CN106080781B - Three-freedom-degree hinge-joint chassis of engineering machinery and obstacle-navigation control method - Google Patents
Three-freedom-degree hinge-joint chassis of engineering machinery and obstacle-navigation control method Download PDFInfo
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- CN106080781B CN106080781B CN201610726299.8A CN201610726299A CN106080781B CN 106080781 B CN106080781 B CN 106080781B CN 201610726299 A CN201610726299 A CN 201610726299A CN 106080781 B CN106080781 B CN 106080781B
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D21/00—Understructures, i.e. chassis frame on which a vehicle body may be mounted
- B62D21/15—Understructures, i.e. chassis frame on which a vehicle body may be mounted having impact absorbing means, e.g. a frame designed to permanently or temporarily change shape or dimension upon impact with another body
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D21/00—Understructures, i.e. chassis frame on which a vehicle body may be mounted
- B62D21/18—Understructures, i.e. chassis frame on which a vehicle body may be mounted characterised by the vehicle type and not provided for in groups B62D21/02 - B62D21/17
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- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Vehicle Body Suspensions (AREA)
Abstract
The invention discloses a three-freedom-degree hinge-joint chassis of engineering machinery and an obstacle-navigation control method. The chassis comprises a front car body, a rear car body and a three-freedom-degree hinge-joint device, wherein the front end of the three-freedom-degree hinge-joint device is connected to the front car body, and the rear end is connected to the rear car body; the front car body has a yaw freedom degree, a lateral inclination freedom degree and a pitching freedom degree relative to the rear car body; and because of the added pitching freedom degree, pitching motion can be generated between the front car body and the rear car body. In this way, when a car meets a large-scale obstacle, the pitching angle between the front car body and the rear car body is adjusted to form an inverse V-shaped, so that the large-scale obstacle can be prevented from scraping or colliding the chassis; and when the car passes a deep V-shaped terrain, the pitching angle between the front car body and the rear car body is adjusted to form a V-shaped, so that the front end of the car is prevented from colliding the V-shaped terrain, and thus trafficability of the car is increased.
Description
Technical field
The invention belongs to vehicle chassis technical field, and in particular to a kind of joint with three degress of freedom chassis for engineering machinery
And obstacle detouring control method.
Background technology
In rescue, landslide landslide cleaning, road dredging, the broken cutting of armored concrete, rescue site are removed obstacles etc. makees
Industry relies primarily on the engineering machinery such as excavator, loader and crane and completes, it is seen that engineering machinery is played in rescue
Great function.However, existing engineering machinery lacks high motor-driven breakdown lorry chassis special, its maneuverability is poor, and narrow and small
Cannot pass through under region, complicated landform, cause rescue not in time and inefficiency, exacerbate the extent of damage.Due to existing chassis
Mostly integral structure, when vehicle is by raised barrier, often there is the situation on scratching chassis in Jing, or even cannot pass through, in order to
This limitation is solved, prior art mainly adopts controllable suspension system, such as hydro pneumatic suspension and air suspension, by oil-filled or fill
Gas raising suspension, so as to reach the purpose for raising chassis.However, after chassis raises, the lateral stability of vehicle is reduced,
Vehicle unstability is easily caused, even overturn accident occurs when serious.Particularly, for large-sized raised barrier, even if adjusting
Whole suspension travel, cannot also ensure that vehicle can be passed through.
In addition, when vehicle is through deep Vee hull landform, integral structure chassis cannot ensure that vehicle is passed through.It is existing
Articulated chassis form mostly is single-degree-of-freedom, and front vehicle body and the hinged yaw that formed of aftercarriage are turned to, and such as radial type is loaded
Machine, also has part articulated chassis to adopt double freedom, and front vehicle body and aftercarriage, can be with except can be in addition to relative yaw turns to
There is relative inclination to swing.Either single-degree-of-freedom frame hinging base plate, or double freedom frame hinging base plate, cannot all ensure that vehicle leads to
The raised barrier and deep Vee hull landform of oversized dimensions.
The content of the invention
It is an object of the invention to provide a kind of joint with three degress of freedom chassis and obstacle detouring control method for engineering machinery,
Engineering machinery chassis in prior art are overcome to cross over the limitation of large scale projection barrier, can also solve vehicle cannot lead to
The problem on too deep V-arrangement obstacle road surface, improve engineering truck by property and mobility.
