CN104070958A - Vehicle chassis height adjusting device and vehicle applying same - Google Patents
Vehicle chassis height adjusting device and vehicle applying same Download PDFInfo
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- CN104070958A CN104070958A CN201410319860.1A CN201410319860A CN104070958A CN 104070958 A CN104070958 A CN 104070958A CN 201410319860 A CN201410319860 A CN 201410319860A CN 104070958 A CN104070958 A CN 104070958A
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- 230000007246 mechanism Effects 0.000 claims abstract description 34
- 238000000034 method Methods 0.000 claims description 9
- 230000033001 locomotion Effects 0.000 claims description 7
- 239000012530 fluid Substances 0.000 claims description 3
- 230000001141 propulsive effect Effects 0.000 claims description 3
- 238000010586 diagram Methods 0.000 description 8
- 230000008635 plant growth Effects 0.000 description 4
- 241000196324 Embryophyta Species 0.000 description 2
- 230000004308 accommodation Effects 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 2
- 230000012010 growth Effects 0.000 description 2
- 230000001105 regulatory effect Effects 0.000 description 2
- 230000000630 rising effect Effects 0.000 description 2
- 239000000725 suspension Substances 0.000 description 2
- 244000061176 Nicotiana tabacum Species 0.000 description 1
- 235000002637 Nicotiana tabacum Nutrition 0.000 description 1
- 240000008042 Zea mays Species 0.000 description 1
- 235000005824 Zea mays ssp. parviglumis Nutrition 0.000 description 1
- 235000002017 Zea mays subsp mays Nutrition 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000005540 biological transmission Effects 0.000 description 1
- 235000005822 corn Nutrition 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 239000003814 drug Substances 0.000 description 1
- 238000012827 research and development Methods 0.000 description 1
- 239000007921 spray Substances 0.000 description 1
- 238000009333 weeding Methods 0.000 description 1
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Abstract
The invention belongs to the field of vehicle walking, and discloses a vehicle chassis height adjusting device. The vehicle chassis height adjusting device comprises a frame which is fixedly connected with a vehicle chassis, wheels, and a crank double-slide-block mechanism which is fixedly connected to the frame, wherein slide block rocker mechanisms are connected between the frame and the wheels, and share the same slide block. Apart from the crank double-slide-block mechanism in the vehicle chassis height adjusting device, the two groups of slide block rocker mechanisms are symmetrically distributed by taking the vertical bisector of the wheel base of a vehicle as the central line. By adopting the device, the height of a vehicle chassis can be adjusted actively, the adjusting range surpasses the tire diameter of each wheel, and the wheel base of a vehicle can be kept constant during height adjustment. A vehicle applying the device is further provided. By increasing the height of the vehicle chassis, the trafficability is improved in order to adapt to middle and later growing periods of crops and field management operation requirements of high-stalk crops. The height of the vehicle chassis can be reduced to adapt to the primary period of crops and the field management operation requirements of low crops.
Description
Technical field
The invention belongs to vehicle to run field, particularly a kind of vehicle chassis arrangement for adjusting height and apply the vehicle of this device.To meet the job requirements of crop growth period field management.
Background technology
Rapidly, in field management operation, spray medicine, weeding, fertilising, intertillage are important links, so people have higher requirement to field machine especially equipment for plant protection in the field machine development of China.Because chassis height is higher, crossing ability is better.Therefore exigence significantly the whole vehicle chassis height of stepless-adjustment with the crossing ability that improves vehicle to adapt to crop field management requirement.Along with the operation of the medium-altitude increase of process of crop growth and long-stalked crops field management, setting range need to surpass diameter of tyres conventionally.
In order to address the above problem, researchist has designed and developed a lot of devices and has promoted chassis height.There are at present a lot of modes to realize the adjustment to vehicle chassis height, for example, application number is that 201110457954.1 patent of invention has comprised a kind of vehicle chassis height adjustable suspension and had the vehicle of this suspension, by adjusting the parallel-crank mechanism between vehicle frame and wheel, make vehicle frame adjustable with respect to the height of wheel position in the vertical direction, hoisting depth significantly, but when regulating height by parallel-crank mechanism, changed vehicle wheelbase, for transmission of power and Steering have increased difficulty.Therefore research and development can regulate the chassis of height to have broad application prospects on a large scale in the situation that retainer shaft distance, wheelspan are all constant.
