CN106627752A - Steering system for plant protection machine four-wheel independent drive chassis - Google Patents
Steering system for plant protection machine four-wheel independent drive chassis Download PDFInfo
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- CN106627752A CN106627752A CN201710047178.5A CN201710047178A CN106627752A CN 106627752 A CN106627752 A CN 106627752A CN 201710047178 A CN201710047178 A CN 201710047178A CN 106627752 A CN106627752 A CN 106627752A
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- steering
- oil
- hydraulic motor
- way hydraulic
- oil inlet
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D5/00—Power-assisted or power-driven steering
- B62D5/06—Power-assisted or power-driven steering fluid, i.e. using a pressurised fluid for most or all the force required for steering a vehicle
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D7/00—Steering linkage; Stub axles or their mountings
- B62D7/06—Steering linkage; Stub axles or their mountings for individually-pivoted wheels, e.g. on king-pins
- B62D7/14—Steering linkage; Stub axles or their mountings for individually-pivoted wheels, e.g. on king-pins the pivotal axes being situated in more than one plane transverse to the longitudinal centre line of the vehicle, e.g. all-wheel steering
- B62D7/142—Steering linkage; Stub axles or their mountings for individually-pivoted wheels, e.g. on king-pins the pivotal axes being situated in more than one plane transverse to the longitudinal centre line of the vehicle, e.g. all-wheel steering specially adapted for particular vehicles, e.g. tractors, carts, earth-moving vehicles, trucks
Abstract
A steering system for a plant protection machine four-wheel independent drive chassis comprises four walking components installed on a frame, each walking component is provided with a hydraulic steering assembly, the four walking components are divided into two sets each including two walking components, the two sets of walking components are arranged at the front end and the rear end of the frame separately, and the two walking components in each set are arranged on the two sides of the frame separately. A steering hydraulic system comprises a steering pressure oil source and a steering oil tank, and a first steering two-way hydraulic motor and a second steering two-way hydraulic motor in each set of walking components are connected in series and connected with the steering pressure oil source and the steering oil tank through a control valve, wherein two oil inlet and outlet ports of the first steering two-way hydraulic motor are connected with one oil inlet and outlet port of the second steering two-way hydraulic motor and the control valve through a reversing valve, and the other oil inlet and outlet port of the second steering two-way hydraulic motor is connected with the control valve. The steering system is high in steering flexibility, good in synchronism, simple in system constitution, low in cost and convenient to control.
Description
Technical field
The present invention relates to technical field of agricultural machinery, and in particular to a kind of turning for fog machine four motorized wheels chassis
To system.
Background technology
At present China's Rice Production realizes mechanization substantially in terms of cultivated, kind, receipts and drying.But south rice is planted
The links such as guarantor, fertilising, breeding pollination still lack effective machinery, and negligence of management problem becomes increasingly conspicuous after kind.
Due to China's traditional agriculture farming custom, southern paddy field mud foot is deep, field is little, the discrepancy in elevation is big, field transhipment is more stranded
The impact of difficult the problems such as, existing plant protection type on the market at present, majority is the equipment for Drought land in North market development, equipment
It is universal larger, it is unsuitable for southern paddy-field-working.Simultaneously minority is with traditional height for the pest control equipment of southern Paddy Field Development
Fast rice transplanter chassis is improved design, is structurally and functionally all necessarily being restricted.Therefore exploitation is applied to southern paddy field
The parameters such as the high-clearance of operation, all-hydraulic output, wheelspan, wheelbase, road clearance energy self-adaptative adjustment, and gather dispenser, apply
The multifunctional integrated fog machine such as fertilizer, to tackle southern paddy field plant protection problem, to improving crop pest control Pesticide use
Technical merit, increase crop yield, raising agricultural product quality and safety, guarantee people's health and promotion China modern agriculture
Production sustainable development, tool is of great significance.
Meanwhile, the application level on China's equipment for plant protection comprehensively with hydraulic system is relatively low.Major applications hydraulic system
Four-wheel drive fog machine adopt fluid motor-driven road wheel, steering control system copies work machine control system, exists
Wheel is easily reversed, and because the mutation on ground easily occurs that four vehicle wheel rotational speeds are inconsistent in operation process, produces showing of skidding
As radius of turn is big, dumb, the problems such as pressing Seedling many, and brake unreliable；And pesticide spraying system, traveling control system, automatically
Hanging balancing system etc. there is also many problems.Therefore, during mechanization of agriculture, the also very long road of equipment for plant protectionization will
Walk, development is adapted to China's each department multipurpose, and high efficiency, high stability equipment for plant protection is particularly important, with particularly significant
Meaning.