The present invention is achieved through the following technical solutions to solve the above problems：
A kind of engineering machinery joint with three degress of freedom chassis, mainly by front vehicle body 2, joint with three degress of freedom device 1 and aftercarriage 3
It is sequentially connected composition；Wherein the front end of joint with three degress of freedom device 1 is connected with front vehicle body 2, the rear end of joint with three degress of freedom device 1 with it is rear
Car body 3 is connected；Front vehicle body 2 has yaw, rolls and pitching three degree of freedom relative to aftercarriage 3.Wherein, yaw degree of freedom is used
In the articulation steering function of realizing chassis, banking degree of freedom is used to improve the inclination of vehicle when vehicle single wheel surmounts obstacles
Stability, pitch freedom is used to realize vehicle across large scale projection barrier and by deep Vee hull obstacle road surface.
Described joint with three degress of freedom device 1, including the body cradle first 10 and body cradle second 11 that are mutually rotatably connected, the rotation
Transport movable property banking degree of freedom of the car body 2 relative to aftercarriage 3 before death；
Also include pitching hydraulic cylinder, its one end is hinged with aftercarriage 3, and the other end is hinged with body cradle first 10, body cradle first
10 two ends are rotatably connected by bearing first 14 and bearing second 17 with aftercarriage 3, and the stretching motion of pitching hydraulic cylinder produces front truck
Pitch freedom of the body 2 relative to aftercarriage 3；
Also include hydraulic steering cylinder first 15 and hydraulic steering cylinder second 16 in parallel, their two ends respectively with body cradle second 11
It is hinged with front vehicle body 2, body cradle second 11 is hinged by upper hinge ear 111, lower hinge ear 112 with front vehicle body 2, the He of hydraulic steering cylinder first 15
The stretching motion of hydraulic steering cylinder second 16 produces yaw degree of freedom of the front vehicle body 2 relative to aftercarriage 3.
Preferably, described pitching hydraulic cylinder is more than two hydraulic cylinder in parallel.
Cylindrical hole 105 in described body cradle first 10 is rotatably connected with the cylinder axis 115 in body cradle second 11, described
Joint first 101 in body cradle first 10 is rotatably connected with bearing first 14, and bearing first 14 is fixed on the side plate 304 of Rear frame 30
Face, the connected mode of joint second 102 is identical with joint first；Hinge concha auriculae 103 in body cradle first 10 and pitching hydraulic cylinder
Piston rod is hinged and connected, and cylinder barrel end and the hinge ear fourth 302 in Rear frame 30 of pitching hydraulic cylinder are hinged；
The upper hinge ear 111 of described body cradle second 11 is hinged with the crossbeam first 201 in front frame 20, it is lower hinge ear 112 with it is front
Crossbeam second 202 on vehicle frame 20 is hinged；Right hinge ear 113 in body cradle second 11 is hinged with the piston rod of hydraulic steering cylinder first 15,
Hinge ear in the cylinder barrel end of hydraulic steering cylinder first 15 and front frame 20 the third 203 is hinged, the left hinge ear 114 in body cradle second 11 with turn
Connected mode to hydraulic cylinder second 16 is identical with right hinge ear 113.
Described front vehicle body 2 is made up of front frame 20, right front suspension 21, left front suspension 22, off-front wheel 23 and the near front wheel 24,
Described right front suspension 21 and left front suspension 22 is connected to above front frame 20, and off-front wheel 23 is connected with right front suspension 21, left front
Wheel 24 and left front suspension 22 connect；
Described aftercarriage 3 is made up of Rear frame 30, right rear suspension 31, left rear suspension 32, off hind wheel 33 and left rear wheel 34,
Described right rear suspension 31 and left rear suspension 32 is connected to above Rear frame 30, and off hind wheel 33 is connected with right rear suspension 31, left back
Wheel 34 and left rear suspension 22 connect.
Preferably, described off-front wheel 23, the near front wheel 24, off hind wheel 33 and left rear wheel 34 are independent driving.
A kind of obstacle detouring control method based on above-mentioned engineering machinery joint with three degress of freedom chassis, comprises the following steps：
(1) the current traveling road conditions of vehicle are judged；
(2) according to traffic information, the expanding-contracting action of pitching hydraulic cylinder is controlled；
(3) pitching hydraulic cylinder resets.
