e
0)-cot (a
0)=m
0/ L, in formula: outer wheel turning angle e
0, interior wheel turning angle a
0, wheelbase L; Wheelspan h
0for basic wheelspan, now steering hardware meets Ackermam condition, adapts to turn in the vehicle traveling under any road surface, arbitrary speed condition, operation; Along with the adjustment stub distance respective change of wheelspan, steering hardware is approximate meets Ackermam condition, and the vehicle adapted under field level operation or low-speed conditions travels and turns to.For making steering hardware close for turning error when maximum wheelspan and minimum wheelspan, choose basic wheelspan h
0=(maximum wheelspan+minimum wheelspan)/2; For full size vehicle, get basic wheelspan h to reduce vehicle non-operating condition selectable width
0=minimum wheelspan, therefore basic wheelspan span is set as: h
0=minimum wheelspan ~ (maximum wheelspan+minimum wheelspan)/2.As deflecting bar 2 and driving lever 1 conllinear f
0when=180 °, interlock isosceles steering trapezium ABFE two base angle is equal, left and right wheel straight-line travelling, wheelspan adjustment steering linkage left-half driving lever 1 relative to right half part axisymmetrical; When continuously changing longitudinal slipway 151 distance of driving lever 1 relative frame 15, the distance symmetry change of left and right wheel relative driving lever 1 axis, realizes the wheelspan stepless changing of left and right wheel.
Wheelspan adjustment chassis steering linkage shown in Fig. 2 reduces wheelspan fundamental diagram, when the longitudinal slipway 151 of driving lever 1 relative frame 15 move backward, distance become large time, the wheelspan of left and right wheel reduces, and namely relative movement distance is S
1time, S
1>S
0, wheelspan is h
1, now h
1<h
0; The motion of left and right wheel relative driving lever 1 axisymmetrical, wheelspan stepless changing.
Wheelspan adjustment chassis steering linkage shown in Fig. 3 increases wheelspan fundamental diagram, when the longitudinal slipway 151 of driving lever 1 relative frame 15 move forward, distance diminish time, the wheelspan of left and right wheel increases, and namely relative movement distance is S
2time, S
2<S
0, wheelspan is h
2, now h
2>h
0; The motion of left and right wheel relative driving lever 1 axisymmetrical, wheelspan stepless changing.Be theoretical maximum wheelspan when left front connecting rod 3 and right front connecting rod 4 conllinear, meet parallelogram FGMN and right connection parallelogram BCMN by the Left-wing Federation under wheel straight travel state and keep wheelspan adjustment not affect for left and right wheel turning angle.
Wheelspan adjustment chassis steering linkage turnon left fundamental diagram shown in Fig. 4, moment of face drives deflecting bar 2 to rotate around M point relative to driving lever 1, and interlock isosceles steering trapezium ABFE two base angle is unequal, realizes turning to of left and right wheel; As deflecting bar 2 and driving lever 1 angle f
1during >180 °, left and right wheel turnon left, during vehicle turnon left: interior wheel turning angle is a
1, outer wheel turning angle is e
1; For in wheelspan adjustment process and the traveling that all can adapt to vehicle after setting up any wheelspan turn to.
Wheelspan adjustment chassis steering linkage right-hand corner fundamental diagram shown in Fig. 5, as deflecting bar 2 and driving lever 1 angle f
2during <180 °, left and right wheel right-hand corner, during vehicle right-hand corner: interior wheel turning angle is a
2, outer wheel turning angle is e
2; As deflecting bar 2 and driving lever 1 conllinear f
0when=180 °, interlock isosceles steering trapezium ABFE two base angle is equal, and now right steering arm 10 equals same craspedodrome base angle g with the angle of right guide rod 8 and the angle of left steering arm 9 and left guide rod 7
0, left and right wheel straight-line travelling; Because driving lever 1 and vehicle frame 15 are without relative motion, adjustment is turned to not affect for left and right Wheel centre distance.For in wheelspan adjustment process and the traveling that all can adapt to vehicle after setting up any wheelspan turn to.
Car gage stepless adjusting mechanism sketch shown in Fig. 6, adjusted in chassis steering linkage by wheelspan and retain wheelspan adjustment member, remove linked steering part and form, comprise driving lever 1, left front connecting rod 3, right front connecting rod 4, left guide rod 7, right guide rod 8, left wheel 13, right wheel 14, the longitudinal slipway 151 of vehicle frame 15 and upper setting thereof, right sideslipway 152, left sideslipway 153 form, vehicle frame 15 is provided with longitudinal slipway 151, right sideslipway 152 and left sideslipway 153, right sideslipway 152 and left sideslipway 153 axis of movement vertical with the axis of movement of longitudinal slipway 151 and be arranged symmetrically with altogether, driving lever 1 and vehicle frame 15 move to connect and are retrained by longitudinal slipway 151, driving lever 1 rear end respectively with right front connecting rod 4, left front connecting rod 3 is rotationally connected with M point, the other end of right front connecting rod 4 is rotationally connected with the C point of right guide rod 8, right guide rod 8 and vehicle frame 15 move to connect and are retrained by right sideslipway 152, one end of right guide rod 8 connects right wheel 14, the other end of left front connecting rod 3 is rotationally connected with the G point of left guide rod 7, left guide rod 7 and vehicle frame 15 move to connect and are retrained by left sideslipway 153, one end of left guide rod 7 connects left wheel 13, left front connecting rod 3 is isometric with right front connecting rod 4, left guide rod 7 upper hinge point G equals right guide rod 8 upper hinge point C apart from right wheel 14 distance apart from left wheel 13 distance, external force drives the longitudinal slipway 151 of driving lever 1 relative frame 15 to move, the wheelspan of left and right wheel continuously changes, car gage stepless adjusting mechanism left-half driving lever 1 relative to right half part axisymmetrical, carries out left and right wheel symmetric motion when wheelspan adjusts.