Summary of the invention
(1) technical matters that will solve
The technical problem to be solved in the present invention is to provide a kind of vehicle chassis arrangement for adjusting height, realize the significantly variation of chassis height, when highly regulating, can guarantee wheelbase, wheelspan is constant and regulative mode is convenient reliable, to adapt to the farm work requirement of various height crops.
(2) technical scheme
In order to solve the problems of the technologies described above, the technical solution used in the present invention is: a kind of vehicle chassis arrangement for adjusting height is provided, comprise: between the vehicle frame being fixedly connected with vehicle chassis, wheel, the crank double-slider mechanism, vehicle frame and the wheel that arrange, be connected with slide block rocker mechanism on vehicle frame, Liang Ge mechanism shares same slide block, and vehicle frame is adjustable with respect to the height of wheel position in the vertical direction;
Wherein, vehicle frame comprises the rectilinear orbit being fixedly connected with it, and on rectilinear orbit, being provided with can be along two slide block of its parallel motion;
Described crank double-slider mechanism comprises: mid point be articulated with crank on vehicle frame, two connecting rods equal in length separately one end respectively hinged with crank two-end-point, the other end is hinged with two slide blocks on same rectilinear orbit respectively, length of connecting rod is greater than the length of 1/2 crank;
Described slide block rocker mechanism comprises: a slide block on upper end and rectilinear orbit is hinged, lower end and the hinged strut bar of wheel, upper end and vehicle frame are hinged, point articulated rocking bar in lower end and strut bar, strut bar length is the twice of rocking bar length, when slide block moves on the rectilinear orbit of vehicle frame, the relative vehicle frame of wheel is same straight-line motion vertically all the time;
Wherein, in vehicle chassis arrangement for adjusting height except crank double-slider mechanism, two groups of slide block rocker mechanisms line centered by vehicle wheelbase's perpendicular bisector is arranged symmetrically with, drive force crank rotates, realize vehicle frame with respect to the height adjustment of two wheel position in the vertical directions, vehicle frame keeps axletree apart from constant in lifting process.
Wherein, propulsive effort is HM Hydraulic Motor, and being provided with fluid control valve is crank position lockout mechanism, for locking the angle α of crank and vehicle frame, highly fixing in the walking of vehicle frame after lifting, operation process.
The present invention also provides a kind of vehicle of applying vehicle chassis arrangement for adjusting height, comprise: on the chassis of vehicle, fixedly mount two groups of above-mentioned vehicle chassis arrangement for adjusting height, vehicle chassis arrangement for adjusting height is symmetrical with vehicle forward direction central plane, the be arranged on vehicle chassis left and right sides by given wheelspan, on two groups of vehicle chassis arrangement for adjusting height, crank equates with the angle α of vehicle frame.
Wherein, when angle α=0 of crank and vehicle frame or 2 π, the overlapping conllinear of crank and connecting rod, now crank double-slider mechanism has reverse self-locking function, distance between vehicle frame and wheel is minimum simultaneously, is the vehicle fast motorway operation state of application vehicle chassis arrangement for adjusting height.
Simultaneous equal changes the angle α of crank and vehicle frame in two groups of vehicle chassis arrangement for adjusting height, and then changes the distance s between slide block and rocking bar upper extreme point, thereby changes the vertical distance of wheel and vehicle frame, realizes the adjusting of vehicle chassis height.
(3) beneficial effect
Above-mentioned vehicle chassis arrangement for adjusting height and apply the vehicle of this device, can active accommodation vehicle chassis height and setting range surpass wheel tyre diameter, in the adjustment process of chassis height, can guarantee that vehicle wheelbase, wheelspan are constant.By rising vehicle chassis height, can improve trafficability, to adapt to the field management job requirements of plant growth middle and later periods and long-stalked crops; By reducing vehicle chassis height, to adapt to the field management job requirements of plant growth initial stage and short crop, improve high vehicle speeds stability simultaneously.