Specifically, the current traveling road conditions of vehicle described in step (1) include large scale Λ type projection obstacle road surface, depth
V-type obstacle road surface, level or little yardstick obstacle road surface.
The concrete control method of step (2) is：
A. if it is determined that when current road conditions are level or little yardstick obstacle road surface, pitching hydraulic cylinder reset it is simultaneously locked, now before
Car body 2 and aftercarriage 3 are in horizontality, and pitching angle between the two is 0 °；
B. if it is determined that current road conditions are large scale Λ type projection obstacle road surface, when off-front wheel 23 and the near front wheel 24 cross Λ types
The top of raised obstacle 40, and off hind wheel 33 and left rear wheel 34 not yet cross Λ types projection obstacle 40 when, pitching hydraulic cylinder synchronous
Shrink, the punctured position of pitching hydraulic cylinder depends on the size of Λ types projection obstacle 40；After specified location is reached, pitching hydraulic pressure
Cylinder stops shrinking, and the position ensure that vehicle chassis will not keep current contraction with the Λ types projection tip contact of obstacle 40
Position, until car load crosses Λ types projection obstacle 40 top；After car load crosses the top of Λ types projection obstacle 40, pitching hydraulic pressure
Cylinder resets to original state；
C. if it is determined that current road conditions are deep Vee hull obstacle road surface, when off-front wheel 23 and the near front wheel 24 cross deep Vee hull obstacle 41
Bottom, and off hind wheel 33 and left rear wheel 34 be when not yet crossing the bottom of deep Vee hull obstacle 41, the elongation of pitching hydraulic cylinder synchronous, pitching
The extended position of hydraulic cylinder depends on deep V-arrangement obstruction size；After specified location is reached, pitching hydraulic cylinder stops elongation, the position
Put and ensure that vehicle does not collide foremost with deep V-arrangement obstacle road surface, current extended position is kept, until car load is crossed
Deep V-arrangement obstacle bottom；Behind car load more too deep V-arrangement obstacle bottom, pitching hydraulic cylinder resets to original state.
The beneficial effects of the present invention is：Front vehicle body and aftercarriage in the present invention middle articulated position have yaw,
Roll and pitching three degree of freedom；Increasedd pitch freedom is so that can produce pitching fortune between front vehicle body and aftercarriage
It is dynamic, when vehicle runs into large scale obstacle, Λ types are formed it into by adjusting the luffing angle between front vehicle body and aftercarriage, can
To avoid large scale obstacle scratching chassis, when vehicle is through deep Vee hull landform, by adjusting bowing between front vehicle body and aftercarriage
Elevation angle degree forms it into V-type, so as to avoid vehicle front from colliding with V-type landform, improve vehicle by property.
Description of the drawings
Fig. 1 is overall structure diagram of the present invention
Fig. 2 is joint with three degress of freedom schematic device
Fig. 3 (a) is body cradle first rear axle mapping, and Fig. 3 (b) is body cradle first front isometric view
Fig. 4 (a) is body cradle second front isometric view, and Fig. 4 (b) is body cradle second rear axle mapping
Fig. 5 is front frame structure schematic diagram
Fig. 6 is rear cycle frame structure schematic diagram
Fig. 7 is the flow chart of obstacle detouring control method
Fig. 8 crosses chassis pitching adjustment schematic diagram during Λ types projection obstacle for vehicle
Fig. 9 crosses chassis pitching adjustment schematic diagram during deep Vee hull obstacle for vehicle
In figure：
1st, joint with three degress of freedom device, 10, body cradle first, 11, body cradle second, 12, pitching hydraulic cylinder first, 13, pitching liquid
Cylinder pressure second, 14, bearing first, 15, hydraulic steering cylinder first, 16, hydraulic steering cylinder second, 17, bearing second, 101, joint first, 102, connect
Head second, 103, hinge concha auriculae, 104, hinge ear second, 105, cylindrical hole, 111, upper hinge ear, 112, lower hinge ear, 113, right hinge ear, 114, left
Hinge ear, 115, cylinder axis.