The front-wheel steering chassis fundamental diagram of the adaptation wheelspan adjustment vehicle shown in Fig. 7, comprise: arranged before and after L according to given axletree on same vehicle frame by one group of wheelspan adjustment chassis steering linkage and one group of car gage stepless adjusting mechanism, shared same vehicle central plane, it is isometric that two right front connecting rods 4 in wheelspan adjustment chassis steering linkage and car gage stepless adjusting mechanism are set, and there is same basic wheelspan h
0; When continuous equidistant change wheelspan adjusts the distance of respective longitudinal slipway 151 on two driving lever 1 relative frame 15 in chassis steering linkage and car gage stepless adjusting mechanism simultaneously, the distance symmetry change of each wheel relative vehicle central plane, vehicle chassis wheel base is equal, realize the stepless changing of vehicle chassis wheelspan, deflecting bar 2 rotates around M point the front-wheel steering realizing vehicle chassis relative to driving lever 1, in wheelspan adjustment process and the traveling that all can adapt to vehicle after setting up any wheelspan turn to, the wheelbase on chassis remains constant.
The four-wheel steering chassis fundamental diagram of the adaptation wheelspan adjustment vehicle shown in Fig. 8, comprising: by two groups of identical wheelspans adjust chassis steering linkage on same vehicle frame according to given axletree apart from incorgruous layout before and after L, share same vehicle central plane, before continuous equidistant change simultaneously, when track rear adjusts the distance of respective longitudinal slipway 151 on two driving lever 1 relative frame 15 in the steering linkage of chassis, the distance symmetry change of each wheel relative vehicle central plane, vehicle chassis wheel base is equal, realize the stepless changing of vehicle chassis wheelspan, before, latter two deflecting bar 2 rotates around M point the four-wheel steering realizing vehicle chassis relative to respective driving lever 1 respectively, in wheelspan adjustment process and the traveling that all can adapt to vehicle after setting up any wheelspan turn to, the wheelbase on chassis remains constant, four-wheel steering is conducive to reducing field turn radius.
Regulated by wheelspan, the mechanization farm work requirement of walking across Different Crop line number under can adapting to same origin, identical line-spacing, also can adapt to the mechanization farm work requirement of Different Crop, different spacings.
Claims (6)
1. wheelspan adjustment chassis steering linkage, it is characterized in that, vehicle frame (15) is provided with longitudinal slipway (151), right sideslipway (152) and left sideslipway (153), right sideslipway (152) and left sideslipway (153) axis of movement vertical with the axis of movement of longitudinal slipway (151) and be arranged symmetrically with altogether, right front connecting rod (4) and right guide rod (8) are rotationally connected with C point, right guide rod (8) was retrained by right sideslipway (152) with vehicle frame (15) mobile connection, one end and the right steering arm (10) of right guide rod (8) are rotationally connected with A point, right back connecting rod (6) is rotationally connected with B point with the other end of right steering arm (10), getting right steering arm (10) long is L
aB, craspedodrome base angle g
0, right steering arm (10) is g with the angle of right guide rod (8)
0time wheel straight-line travelling, right steering joint (12) becomes 180 ° of-g with right steering arm (10)
0angle is connected, jointly rotate around A point, right steering joint (12) connects right wheel (14) and controls its direction, right front connecting rod (4) is isometric with right back connecting rod (6), and the upper two hinge-point distances of right guide rod (8) are L
aC=L
aB× cosg
0left front connecting rod (3) and left guide rod (7) are rotationally connected with G point, left guide rod (7) was retrained by left sideslipway (153) with vehicle frame (15) mobile connection, one end and the left steering arm (9) of left guide rod (7) are rotationally connected with E point, left back connecting rod (5) is rotationally connected with F point with the other end of left steering arm (9), and left steering joint (11) becomes 180 ° of-g with left steering arm (9)
0angle is connected, jointly rotate around E point, left steering joint (11) connects left wheel (13) and controls its direction, left front connecting rod (3) is isometric with right front connecting rod (4), left back connecting rod (5) is isometric with right back connecting rod (6), the upper two hinge-point distances of left guide rod (7) equal the upper two hinge-point distances of right guide rod (8), left steering arm (9) is isometric with right steering arm (10), it is isometric that left steering joint (11) and right steering save (12), driving lever (1) was retrained by longitudinal slipway (151) with vehicle frame (15) mobile connection, the rear end of driving lever (1) respectively with deflecting bar (2) one end and left front connecting rod (3), the other end of right front connecting rod (4) is rotationally connected with M point, deflecting bar (2) other end respectively with left back connecting rod (5), the other end of right back connecting rod (6) is rotationally connected with N point, deflecting bar (2) is long is L
mN=L
aB× sing
0the longitudinal slipway (151) of driving lever (1) relative frame (15) is mobile, the wheelspan of left and right wheel changes, deflecting bar (2) rotates around M point relative to driving lever (1), interlock isosceles steering trapezium ABFE two base angle is unequal, realizes turning to of left and right wheel, when deflecting bar (2) and driving lever (1) conllinear, interlock isosceles steering trapezium ABFE two base angle is equal, left and right wheel straight-line travelling.