The content of the invention
The technical problem to be solved in the present invention is to overcome the shortcomings of that prior art is present, there is provided a kind of steering flexibility height,
Synchronicity is good, system constitutes the steering that simple, low cost, manipulation are conveniently used for fog machine four motorized wheels chassis.
To solve above-mentioned technical problem, the present invention is employed the following technical solutions：
A kind of steering for fog machine four motorized wheels chassis, including four on the vehicle frame on the chassis
Ground-engaging element, each ground-engaging element is equipped with and the fluid pressure type steering assembly for turning to independently is driven by steering two-way hydraulic motor, four
Ground-engaging element with two be a component be two groups, two groups of ground-engaging elements are divided into the front-end and back-end of vehicle frame, two rows of each group
Walk the both sides that part is divided into vehicle frame；Also include the steering hydraulic system for driving each fluid pressure type steering assembly, the steering
Hydraulic system includes steering pressure oil sources and steering oil vessel, and two in each group ground-engaging element turn to two-way hydraulic motor and are respectively
First turns to two-way hydraulic motor and the second steering two-way hydraulic motor, and the first steering two-way hydraulic motor and second turn to two-way
Hydraulic motor is connected in a series arrangement and is connected with steering pressure oil sources and steering oil vessel by a control valve, wherein first turn
To two-way hydraulic motor two oil inlet and outlets by reversal valve with second steering two-way hydraulic motor an oil inlet and outlet and
Control valve is connected, and another oil inlet and outlet of the second steering two-way hydraulic motor is connected with control valve.
The above-mentioned steering for fog machine four motorized wheels chassis, it is preferred that the reversal valve is two four
Three-way electromagnetic valve, two oil inlet and outlets of the first steering two-way hydraulic motor are divided into the first oil inlet and outlet and second and enter fuel-displaced
Mouthful；The two-position four-way solenoid valve has two working conditions, and the first working condition is to make the first steering two-way hydraulic motor
First oil inlet and outlet is connected with the second steering two-way hydraulic motor, first turns to the second oil inlet and outlet of two-way hydraulic motor and control
Valve processed is connected；Second working condition be make the first oil inlet and outlet of the first steering two-way hydraulic motor be connected with control valve, first
The second oil inlet and outlet for turning to two-way hydraulic motor is connected with the second steering two-way hydraulic motor.
The above-mentioned steering for fog machine four motorized wheels chassis, it is preferred that described to control valve for three six
Three-way electromagnetic valve, three clematis stem electromagnetic valves include oil-in, oil-out, unload oil inlet, unload oil export, the first actuator port and second
Actuator port, oil-in is connected with steering pressure oil sources, and oil-out is connected with steering oil vessel, unloads oil inlet and steering pressure oil sources
It is joined directly together or is indirectly connected to by Hydraulic Elements, unloads oil export and steering oil vessel is joined directly together or by between Hydraulic Elements
Connect connected, the first steering two-way hydraulic motor and the second steering two-way hydraulic motor are connected in the first actuator port and the second work
Between hydraulic fluid port；Three clematis stem electromagnetic valves have three working conditions, and the first working condition connects the first working oil to make oil-in
Mouthful, oil-out connect the second actuator port, unload oil inlet and disconnect with oil export is unloaded, the second working condition is to make oil-in connection the
Two actuator ports, oil-out connect the first actuator port, unloads oil inlet disconnects with oil export is unloaded, and the 3rd working condition is to make oil-feed
Mouth, oil-out, the first actuator port and the second actuator port mutually disconnect, unload oil inlet and emptying outlet.
The above-mentioned steering for fog machine four motorized wheels chassis, it is preferred that two control respectively two groups of rows
In walking the control valve of part, the oil inlet that unloads of one of control valve is connected with the oil export that unloads of another control valve.
The above-mentioned steering for fog machine four motorized wheels chassis, it is preferred that each fluid pressure type steering assembly bag
Rotating casing, rotating shaft, mounting bracket and above-mentioned steering two-way hydraulic motor are included, rotating casing is arranged on vehicle frame, and rotating shaft is led to
Bearning mechanism is crossed in rotating casing and can be rotated around vertical axis, mounting bracket is fixed in the lower end of rotating shaft, turned to double
The upper end of output shaft and rotating shaft to hydraulic motor is connected, and the walking component of ground-engaging element is arranged in mounting bracket.
The above-mentioned steering for fog machine four motorized wheels chassis, it is preferred that the mounting bracket is by phase
The L-type support frame that mutually two vertical side bars are formed by connecting, a line beam of L-type support frame is affixed with rotating shaft, ground-engaging element
Walking component is arranged on another side bar of L-type support frame.