2nd, front vehicle body, 20, front frame, 21, right front suspension, 22, left front suspension, 23, off-front wheel, 24, the near front wheel, 201, horizontal
Liang Jia, 202, crossbeam second, 203, hinge ear third.
3rd, aftercarriage, 30, Rear frame, 31, right rear suspension, 32, left rear suspension, 33, off hind wheel, 34, left rear wheel, 301, on
Crossbeam, 302, hinge ear fourth, 303, hinge ear penta.
40th, Λ types obstacle, 41, V-type obstacle
Specific embodiment
Invention is described in detail below in conjunction with the accompanying drawings.
Fig. 1 be the present invention engineering machinery joint with three degress of freedom chassis overall structure diagram, mainly by front vehicle body 2,
Joint with three degress of freedom device 1 and aftercarriage 3 are sequentially connected composition；The wherein front end of joint with three degress of freedom device 1 and the phase of front vehicle body 2
Even, the rear end of joint with three degress of freedom device 1 is connected with aftercarriage 3；Front vehicle body 2 has yaw, rolls and pitching relative to aftercarriage 3
Three degree of freedom.Wherein, yaw degree of freedom is used to realize the articulation steering function on chassis that banking degree of freedom to be used to work as vehicle side
The roll stability of vehicle is improved when wheel surmounts obstacles, pitch freedom is used to realize vehicle across large scale projection barrier
And by deep Vee hull obstacle road surface.
Fig. 2 is the structural representation of joint with three degress of freedom device 1, including the body cradle first 10 that is mutually rotatably connected and is hinged
Frame second 11, the rotary motion produces banking degree of freedom of the front vehicle body 2 relative to aftercarriage 3；Joint with three degress of freedom device 1 also includes
Pitching hydraulic cylinder, its one end is hinged with aftercarriage 3, and the other end is hinged with body cradle first 10, and the two ends of body cradle first 10 pass through axle
Hold first 14 and bearing second 17 is rotatably connected with aftercarriage 3, the stretching motion of pitching hydraulic cylinder produces front vehicle body 2 relative to aftercarriage
3 pitch freedom；Joint with three degress of freedom device 1 also includes hydraulic steering cylinder first 15 and hydraulic steering cylinder second 16 in parallel, it
Two ends be hinged with body cradle second 11 and front vehicle body 2 respectively, body cradle second 11 is by upper hinge ear 111, lower hinge ear 112 and front truck
Body 2 is hinged, and the stretching motion of hydraulic steering cylinder first 15 and hydraulic steering cylinder second 16 produces horizontal stroke of the front vehicle body 2 relative to aftercarriage 3
Pendulum degree of freedom.
Specifically, described pitching hydraulic cylinder can be the more than two hydraulic cylinder of single hydraulic cylinder, or parallel connection,
Example is two hydraulic cylinders, i.e. pitching hydraulic cylinder first 12 and pitching hydraulic cylinder second 13 in Fig. 2.
With reference to Fig. 3 and Fig. 4, it is seen that the cylinder axis on cylindrical hole 105 and body cradle second 11 in described body cradle first 10
115 cooperate links together, and body cradle first 10 and body cradle second 11 can freely be rotated around the axis of cylinder axis 115, shape
Into banking degree of freedom.
Joint first 101 in described body cradle first 10 is connected with bearing first 14, and bearing first 14 is fixed on Rear frame 30
Above side plate 304, the connected mode of joint second 102 is identical with joint first, and joint first 101 and joint second 102 cause to be hinged
Frame first 10 can relatively rotate with Rear frame 30, form pitch freedom.Hinge concha auriculae 103 and pitching in body cradle first 10
The piston rod of hydraulic cylinder first 12 is hinged and connected, and cylinder barrel end and the hinge ear fourth 302 in Rear frame 30 of pitching hydraulic cylinder first 12 are hinged
Together.Hinge ear second 104 in body cradle first 10 is identical with hinge concha auriculae 103 with the connected mode of pitching hydraulic cylinder second 13.
The upper hinge ear 111 of described body cradle second 11 is hinged with the crossbeam first 201 in front frame 20, it is lower hinge ear 112 with it is front
Crossbeam second 202 on vehicle frame 20 is hinged, and body cradle second 11 and front frame 20 can be relatively rotated, and forms yaw degree of freedom.It is hinged
Right hinge ear 113 in frame second 11 is hinged with the piston rod of hydraulic steering cylinder first 15, the cylinder barrel end of hydraulic steering cylinder first 15
It is hinged with the hinge ear in front frame 20 the third 203.The company of left hinge ear 114 and hydraulic steering cylinder second 16 in body cradle second 11
Connect mode identical with right hinge ear 113.