Accompanying drawing explanation
Fig. 1 vehicle chassis arrangement for adjusting height schematic diagram of mechanism;
The vehicle operation schematic diagram of Fig. 2 application vehicle chassis arrangement for adjusting height;
Fig. 3 increases the fundamental diagram of vehicle chassis height;
Fig. 4 reduces the fundamental diagram of vehicle chassis height;
Wherein, 1: vehicle frame; 2: rocking bar; 3: slide block; 4: strut bar; 5: wheel; 6: connecting rod; 7: crank; 11: rectilinear orbit; 2 ': rocking bar; 3 ': slide block; 4 ': strut bar; 5 ': wheel; 6 ': connecting rod.
The specific embodiment
Below in conjunction with drawings and Examples, the specific embodiment of the present invention is described in further detail.
Fig. 1 is vehicle chassis arrangement for adjusting height schematic diagram of mechanism, a kind of vehicle chassis arrangement for adjusting height that the embodiment of the present invention provides, comprise: between crank double-slider mechanism, vehicle frame 1 and the wheel 5 of the vehicle frame 1 being fixedly connected with vehicle chassis, wheel 5, setting on vehicle frame 1, be connected with slide block rocker mechanism, Liang Ge mechanism shares same slide block 3, and vehicle frame 1 is adjustable with respect to the height of wheel 5 position in the vertical directions.
Wherein, vehicle frame 1 comprises the rectilinear orbit 11 being fixedly connected with it, and on rectilinear orbit 11, being provided with can be along two slide block 3 and 3 ' of its parallel motion; Crank double-slider mechanism comprises: mid point is articulated with the crank 7 that on vehicle frame 1, F is ordered, two connecting rods equal in length 6 and 6 ' separately one end are articulated with respectively crank 7 two-end-point E and E ', the other end is articulated with an A and A ' with two slide blocks 3 and 3 ' on same rectilinear orbit 11 respectively, connecting rod 6 length are greater than the length of 1/2 crank 7, meet Grashof's criterion, be L
aE> L
eF=0.5L
eE', make crank 7 can carry out the gyroscopic movement of complete cycle; Slide block rocker mechanism comprises: the slide block 3 on upper end and rectilinear orbit 11 is articulated with the strut bar 4 that an A, lower end and wheel 5 are articulated with a C, upper end is articulated with the hinged rocking bar 2 of D point on vehicle frame 1, lower end and strut bar 4 mid point B, strut bar 4 length are the twice of rocking bar 2 length, now meet L
aC=2L
bD, L
aB=L
bC, ∠ ADB=∠ DAB=β, the horizontal throw L of some C and D
cD=2L
bDcos β-L
aCcos β=0, when slide block 3 moves on the rectilinear orbit 11 of vehicle frame 1, the relative vehicle frame 1 of wheel 5 is same straight-line motion vertically all the time.
In vehicle chassis arrangement for adjusting height, except crank double-slider mechanism, two groups of slide block rocker mechanisms line centered by the perpendicular bisector MN of vehicle wheelbase is arranged symmetrically with, and on vehicle frame 1, put D, F, D ' conllinear and be positioned at rectilinear orbit 11 place horizontal surfaces, and L
fD=L
fD ', wheelbase=L
dD,; Drive force crank 7 rotates, and realizes vehicle frame 1 with respect to the height adjustment of two wheels 5 and 5 ' position in the vertical direction, and vehicle frame 1 keeps axletree apart from constant in lifting process.For realizing the control to vehicle chassis arrangement for adjusting height, propulsive effort is HM Hydraulic Motor, being provided with fluid control valve is crank 7 position locking mechanisms, for locking the angle α of crank 7 and vehicle frame 1, highly fixing in the walking of vehicle frame 1 after lifting, operation process.