The above-mentioned steering for fog machine four motorized wheels chassis, it is preferred that the fluid pressure type steering assembly
The steer axis that the road wheel in ground-engaging element is turned to is driven to intersect with the pivot center of road wheel, and the steer axis is located at
Between two sides of road wheel.
Compared with prior art, it is an advantage of the current invention that：The present invention turning for fog machine four motorized wheels chassis
The steering independently of each fluid pressure type steering assembly can be controlled to system, makes fog machine steering flexibility high, may be implemented in second
In the case that steering two-way hydraulic motor steering is constant, two-way hydraulic motor is turned to by the flexible change first of reversal valve
Steering, and ensure that the first steering two-way hydraulic motor and second turns to the synchronicity that two-way hydraulic motor is turned to, it has and is
System constitutes simple, low cost, manipulates the advantages of facilitating.
Description of the drawings
Fig. 1 is the dimensional structure diagram of fog machine.
Fig. 2 is the main structure diagram of fog machine.
Fig. 3 is the overlooking the structure diagram of fog machine.
Fig. 4 is the side structure schematic view of fog machine.
Fig. 5 is the broken section structural representation of fluid pressure type steering assembly.
Fig. 6 is the structure principle chart of vibration hydraulic system.
Fig. 7 is the structure principle chart of steering hydraulic system.
Fig. 8 is the structure principle chart of hydraulic system for lifting.
Fig. 9 is the structure principle chart of auxiliary hydraulic system.
Figure 10 is the arrangement schematic diagram of each road wheel under straight-line travelling mode of operation.
Figure 11 is the arrangement schematic diagram of each road wheel under cross running mode of operation.
Figure 12 is the arrangement schematic diagram of each road wheel under normal direction of rotation mode of operation.
Figure 13 is the arrangement schematic diagram of each road wheel under splayed roll adjustment mode of operation.
Figure 14 is the arrangement schematic diagram that little place turns to each road wheel under mode of operation.
Figure 15 is the arrangement schematic diagram of each road wheel under pivot stud mode of operation.
Figure 16 is driving path schematic diagram of the fog machine in farm work.
Figure 17 is structure schematic diagram of the fog machine when both sides spray boom is in collapsed state.
Figure 18 is structure schematic diagram of the fog machine when both sides spray boom is in deployed condition.
Figure 19 is structure schematic diagram of the fog machine when side spray boom is in collapsed state.
Marginal data：
1st, vehicle frame；2nd, ground-engaging element；3rd, fluid pressure type steering assembly；31st, first two-way hydraulic motor is turned to；32nd, the second steering is double
To hydraulic motor；33rd, rotating casing；34th, rotating shaft；35th, mounting bracket；36th, regulation of mental activities thrust bearing；37th, locking nut；38th, oil
Envelope；39th, sleeve；4th, fluid pressure type walking component；41st, walking two-way hydraulic motor；42nd, road wheel；43rd, motor assembling case；5th, liquid
Pressed liftable component；51st, hoist cylinder；6th, steering hydraulic system；61st, steering pressure oil sources；62nd, steering oil vessel；63rd, control
Valve；64th, reversal valve；7th, vibration hydraulic system；71st, enclosed variable pump；72nd, one point of four flow divider-combiner；8th, hydraulic system for lifting；
81st, lifting oil pump；82nd, fuel tank is lifted；83rd, reversal valve is lifted；9th, spray component；91st, middle spray boom；92nd, side spray bar；93rd, spray
Medicinal liquid compressing cylinder；94th, spray hydraulic motor；10th, ferigation component；11st, auxiliary hydraulic system；111st, aux. pressure oil sources；112、
Service tank；113rd, the first spray reversal valve；114th, the second spray reversal valve.
Specific embodiment
The present invention is described in further detail below in conjunction with the drawings and specific embodiments.