Described front vehicle body 2 is main by front frame 20, right front suspension 21, left front suspension 22, off-front wheel 23 and the near front wheel 24
Composition.Described right front suspension 21 and left front suspension 22 is all connected to above front frame 20, and off-front wheel 23 connects with right front suspension 21
Connect, the near front wheel 24 and left front suspension 22 connect.
Fig. 5 is the structural representation of front frame 20, it is seen that it consists predominantly of crossbeam first 201, and crossbeam second 202 cuts with scissors ear third
203, side plate first 204 and side plate second 205 are constituted, and described crossbeam first 201 and the two ends of crossbeam second 202 is separately fixed at side plate first
204 and side plate second 205 above, hinge ear the third 203 is fixed on above side plate first 204.
Described aftercarriage 3 is main by Rear frame 30, right rear suspension 31, left rear suspension 32, off hind wheel 33 and left rear wheel 34
Composition.Described right rear suspension 31 and left rear suspension 32 is all connected to above Rear frame 30, and off hind wheel 33 connects with right rear suspension 31
Connect, left rear wheel 34 and left rear suspension 22 connect.
Fig. 6 is the structural representation of Rear frame 30, consists predominantly of side plate first 304, side plate second 305 and entablature 301, on
Hinge ear fourth 302 and hinge ear penta 303 are connected firmly on crossbeam 301.
Alternatively, described off-front wheel 23, the near front wheel 24, off hind wheel 33 and left rear wheel 34 are independent driving.
A kind of obstacle detouring control method for above-mentioned engineering machinery joint with three degress of freedom chassis, refers mainly to the more excessive chi of vehicle
Control when degree projection Λ types obstacle and deep Vee hull obstacle to pitching hydraulic cylinder first 12 and pitching hydraulic cylinder second 13, Fig. 7 show and bows
The control flow chart of hydraulic cylinder first 12 and pitching hydraulic cylinder second 13 is faced upward, is comprised the following steps：
(1) the current traveling road conditions of vehicle are judged；
(2) according to traffic information, the expanding-contracting action of pitching hydraulic cylinder first 12 and pitching hydraulic cylinder second 13 is controlled；
(3) pitching hydraulic cylinder first 12 and pitching hydraulic cylinder second 13 reset.
Specifically, the current traveling road conditions of vehicle described in step (1) mainly include three kinds of road conditions, and large scale Λ type is convex
Play obstacle road surface, deep Vee hull obstacle road surface, level or little yardstick obstacle road surface.
The concrete control method of step (2) is：
A. if it is determined that when current road conditions are level or little yardstick obstacle road surface, pitching hydraulic cylinder first 12 and pitching hydraulic cylinder second
13 reset and locked so that front vehicle body 2 and aftercarriage 3 are in horizontality, and pitching angle between the two is 0 °；
B. if it is determined that current road conditions are large scale Λ type projection obstacle road surface, as shown in figure 8, working as two front-wheels on chassis
(off-front wheel 23 and the near front wheel 24) crosses the top of Λ types projection obstacle 40, and two trailing wheels (off hind wheel 33 and left rear wheel 34) are still
When not crossing Λ types projection obstacle 40, in order to prevent chassis from touching the top of Λ types projection obstacle 40, pitching hydraulic cylinder first 12
With the synchronous of pitching hydraulic cylinder second 13, under pitching hydraulic cylinder pulling force effect, the rear end of front vehicle body 2 and the front end of aftercarriage 3 all to
Upper motion, now, front vehicle body 2 and aftercarriage 3 are in Λ types, can thus avoid vehicle chassis from touching Λ types projection obstacle 40
Top.The punctured position of pitching hydraulic cylinder first 12 and pitching hydraulic cylinder second 13 depends on the size of Λ types projection obstacle 40, Λ
Type projection obstacle 40 is higher, then require that pitching hydraulic cylinder first 12 and pitching hydraulic cylinder second 13 shrink more, when reaching specified location
Afterwards, pitching hydraulic cylinder first 12 and pitching hydraulic cylinder second 13 stop shrinking, and the position ensure that vehicle chassis will not be convex with Λ types