Fig. 2 is the vehicle operation schematic diagram of application vehicle chassis arrangement for adjusting height, on the chassis of vehicle, fixedly mount two groups of vehicle chassis arrangement for adjusting height, vehicle chassis arrangement for adjusting height is symmetrical with vehicle forward direction central plane, the be arranged on vehicle chassis left and right sides by given wheelspan, on two groups of vehicle chassis arrangement for adjusting height, crank 7 equates with the angle α of vehicle frame 1, forms the vehicle of application vehicle chassis arrangement for adjusting height.Simultaneous equal changes the angle α of crank and vehicle frame in two groups of vehicle chassis arrangement for adjusting height, and then distance s, s ' between change slide block and rocking bar upper extreme point, thereby the vertical distance that changes wheel and vehicle frame, changes vehicle frame 1 with respect to the height h on ground, realize vehicle chassis height and regulate.
Fig. 3 is for increasing the fundamental diagram of vehicle chassis height, and outside force driving crank 7 rotates, and changes the angle α of crank 7 and vehicle frame 1, when α is changed to π from 0, apart from s=s ' numerical value, reduces, and h increases, and vehicle chassis height increases; When α=π, crank 7 and the stretching conllinear of connecting rod 6, now vehicle frame 1 is maximum with respect to floor level h, and this kind of situation has cross-country traveling ability operating condition as the vehicle of applying vehicle chassis arrangement for adjusting height.
Fig. 4 is for reducing the fundamental diagram of vehicle chassis height, and outside force driving crank 7 rotates, and changes the angle α of crank 7 and vehicle frame 1, when α is changed to 2 π or when α is changed to 0 from π from π, apart from s=s ' numerical value, increase, h reduces, and vehicle chassis height reduces; When α=0 or 2 π, crank 7 and the overlapping conllinear of connecting rod 6, crank double-slider mechanism has reverse self-locking function, minimum, the good stability of vehicle chassis height now, this kind of situation is as the vehicle fast motorway operation state of application vehicle chassis arrangement for adjusting height.
Below enumerate the design parameters of an embodiment: be applied to, on the SPAPPERI multi-functional picking leaves machine of the Italy chassis of wheelbase 2680mm, wheelspan 1550mm, wheel diameter 800mm, set crank length 1200mm, length of connecting rod 800mm, rocking bar length 800mm, strut bar length 1600mm.The vehicle of applying this vehicle chassis arrangement for adjusting height can meet altitude range in the job requirements of 1280mm-2000mm, realize the adjusting of vehicle chassis height, increase crossing ability, meet the job requirements such as plant protection, results, transportation of the long-stalked crops such as corn, tobacco.
A kind of vehicle chassis arrangement for adjusting height that such scheme provides, can active accommodation vehicle chassis height and setting range surpass wheel tyre diameter, in the process of adjusting height, can guarantee that vehicle wheelbase, wheelspan are constant.By rising vehicle chassis height, can improve trafficability, the requirement with the field management operation that adapts to plant growth middle and later periods and long-stalked crops to field machine; By reducing vehicle chassis height, to adapt to the requirement of the field management operation team field machine of plant growth initial stage and short crop, improve high vehicle speeds stability simultaneously.
Claims (4)
1. a vehicle chassis arrangement for adjusting height, it is characterized in that, comprise: between the vehicle frame being fixedly connected with vehicle chassis, wheel, the crank double-slider mechanism, vehicle frame and the wheel that arrange, be connected with slide block rocker mechanism on vehicle frame, Liang Ge mechanism shares same slide block, and vehicle frame is adjustable with respect to the height of wheel position in the vertical direction;
Wherein, vehicle frame comprises the rectilinear orbit being fixedly connected with it, and on rectilinear orbit, being provided with can be along two slide block of its parallel motion;
Described crank double-slider mechanism comprises: mid point be articulated with crank on vehicle frame, two connecting rods equal in length separately one end respectively hinged with crank two-end-point, the other end is hinged with two slide blocks on same rectilinear orbit respectively, length of connecting rod is greater than the length of 1/2 crank;
Described slide block rocker mechanism comprises: a slide block on upper end and rectilinear orbit is hinged, lower end and the hinged strut bar of wheel, upper end and vehicle frame are hinged, point articulated rocking bar in lower end and strut bar, strut bar length is the twice of rocking bar length, when slide block moves on the rectilinear orbit of vehicle frame, the relative vehicle frame of wheel is same straight-line motion vertically all the time;
Wherein, in vehicle chassis arrangement for adjusting height except crank double-slider mechanism, two groups of slide block rocker mechanisms line centered by vehicle wheelbase's perpendicular bisector is arranged symmetrically with, drive force crank rotates, realize vehicle frame with respect to the height adjustment of two wheel position in the vertical directions, vehicle frame keeps axletree apart from constant in lifting process.