As shown in Fig. 1 to Fig. 5 and Fig. 7, the steering for fog machine four motorized wheels chassis of the present embodiment,
Including four ground-engaging elements 2 on the vehicle frame 1 on chassis, each ground-engaging element 2 is equipped with only by steering two-way hydraulic motor
It is vertical to drive the fluid pressure type steering assembly 3 for turning to, four ground-engaging elements 2 with two be a component for two groups, two groups of 2 points of ground-engaging elements
Located at the front-end and back-end of vehicle frame 1, two ground-engaging elements 2 of each group are divided into the both sides of vehicle frame 1；Also include for driving each liquid
The steering hydraulic system 6 of pressure type steering assembly 3, steering hydraulic system 6 includes steering pressure oil sources 61 and steering oil vessel 62, each group
Two in ground-engaging element 2 turn to two-way hydraulic motor and are respectively the first steering two-way hydraulic motor 31 and the two-way liquid of the second steering
Pressure motor 32, the first steering two-way hydraulic motor 31 and second turns to two-way hydraulic motor 32 and connects in a series arrangement and by one
Individual control valve 63 is connected with steering pressure oil sources 61 and steering oil vessel 62, wherein two of the first steering two-way hydraulic motor 31 are entered
Oil-out corresponds to respectively the oil inlet and outlet and the control phase of valve 63 for turning to two-way hydraulic motor 32 with second by reversal valve 64
Even, another oil inlet and outlet of the second steering two-way hydraulic motor 32 is connected with control valve 63.Steering pressure oil sources 61 includes fixed
Dispensing pump, the entrance point of quantitative oil pump is provided with oil absorption filter, and the port of export is provided with force feed filter, control valve 63 and steering oil vessel
The oil circuit of 62 connections is provided with radiator.
The steering hydraulic system 6 can control the steering independently of each fluid pressure type steering assembly 3, turn to fog machine flexible
Height, may be implemented in the second steering two-way hydraulic motor 32 turn to it is constant in the case of, by the change that reversal valve 64 is flexible
First turns to the steering of two-way hydraulic motor 31, and ensures that the first steering two-way hydraulic motor 31 and second turns to bidirectional hydraulic horse
Up to 32 synchronicitys for turning to, it has the advantages that simple system composition, low cost, manipulation are convenient.
As shown in figure 5, the fluid pressure type steering assembly 3 of the present embodiment specifically includes rotating casing 33, rotating shaft 34, mounting bracket
35 and above-mentioned steering two-way hydraulic motor, rotating shaft 34 is arranged in rotating casing 33 by Bearning mechanism, makes the rotating shaft 34 can be around
Vertical axis are freely rotated, and a line of mounting bracket 35 is affixed with rotating shaft 34, and the fluid pressure type walking component 4 of ground-engaging element 2 is pacified
It is mounted in the another a line of mounting bracket 35, turns to two-way hydraulic motor and be connected with rotating shaft 34 by reductor and drive shaft 34
Rotate.
Above-mentioned mounting bracket 35 is specially a L-type support frame being formed by connecting by orthogonal two side bars, and L-type is supported
The a line beam of frame is affixed with rotating shaft 34, and road wheel 42 and hoofing part part 41 are arranged on another side bar of L-type support frame.
Above-mentioned rotating shaft 34 is arranged in rotating casing 33 specifically by Bearning mechanism, the centre bore of rotating casing 33 upper and lower two
End is equipped with endoporus in step shape of the internal diameter more than middle part internal diameter, and two regulation of mental activities thrust bearings are respectively mounted in each endoporus
36, rotating shaft 34 is worn in the centre bore of two regulation of mental activities thrust bearings 36, while screw thread socket two is located in rotating shaft 34
The locking nut 37 of the top of upper end regulation of mental activities thrust bearing 36, also sets between two locking nuts 37 and upper end regulation of mental activities thrust bearing 36
There is stop washer, oil sealing 38 and sleeve 39 are installed below lower end regulation of mental activities thrust bearing 36, make rotating shaft 34 be fixed on rotating casing
In 33, and can realize that rotating shaft 34 is freely rotated.
Above-mentioned reversal valve 64 is two-position four-way solenoid valve, and two oil inlet and outlets of the first steering two-way hydraulic motor 31 are divided into
First oil inlet and outlet and the second oil inlet and outlet；Two-position four-way solenoid valve has two working conditions, and the first working condition is to make the
First oil inlet and outlet of one steering two-way hydraulic motor 31 is connected with the second steering two-way hydraulic motor 32, first turns to two-way liquid
Second oil inlet and outlet of pressure motor 31 is connected with control valve 63；Second working condition is to make the first steering two-way hydraulic motor 31
First oil inlet and outlet is connected with control valve 63, the second oil inlet and outlet of the first steering two-way hydraulic motor 31 and the second steering are two-way
Hydraulic motor 32 is connected.