The tip contact of obstacle 40 is played, current punctured position is kept, until car load crosses Λ types projection obstacle 40 top, i.e. off hind wheel 33
Λ types projection obstacle 40 top is crossed with left rear wheel 34.After car load crosses the top of Λ types projection obstacle 40, pitching hydraulic cylinder
First 12 and pitching hydraulic cylinder second 13 reset to original state；
C. if it is determined that current road conditions are deep Vee hull obstacle road surface, as shown in figure 9, working as two front-wheel (Hes of off-front wheel 23 on chassis
The near front wheel 24) bottom of deep Vee hull obstacle 41 is crossed, and two trailing wheels (off hind wheel 33 and left rear wheel 34) not yet cross deep Vee hull obstacle
During 41 bottom, in order to prevent vehicle from colliding with deep V-arrangement obstacle 41 foremost, pitching hydraulic cylinder first 12 and pitching hydraulic cylinder
The synchronous elongation of second 13, under the effect of two pitching thrust hydraulic cylinders, the rear end of front vehicle body 2 and the front end of aftercarriage 3 all move downward, this
When, front vehicle body 2 and aftercarriage 3 it is V-shaped, can thus avoid vehicle front from colliding with deep V-arrangement obstacle road surface.Pitching liquid
The extended position of cylinder pressure first 12 and pitching hydraulic cylinder second 13 depends on deep V-arrangement obstruction size, and deep V-arrangement obstacle is deeper, then require to bow
Face upward hydraulic cylinder first 12 and pitching hydraulic cylinder second 13 extend it is more, after specified location is reached, pitching hydraulic cylinder first 12 and pitching liquid
Cylinder pressure second 13 stops elongation, and the position ensure that vehicle does not collide foremost with deep V-arrangement obstacle road surface, keeps current
Extended position, until the more too deep V-arrangement obstacle bottom of car load.Behind car load more too deep V-arrangement obstacle bottom, the He of pitching hydraulic cylinder first 12
Pitching hydraulic cylinder second 13 resets to original state.
Above-described embodiment is merely to illustrate the present invention, wherein the structure of each part, connected mode etc. all can be to have become
Change, every equivalents carried out on the basis of technical solution of the present invention and improvement, should not exclude the guarantor in the present invention
Outside shield scope.
Claims (8)
1. a kind of engineering machinery joint with three degress of freedom chassis, including front vehicle body (2) and aftercarriage (3), it is characterised in that：
Also include joint with three degress of freedom device (1), joint with three degress of freedom device (1) front end is connected with front vehicle body (2), rear end with it is rear
Car body (3) is connected；Front vehicle body (2) is relative to aftercarriage (3) with yaw, inclination and pitching three degree of freedom；
Described joint with three degress of freedom device (1), including the body cradle first (10) and body cradle second (11) that are mutually rotatably connected, should
Rotary motion produces banking degree of freedom of the front vehicle body (2) relative to aftercarriage (3)；
Described joint with three degress of freedom device (1), also including pitching hydraulic cylinder, its one end is hinged with aftercarriage (3), the other end with
Body cradle first (10) is hinged, and the two ends of body cradle first (10) are rotated by bearing first (14) and bearing second (17) with aftercarriage (3)
Connection, the stretching motion of pitching hydraulic cylinder produces pitch freedom of the front vehicle body (2) relative to aftercarriage (3)；
Described joint with three degress of freedom device (1), also including hydraulic steering cylinder first (15) and hydraulic steering cylinder second (16) in parallel,
Their two ends are hinged respectively with body cradle second (11) and front vehicle body (2), and body cradle second (11) is by upper hinge ear (111), lower hinge
Ear (112) is hinged with front vehicle body (2), and the stretching motion of hydraulic steering cylinder first (15) and hydraulic steering cylinder second (16) produces front vehicle body
(2) relative to the yaw degree of freedom of aftercarriage (3).
2. a kind of engineering machinery joint with three degress of freedom chassis according to claim 1, it is characterised in that：
Described pitching hydraulic cylinder is more than two hydraulic cylinder in parallel.