2. vehicle chassis arrangement for adjusting height according to claim 1, it is characterized in that, propulsive effort is HM Hydraulic Motor, and being provided with fluid control valve is crank position lockout mechanism, for locking the angle α of crank and vehicle frame, highly fixing in the walking of vehicle frame after lifting, operation process.
3. apply the vehicle of vehicle chassis arrangement for adjusting height, comprise: on the chassis of vehicle, fixedly mount two groups of above-mentioned vehicle chassis arrangement for adjusting height, vehicle chassis arrangement for adjusting height is symmetrical with vehicle forward direction central plane, the be arranged on vehicle chassis left and right sides by given wheelspan, on two groups of vehicle chassis arrangement for adjusting height, crank equates with the angle α of vehicle frame.
4. the vehicle of application vehicle chassis arrangement for adjusting height according to claim 3, is characterized in that, angle α=0 o'clock of crank and vehicle frame, and the overlapping conllinear of crank and connecting rod, is the vehicle fast motorway operation state of application vehicle chassis arrangement for adjusting height.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410319860.1A CN104070958B (en) | 2014-07-04 | 2014-07-04 | A kind of vehicle chassis arrangement for adjusting height and apply the vehicle of this device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410319860.1A CN104070958B (en) | 2014-07-04 | 2014-07-04 | A kind of vehicle chassis arrangement for adjusting height and apply the vehicle of this device |
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| CN104070958A true CN104070958A (en) | 2014-10-01 |
| CN104070958B CN104070958B (en) | 2016-06-15 |
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| CN201410319860.1A Expired - Fee Related CN104070958B (en) | 2014-07-04 | 2014-07-04 | A kind of vehicle chassis arrangement for adjusting height and apply the vehicle of this device |
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Cited By (15)
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| CN104527361A (en) * | 2014-12-22 | 2015-04-22 | 华南理工大学 | Device and method for automatically adjusting height of vehicle body of mobile robot |
| CN105123508A (en) * | 2015-09-18 | 2015-12-09 | 中国农业大学 | Double-disc type corn tasseling device |
| CN106427451A (en) * | 2016-09-26 | 2017-02-22 | 中国农业大学 | Leveling system and leveling method for agricultural power chassis |
| CN107031579A (en) * | 2017-03-14 | 2017-08-11 | 上海工程技术大学 | A kind of lifting domestic automobile |
| CN107396667A (en) * | 2017-08-10 | 2017-11-28 | 河北锦禾农业机械有限公司 | A kind of rice transplanter pontoon for being provided with auxiliary BOGEY WHEEL |
| CN108340745A (en) * | 2018-01-31 | 2018-07-31 | 谢志坚 | A kind of construction machinery with hinged running gear |
| CN109552447A (en) * | 2018-12-29 | 2019-04-02 | 长沙行深智能科技有限公司 | A kind of intelligence delivery car |
| CN109552446A (en) * | 2018-12-29 | 2019-04-02 | 长沙行深智能科技有限公司 | A kind of liftable intelligence delivery car |
| CN109606239A (en) * | 2019-01-28 | 2019-04-12 | 沈阳理工大学 | A kind of automobile-used bionical elevating mechanism of rescue with active metamorphic function |
| CN109798004A (en) * | 2017-11-17 | 2019-05-24 | 罗伯特·博世有限公司 | Parking robot and for run stop robot method |
| CN111688812A (en) * | 2020-06-11 | 2020-09-22 | 河南坐骑科技有限公司 | Vehicle body side-tipping driving mechanism and design method |
| CN112622553A (en) * | 2020-12-25 | 2021-04-09 | 宁波凯明机器制造有限公司 | Tractor chassis |