Above-mentioned control valve 63 is three clematis stem electromagnetic valves, and three clematis stem electromagnetic valves include that oil-in, oil-out, emptying enter
Mouthful, unload oil export, the first actuator port and the second actuator port, oil-in is connected with steering pressure oil sources 61, oil-out and turn
It is connected to fuel tank 62, unloads oil inlet and be joined directly together with steering pressure oil sources 61 or be indirectly connected to by Hydraulic Elements, emptying goes out
Mouth is joined directly together with steering oil vessel 62 or is indirectly connected to by Hydraulic Elements, and first turns to two-way hydraulic motor 31 and second turn
It is connected between the first actuator port and the second actuator port to two-way hydraulic motor 32；Three clematis stem electromagnetic valves have three works
Make state, the first working condition connects the second actuator port, unloads oil inlet to make oil-in connect the first actuator port, oil-out
With unload oil export disconnect, the second working condition for make oil-in connect the second actuator port, oil-out connect the first actuator port,
Unload oil inlet and disconnect with oil export is unloaded, the 3rd working condition is to make oil-in, oil-out, the first actuator port and the second working oil
Mouth mutually disconnects, unloads oil inlet and emptying outlet.Three clematis stem electromagnetic valves adopt electric proportional control, controller output electricity
Signal gives the proportion electro-magnet of three clematis stem electromagnetic valves, and three clematis stem electromagnetic valves can be big by the positive and negative and amplitude of input electrical signal
It is little, while realizing the flow direction of liquid stream and the control of flow, to realize turning to the speed governing of two-way hydraulic motor, three clematis stem electromagnetic valves are also
With overflow valve, for adjusting the operating pressure for turning to two-way hydraulic motor.
It is one of to control unloading for valve 63 in two control valves 63 for controlling two groups of ground-engaging elements 2 respectively in the present embodiment
Oil inlet is connected with the oil export that unloads of another control valve 63.
The fog machine of the present embodiment also includes the corollary system being installed on vehicle frame 1, and each ground-engaging element 2 also has independent
Fluid pressure type walking component 4, independent hydraulic up-down component 5, be additionally provided with vehicle frame 1 for driving each fluid pressure type walking component
4 vibration hydraulic system 7 and the hydraulic system for lifting 8 for driving each hydraulic up-down component 5, fluid pressure type walking component 4 is wrapped
Include road wheel 42 and drive the walking two-way hydraulic motor 41 of road wheel 42.The fluid pressure type steering assembly 3 of the present embodiment passes through liquid
Pressed liftable component 5 is arranged on vehicle frame 1, and walking two-way hydraulic motor 41 and road wheel 42 are arranged on fluid pressure type steering assembly 3
On, and walk two-way hydraulic motor 41 output shaft be connected with road wheel 42, to drive road wheel 42 to rotate.Preferably, walk
Two-way hydraulic motor 41 is assemblied in motor assembling case 43, and road wheel 42 adopts solid toothed wheel.
Steering hydraulic system 6 controls the steering of each ground-engaging element 2, and steering is flexibly, synchronicity is good and can realize that four-wheel is only
It is vertical to turn to.Coordinate vibration hydraulic system 7 to control each fluid pressure type walking component 4, be capable of achieving multiple-working mode, including linear rows
Sail, cross running, normal direction of rotation, splayed roll adjustment, little place turn to and pivot stud.It is descending that straight-line travelling turns to mode of operation
Walk the arrangement of wheel 42 as shown in Figure 10, the direct of travel of each road wheel 42 is the fore-and-aft direction of vehicle frame 1, before realizing fog machine longitudinal direction
Enter or retreat；Cross running turns to the arrangement of road wheel 42 under mode of operation as shown in figure 11, the direct of travel of each road wheel 42
It is vertical with the fore-and-aft direction of vehicle frame 1, realize that fog machine is horizontal forward or backward；The cloth of road wheel 42 under normal direction of rotation mode of operation
Put as shown in figure 12, the direct of travel of two road wheels 42 in the front end of vehicle frame 1 or rear end is deflected relative to the fore-and-aft direction of vehicle frame 1
Certain angle, the direct of travel of two other road wheel 42 is identical with the fore-and-aft direction of vehicle frame 1；Splayed roll adjustment turns to Working mould
As shown in figure 13, the direct of travel of each road wheel 42 is pressed from both sides the arrangement of road wheel 42 with the fore-and-aft direction of vehicle frame 1 in 45 degree under formula
Angle, and the direct of travel of all road wheels 42 is simultaneously towards the inner side of vehicle frame 1 or outside；Little place turns to and walked under mode of operation
As shown in figure 14, the vehicle frame road wheel 42 of 1 front end two is relative to the fore-and-aft direction of vehicle frame 1 towards the direction for needing to turn to for the arrangement of wheel 42
Deflection certain angle, the vehicle frame road wheel 42 of 1 rear end two is relative to the fore-and-aft direction of vehicle frame 1 towards the rightabout deflection for needing to turn to
Certain angle, under this kind of mode of operation, the road wheel 42 of front end two and the road wheel 42 of rear end two order about vehicle frame 1 towards same side
To turning, and then the turning of wide-angle can be completed in little place；The arrangement of road wheel 42 is as schemed under pivot stud mode of operation
Shown in 15, all wheels deflect 45 degree, and the traveling side of the left front road wheel 42 of vehicle frame 1 both with respect to the fore-and-aft direction of vehicle frame 1
To contrary with the direct of travel of the right back road wheel 42 of vehicle frame 1 and be parallel to each other, the direct of travel of the right front road wheel 42 of vehicle frame 1
It is contrary with the direct of travel of the left back road wheel 42 of vehicle frame 1 and be parallel to each other, so make the vehicle frame 1 can be with pivot stud.