3. a kind of engineering machinery joint with three degress of freedom chassis according to claim 2, it is characterised in that：
Cylindrical hole (105) in described body cradle first (10) is rotatably connected with the cylinder axis (115) in body cradle second (11), institute
The joint first (101) in body cradle first (10) stated is rotatably connected with bearing first (14), and bearing first (14) is fixed on Rear frame
(30) above, the connected mode of joint second (102) is identical with joint first for side plate (304)；Hinge in body cradle first (10)
Concha auriculae (103) is hinged and connected with the piston rod of pitching hydraulic cylinder, the hinge ear on the cylinder barrel end of pitching hydraulic cylinder and Rear frame (30)
Fourth (302) is hinged；
The upper hinge ear (111) of described body cradle second (11) is hinged with the crossbeam first (201) in front frame (20), lower hinge ear
(112) it is hinged with the crossbeam second (202) in front frame (20)；Right hinge ear (113) and hydraulic steering cylinder in body cradle second (11)
The piston rod of first (15) is hinged, and cylinder barrel end and the hinge ear third (203) in front frame (20) of hydraulic steering cylinder first (15) are hinged, hinge
The left hinge ear (114) connect in frame second (11) is identical with right hinge ear (113) with the connected mode of hydraulic steering cylinder second (16).
4. a kind of engineering machinery joint with three degress of freedom chassis according to claim 1, it is characterised in that：
Described front vehicle body (2) is by front frame (20), right front suspension (21), left front suspension (22), off-front wheel (23) and the near front wheel
(24) constitute, described right front suspension (21) and left front suspension (22) be connected to front frame (20) above, off-front wheel (23) and the right side
Front suspension (21) connects, and the near front wheel (24) and left front suspension (22) connect；
Described aftercarriage (3) is by Rear frame (30), right rear suspension (31), left rear suspension (32), off hind wheel (33) and left rear wheel
(34) constitute, described right rear suspension (31) and left rear suspension (32) be connected to Rear frame (30) above, off hind wheel (33) and the right side
Rear suspension (31) connects, and left rear wheel (34) and left rear suspension (22) connect.
5. a kind of engineering machinery joint with three degress of freedom chassis according to claim 4, it is characterised in that：
Described off-front wheel (23), the near front wheel (24), off hind wheel (33) and left rear wheel (34) are independent driving.
6. a kind of obstacle detouring controlling party on the engineering machinery joint with three degress of freedom chassis based on any one of claims 1 to 3
Method, it is characterised in that：Comprise the following steps：
(1) the current traveling road conditions of vehicle are judged；
(2) according to traffic information, the expanding-contracting action of pitching hydraulic cylinder is controlled；
(3) pitching hydraulic cylinder resets.
7. obstacle detouring control method according to claim 6, it is characterised in that：
The current traveling road conditions of vehicle described in step (1) include large scale Λ type projection obstacle road surface, deep Vee hull obstacle road
Face, level or little yardstick obstacle road surface.
8. obstacle detouring control method according to claim 6, it is characterised in that：
The concrete control method of step (2) is：
A. if it is determined that when current road conditions are level or little yardstick obstacle road surface, pitching hydraulic cylinder resets and locked, now front vehicle body
(2) and aftercarriage (3) is in horizontality, pitching angle between the two is 0 °；
B. if it is determined that current road conditions are large scale Λ type projection obstacle road surface, when off-front wheel (23) and the near front wheel (24) cross Λ types
The top of raised obstacle (40), and off hind wheel (33) and left rear wheel (34) not yet cross Λ types projection obstacle (40) when, pitching liquid
Cylinder pressure synchronous, the punctured position of pitching hydraulic cylinder depends on the size of Λ types projection obstacle (40)；When reaching specified location
Afterwards, pitching hydraulic cylinder stops shrinking, and the position ensure that vehicle chassis will not be protected with Λ types projection obstacle (40) tip contact
Current punctured position is held, until car load crosses Λ types projection obstacle (40) top；When car load crosses Λ types projection obstacle (40)