| WO2022165618A1 (en) * | 2021-02-02 | 2022-08-11 | 华为技术有限公司 | Adjustable suspension, and control method and control apparatus therefor |
| CN115245092A (en) * | 2022-08-17 | 2022-10-28 | 江苏大学 | Chassis leveling system and method for crawler-type combine harvester and combine harvester |
| CN115366598A (en) * | 2022-10-26 | 2022-11-22 | 福建省威盛机械发展有限公司 | Vehicle chassis and vehicle |
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| JP2002087337A (en) * | 2000-09-20 | 2002-03-27 | Seirei Ind Co Ltd | Crawler type working vehicle |
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| CN104527361A (en) * | 2014-12-22 | 2015-04-22 | 华南理工大学 | Device and method for automatically adjusting height of vehicle body of mobile robot |
| CN104527361B (en) * | 2014-12-22 | 2017-01-11 | 华南理工大学 | Device and method for automatically adjusting height of vehicle body of mobile robot |
| CN105123508A (en) * | 2015-09-18 | 2015-12-09 | 中国农业大学 | Double-disc type corn tasseling device |
| CN105123508B (en) * | 2015-09-18 | 2017-07-07 | 中国农业大学 | Double-arc spline corn takes out male device |
| CN106427451A (en) * | 2016-09-26 | 2017-02-22 | 中国农业大学 | Leveling system and leveling method for agricultural power chassis |
| CN106427451B (en) * | 2016-09-26 | 2019-02-05 | 中国农业大学 | Farm power chassis leveling system and its leveling method |
| CN107031579A (en) * | 2017-03-14 | 2017-08-11 | 上海工程技术大学 | A kind of lifting domestic automobile |
| CN107396667A (en) * | 2017-08-10 | 2017-11-28 | 河北锦禾农业机械有限公司 | A kind of rice transplanter pontoon for being provided with auxiliary BOGEY WHEEL |
| CN109798004A (en) * | 2017-11-17 | 2019-05-24 | 罗伯特·博世有限公司 | Parking robot and for run stop robot method |
| CN108340745A (en) * | 2018-01-31 | 2018-07-31 | 谢志坚 | A kind of construction machinery with hinged running gear |
| CN109552446A (en) * | 2018-12-29 | 2019-04-02 | 长沙行深智能科技有限公司 | A kind of liftable intelligence delivery car |
| CN109552447A (en) * | 2018-12-29 | 2019-04-02 | 长沙行深智能科技有限公司 | A kind of intelligence delivery car |
| CN109552447B (en) * | 2018-12-29 | 2023-10-10 | 长沙行深智能科技有限公司 | Intelligent delivery truck |
| CN109552446B (en) * | 2018-12-29 | 2023-10-13 | 长沙行深智能科技有限公司 | Liftable intelligent delivery car |
| CN109606239A (en) * | 2019-01-28 | 2019-04-12 | 沈阳理工大学 | A kind of automobile-used bionical elevating mechanism of rescue with active metamorphic function |
| CN109606239B (en) * | 2019-01-28 | 2021-07-06 | 沈阳理工大学 | Bionic lifting mechanism with active metamorphic function for rescue vehicle |
| CN111688812A (en) * | 2020-06-11 | 2020-09-22 | 河南坐骑科技有限公司 | Vehicle body side-tipping driving mechanism and design method |
| CN111688812B (en) * | 2020-06-11 | 2022-07-12 | 河南坐骑科技有限公司 | Vehicle body side-tipping driving mechanism and design method |
| CN112622553A (en) * | 2020-12-25 | 2021-04-09 | 宁波凯明机器制造有限公司 | Tractor chassis |
| WO2022165618A1 (en) * | 2021-02-02 | 2022-08-11 | 华为技术有限公司 | Adjustable suspension, and control method and control apparatus therefor |
| CN115245092A (en) * | 2022-08-17 | 2022-10-28 | 江苏大学 | Chassis leveling system and method for crawler-type combine harvester and combine harvester |
| CN115245092B (en) * | 2022-08-17 | 2024-03-19 | 江苏大学 | Chassis leveling system and method of crawler-type combine harvester and combine harvester |
| CN115366598A (en) * | 2022-10-26 | 2022-11-22 | 福建省威盛机械发展有限公司 | Vehicle chassis and vehicle |
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| CN104070958B (en) | 2016-06-15 |
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