In the present embodiment, the steer axis of each ground-engaging element 2（Namely fluid pressure type steering assembly 3 drives fluid pressure type walking group
The axis that part 4 is turned to, the steer axis is the A axis in Fig. 5）Vertically arrangement, and each ground-engaging element 2 it is highly identical when, institute
The steer axis for having ground-engaging element 2 is respectively positioned on same circle relatively-stationary with vehicle frame 1 in the horizontal plane；Steer axis and row
Walk the pivot center of wheel 42（B axle line in Fig. 5）It is intersecting, and steer axis is between two sides of road wheel 42.
Preferably, steer axis along the pivot center direction of road wheel 42 to the distance between 42 two sides of road wheel phase
Deng, namely steer axis crosses the midpoint of line between 42 two sides of road wheel.
As shown in fig. 6, vibration hydraulic system 7 includes enclosed variable pump 71 and one point of four flow divider-combiner 72, one point four points
Stream combiner valve 72 includes the second hydraulic fluid port that first hydraulic fluid port and four connect respectively with the first hydraulic fluid port, and the first hydraulic fluid port becomes with enclosed
One oil inlet and outlet of amount pump 71 is connected, a working oil of the walking two-way hydraulic motor 41 of four fluid pressure type walking components 4
Mouth is connected with another oil inlet and outlet of enclosed variable pump 71, the walking two-way hydraulic motor of four fluid pressure types walking components 4
41 another actuator port corresponds to be connected with four the second hydraulic fluid ports respectively.
The fog machine is exported using power full-hydraulic, and its control and easy to adjust, job stabilization are good, while having structure
Compact, multiple functional, motility is high, the advantage that wide accommodation, working performance are high.Meanwhile, the enclosed of vibration hydraulic system 7 becomes
Amount pump 71 is connected by one point of four flow divider-combiner 72 with four walking two-way hydraulic motors 41, not only has four road wheels 42
Higher synchronicity, realizes the long range straight line moving of fog machine, is also capable of achieving freely turning for fog machine, meets on traveling road
To hole, deep mud foot and excessively in the case of the mutation of the ground such as bank, skidproof effect is also fine.
One point of four flow divider-combiner 72 is prior art, when one point of four flow divider-combiner 72 is in accurate SHUNT state,
The long range straight line moving of achievable fog machine, four road wheels 42 have higher synchronicity.When one point of four flow divider-combiner 72
In loose SHUNT state when, then can realize freely turning for fog machine, hole, deep mud foot and mistake bank etc. are run on traveling road
In the case that ground is mutated, skidproof effect is also fine.
In the present embodiment, variable hydraulic motor of the two-way hydraulic motor 41 for electric proportional control of walking, enclosed variable pump 71
For shaft orientation plunger variable pump, it is furnished with the auxiliary such as flushing valve, oil absorption filter, force feed filter, two two-position three way magnetic valves
Hydraulic Elements, by the swashplate angle for changing enclosed variable pump 71, can be with rotating and infinitely variable speeds, on enclosed variable pump 71
Integrated slippage pump is provided for system and supplements hydraulic oil, and cooling oil and enclosed variable pump 71 control required hydraulic oil, while this is closed
Formula variable pump 71 provides power for the oil cylinder for controlling the change of main pump swash plate pivot angle, and oil compensation pressure is set by repairing overflow valve, adopts
Oil suction and repairing force feed filter type, the control mode of enclosed variable pump 71 is electric proportional displacement control, smoothly promotion electric hand handle,
A continuous input signal is given, after controller process, a pulse-width signal is exported and is given walking proportion electro-magnet,
Due to the size of the swash plate pivot angle of enclosed variable pump 71 relation proportional to the input current of proportion electro-magnet, cause enclosed variable
The continuous ratio change of swash plate pivot angle of pump 71.Each walking two-way hydraulic motor 41 is provided with hydraulic control brake, can be driven a vehicle,
Parking braking, hydraulic control brake is controlled using a two-position three way magnetic valve, when two-position three way magnetic valve is in power failure state, liquid
Control brake oil cylinder connected tank, is not braked work, when two-position three way magnetic valve is when electricity condition is obtained, pressure oil（Preferably
The pressure oil of the slippage pump output of enclosed variable pump 71）Through the hydraulic control of two-position three way magnetic valve to walking two-way hydraulic motor 41
Brake oil cylinder, realizes braking.