2. wheelspan adjustment chassis according to claim 1 steering linkage, it is characterized in that, when interlock isosceles steering trapezium ABFE two base angle is equal, wheelspan adjustment chassis steering linkage left-half driving lever (1) relative to right half part axisymmetrical.
3. wheelspan adjustment chassis according to claim 1 steering linkage, is characterized in that, wheelspan adjustment chassis steering linkage is double freedom mechanism, and wheelspan adjustment turns to can also can carry out by complete independently simultaneously with traveling.
4. wheelspan adjustment chassis according to claim 1 steering linkage, is characterized in that, when longitudinal slipway (151) distance of driving lever (1) relative frame (15) is S
0, the wheelspan h of left and right wheel
0during for basic wheelspan, interlock isosceles steering trapezium ABFE is set and meets Ackermann steering condition.
5. wheelspan adjustment chassis according to claim 4 steering linkage, is characterized in that, basic wheelspan h
0=minimum wheelspan ~ (maximum wheelspan+minimum wheelspan)/2.
6. adapt to the four-wheel steering chassis of wheelspan adjustment vehicle, it is characterized in that, by the wheelspan described in two groups of identical any one of claim 1-5 adjust chassis steering linkage on same vehicle frame according to given axletree apart from incorgruous layout before and after L, share same vehicle central plane, before continuous equidistant change simultaneously, when track rear adjusts the distance of two upper respective longitudinal slipways (151) of driving lever (1) relative frame (15) in the steering linkage of chassis, the distance symmetry change of each wheel relative vehicle central plane, vehicle chassis wheel base is equal, realize the stepless changing of vehicle chassis wheelspan, before, latter two deflecting bar (2) rotates around M point the four-wheel steering realizing vehicle chassis relative to respective driving lever (1) respectively, in wheelspan adjustment process and the traveling that all can adapt to vehicle after setting up any wheelspan turn to.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201310395602.7A CN103448787B (en) | 2013-09-03 | 2013-09-03 | Wheelspan adjustment chassis steering linkage |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201310395602.7A CN103448787B (en) | 2013-09-03 | 2013-09-03 | Wheelspan adjustment chassis steering linkage |
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| CN103448787A CN103448787A (en) | 2013-12-18 |
| CN103448787B true CN103448787B (en) | 2015-11-25 |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN104058005A (en) * | 2014-07-01 | 2014-09-24 | 童亮 | Diamond steering mechanism |
| CN109625086B (en) * | 2018-12-13 | 2020-07-28 | 王亚 | Vehicle steering and roll linkage device and active roll vehicle |
| CN109895557B (en) * | 2019-03-15 | 2024-02-13 | 合肥工业大学 | Running gear with wheel tread flexible adjustment mechanism |
| CN112441257B (en) * | 2020-11-30 | 2022-08-23 | 哈尔滨工业大学 | Star detection vehicle |
| CN113428596B (en) * | 2021-08-26 | 2021-12-07 | 民航成都物流技术有限公司 | Third rail guiding trolley and rail carrying system |
Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US4648614A (en) * | 1985-01-11 | 1987-03-10 | Toyota Jidosha Kabushiki Kaisha | Steering system in wheeled vehicle |
| US5330022A (en) * | 1993-06-08 | 1994-07-19 | Lin Yu Shu | Front wheel steering mechanism for electro mobile |
| CN102514627A (en) * | 2011-12-26 | 2012-06-27 | 中国农业大学 | Agricultural vehicle chassis with stepless-regulated wheel track |
| CN102514626A (en) * | 2011-12-26 | 2012-06-27 | 中国农业大学 | Wheel track adjustable agricultural vehicle chassis |
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2013
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Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US4648614A (en) * | 1985-01-11 | 1987-03-10 | Toyota Jidosha Kabushiki Kaisha | Steering system in wheeled vehicle |
| US5330022A (en) * | 1993-06-08 | 1994-07-19 | Lin Yu Shu | Front wheel steering mechanism for electro mobile |
| CN102514627A (en) * | 2011-12-26 | 2012-06-27 | 中国农业大学 | Agricultural vehicle chassis with stepless-regulated wheel track |
| CN102514626A (en) * | 2011-12-26 | 2012-06-27 | 中国农业大学 | Wheel track adjustable agricultural vehicle chassis |
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| CN103448787A (en) | 2013-12-18 |
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