Top after, pitching hydraulic cylinder resets to original state；
C. if it is determined that current road conditions are deep Vee hull obstacle road surface, when off-front wheel (23) and the near front wheel (24) cross deep Vee hull obstacle (41)
Bottom, and off hind wheel (33) and left rear wheel (34), when not yet crossing the bottom of deep Vee hull obstacle (41), pitching hydraulic cylinder synchronous are stretched
Long, the extended position of pitching hydraulic cylinder depends on deep V-arrangement obstruction size；After specified location is reached, pitching hydraulic cylinder stops stretching
Long, the position ensure that vehicle does not collide foremost with deep V-arrangement obstacle road surface, keep current extended position, until
The more too deep V-arrangement obstacle bottom of car load；Behind car load more too deep V-arrangement obstacle bottom, pitching hydraulic cylinder resets to original state.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610726299.8A CN106080781B (en) | 2016-08-25 | 2016-08-25 | Three-freedom-degree hinge-joint chassis of engineering machinery and obstacle-navigation control method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610726299.8A CN106080781B (en) | 2016-08-25 | 2016-08-25 | Three-freedom-degree hinge-joint chassis of engineering machinery and obstacle-navigation control method |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN106080781A CN106080781A (en) | 2016-11-09 |
| CN106080781B true CN106080781B (en) | 2017-04-19 |
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ID=57225133
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201610726299.8A Expired - Fee Related CN106080781B (en) | 2016-08-25 | 2016-08-25 | Three-freedom-degree hinge-joint chassis of engineering machinery and obstacle-navigation control method |
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| CN107554631A (en) * | 2017-10-13 | 2018-01-09 | 吉林大学 | A kind of leg for engineering machinery is carried out formula liftable and taken a step chassis and its control method |
| CN108189910B (en) * | 2017-12-27 | 2020-09-22 | 中国煤炭科工集团太原研究院有限公司 | Multi-degree-of-freedom self-adaptive lifting obstacle-crossing type vehicle hinge mechanism |
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| CN109533084A (en) * | 2018-12-29 | 2019-03-29 | 江苏速升自动化装备股份有限公司 | A kind of car body is connected to the vehicle on wheel top |
| CN109515556A (en) * | 2018-12-29 | 2019-03-26 | 江苏速升自动化装备股份有限公司 | A kind of vehicle with car body in taking turns |
| CN110386193A (en) * | 2019-06-25 | 2019-10-29 | 北京大成高科机器人技术有限公司 | All-terrain vehicle chassis |
| CN112426103B (en) * | 2020-11-19 | 2022-01-21 | 深圳市升阳升人居环境服务有限公司 | Obstacle-crossing robot with strong garbage cleaning function |
| CN113320613A (en) * | 2021-06-23 | 2021-08-31 | 河北工业大学 | Hinge type wall climbing robot capable of realizing multi-angle/discontinuous wall surface transition |
| CN114889712B (en) * | 2022-05-09 | 2023-04-07 | 太原理工大学 | Autonomous-running articulated vehicle test platform and axle load dynamic adjustment method thereof |
| CN115285225A (en) * | 2022-07-28 | 2022-11-04 | 广西博世科环保科技股份有限公司 | Hinging device of road sweeper chassis, road sweeper chassis and road sweeper |
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| US5533587A (en) * | 1993-10-26 | 1996-07-09 | Byron Enterprises, Inc. | Track vehicles and power drive apparatus for motivating tracked vehicles |
| CN201990444U (en) * | 2011-04-21 | 2011-09-28 | 苏庆志 | Front-rear driving forklift truck |
| CN103231651A (en) * | 2013-03-22 | 2013-08-07 | 北京林业大学 | Swing type hydraulic adjustable hanging articulated steering chassis |
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| CN205930908U (en) * | 2016-08-25 | 2017-02-08 | 吉林大学 | Three degrees of freedom of engineering machine tool articulate chassis |
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| FR2652313A1 (en) * | 1989-09-26 | 1991-03-29 | Neyrinck Marc | Elementary vehicle with two independent wheels and complex vehicle including at least one such elementary vehicle |
| US5533587A (en) * | 1993-10-26 | 1996-07-09 | Byron Enterprises, Inc. | Track vehicles and power drive apparatus for motivating tracked vehicles |
| CN201990444U (en) * | 2011-04-21 | 2011-09-28 | 苏庆志 | Front-rear driving forklift truck |
| CN103231651A (en) * | 2013-03-22 | 2013-08-07 | 北京林业大学 | Swing type hydraulic adjustable hanging articulated steering chassis |
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