The fog machine has two kinds of modes of braking, and one is the swash plate auto zero for controlling enclosed variable pump 71, using whole machine weight
Powerful frictional force brakes between amount and ground, two is the hydraulic control brake using walking two-way hydraulic motor 41.Controllable row
Walking the hydraulic control brake of the variable and walking two-way hydraulic motor 41 of two-way hydraulic motor 41 carries out Associated brake, it is ensured that braking
Reliability, especially ensures traffic safety in transition.
The variable that one two-position three way magnetic valve controls four walking two-way hydraulic motors 41 is set, when electromagnetic valve is in mistake
Electricity condition, walking two-way hydraulic motor 41 remains that maximum pump discharge is constant, so that the speed of travel realizes low speed smooth change,
When electromagnetic valve is when electricity condition is obtained, variable of the pressure oil through two-position three way magnetic valve to four walking two-way hydraulic motors 41
Cylinder, the variable of two-way hydraulic motor 41 of walking, wheel changes speed；The pressure of pressure oil is controlled using electric hand handle, steady to promote electricity
Handle, it is possible to achieve the high speed transition of fog machine.
In the present embodiment, hydraulic up-down component 5 includes hoist cylinder 51, and each ground-engaging element 2 passes through the first parallel four side
Shape elevating mechanism is arranged on vehicle frame 1, and hoist cylinder 51 is connected between the parallelogram lifting mechanism of vehicle frame 1 and first, such as
Shown in Fig. 8, hydraulic system for lifting 8 includes lifting oil pump 81 and lifting fuel tank 82, and two actuator ports of each hoist cylinder 51 are equal
It is connected with lifting oil pump 81 and lifting fuel tank 82 by an independent lifting reversal valve 83.Lifting oil pump 81 is open type pump, its
Entrance point is provided with oil absorption filter, and the port of export is provided with force feed filter, lifts the oil circuit that reversal valve 83 is connected with steering oil vessel 62
It is provided with radiator.Lifting reversal valve 83 adopts electric proportional control, controller to export ratio of the signal of telecommunication to lifting reversal valve 83
Electric magnet, lifting reversal valve 83 can press the positive and negative and amplitude size of input electrical signal, while realizing flow direction and the stream of liquid stream
The control of amount, realizes the speed governing of hoist cylinder 51.Four hoist cylinders 51 are controlled respectively by independent lifting reversal valve 83, can be with
Action simultaneously, it is also possible to single movement.During four actions simultaneously of hoist cylinder 51, horizontal, the longitudinal direction that can simultaneously realize wheel becomes
Away from, and vehicle frame 1 lifts；During four 51 single movements of hoist cylinder, the leveling of vehicle frame 1 is capable of achieving.
Above-mentioned first parallelogram lifting mechanism be prior art, including the first connection otic placode, the second connection otic placode and
Four support bars, the first connection otic placode is fixed on vehicle frame 1, and the second connection otic placode is fixed in the rotation of fluid pressure type steering assembly 3
On sleeve pipe 33, the two ends of each support bar are hinged respectively with the first connection otic placode and the second connection otic placode, and four support bars and
Two parallel-crank mechanisms side by side are formed between one connection otic placode and the second connection otic placode.Hoist cylinder 51 is hingedly mounted on
On vehicle frame 1, its expansion link is hinged with the first parallelogram lifting mechanism, stretches when the expansion link of hoist cylinder 51 extend out to maximum
During output, support bar is in horizontally disposed, and now vehicle frame 1 rises to maximum height, and now wheelspan and wheelbase are in maximum
State, when the retraction of hoist cylinder 51 is to minimum overhang, vehicle frame 1 drops to minimum altitude, and now wheelspan and wheelbase are in
Minimum state.Each hoist cylinder 51 is equipped with hydraulic lock, is capable of achieving the static locking of hoist cylinder 51.Using this kind of fluid pressure type
Lifting assembly 5 adjusts the height of ground-engaging element 2, and then the lifting of regulation vehicle frame 1, is suitable for the crop of differing heights, while also
Can be to the leveling of vehicle frame 1.And the road wheel 42 of four fluid pressure type walking components 4 can be adapted to not with horizontal and vertical roll adjustment
Same crop spacing.
To adapt to southern paddy field depth mud foot（Universal depth is up to 0.3 meter）, field is little and ridge is high（Highly up to 0.2 ~ 0.3
Rice）, the plant growth later stage such as Oryza sativa L., Brassica campestris L height existed up to the working environment features such as 1.0 ~ 1.2 meters using ground gap adjusting range
1.2 ~ 1.6 meters of high-clearance operation chassis（Plant growth later stage, the bottom of vehicle frame 1 can suitably touch crop top）.
In the present embodiment, corollary system includes spray component 9 and ferigation component 10, and spray component 9 is arranged on after vehicle frame 1
End, ferigation component 10 is arranged on the front end of vehicle frame 1.Spray component 9 is prior art, and it includes being provided with the centre of chemical spraying mechanism
Spray boom 91 and two side spray bars 92, two side spray bars 92 are hingedly connected to the two ends of middle spray boom 91 and can turn to around hinge axes
Linearly arrange with middle spray boom 91 or vertical with middle spray boom 91, middle spray boom 91 passes through the second parallelogram elevator
Structure is installed on vehicle frame 1, wherein, chemical spraying mechanism includes spray hydraulic motor 94 and some with what spray hydraulic motor 94 was connected
High-pressure nozzle, some high-pressure nozzles are arranged on middle spray boom 91 and two side spray bars 92.Spray component 9 is provided with driving
Between the spray hydraulic jack 93 of the lifting of spray boom 91, the spray hydraulic motor 94 of farm chemical spray pump for driving chemical spraying mechanism and for driving
The electro-motor that dynamic side spray bar 92 is rotated；Fog machine is additionally provided with for driving spray hydraulic jack 93 with spray hydraulic motor 94
Auxiliary hydraulic system 11, as shown in figure 9, auxiliary hydraulic system 11 includes aux. pressure oil sources 111 and service tank 112, spray
Two oil inlet and outlets of hydraulic jack 93 are by the first spray reversal valve 113 and aux. pressure oil sources 111 and the phase of service tank 112
Even, spray hydraulic motor 94 is connected by the second spray reversal valve 114 with aux. pressure oil sources 111 and service tank 112.Second
Parallelogram lifting mechanism four side elevating mechanism parallel with above-mentioned first is similar to, and will not be described here.First spray reversal valve
113 and second spray reversal valve 114 adopt electric proportional control, can press the positive and negative and amplitude size of input electrical signal, at the same realization
The flow direction of liquid stream and the control of flow.The present embodiment is provided with altogether two first spray reversal valves 113, and two first sprays are changed
The stretching speed of two spray hydraulic jacks 93 is controlled respectively to valve 113, and then controls rising or falling speed.Second spray reversal valve
The steering of 114 control spray hydraulic motors 94 and rotating speed.
Preferably, the walking two-way hydraulic motor 41 positioned at two ground-engaging elements 2 of the rear end of vehicle frame 1 has velocity pick-up
Device, and a controller being connected with velocity sensor and the second spray reversal valve 114 is set, controller is according to velocity sensor
Rate signal control the second spray reversal valve 114, to control the rotating speed of spray hydraulic motor 94, makes spray value with speed of travel phase
Matching, it is ensured that spray value is uniform stable.
In the present embodiment, ferigation component 10 is installed on vehicle frame 1 by the second parallel four side elevating mechanism, is set on vehicle frame 1
There is the fertilising hydraulic jack for driving ferigation component 10 to lift, two oil inlet and outlets of the hydraulic jack that applies fertilizer are by commutation of applying fertilizer
Valve is connected with aux. pressure oil sources 111 and service tank 112, and fertilising hydraulic jack stretching motion can order about the second parallel four side liter
Descending mechanism change of shape, and then order about ferigation component 10 and lift, realize the adjustment of fertilising operation height.Second parallel four sides lifting
Mechanism's four side elevating mechanism parallel with first is similar to, and will not be described here.Ferigation component 10 is prior art, and it includes fertilising
Bucket, the spiral fertilizer applicator of Fertilizer distributing pail realizes the access of power, Jin Erjin by belt wheel transmission mechanism and any one hydraulic motor
Row fertilising operation.
In the present embodiment, each reversal valve is integrated into the electric control multi-way valve of a multi-sheet structure, and electric control multi-way valve arranges overflow
Valve.Each hydraulic system shares a fuel tank.The agent structure of vehicle frame 1 is approximate rectangular support body made by rectangle steel welding, is
With reference to job requirements, other each parts are arranged with gravity balance matching principle on vehicle frame 1, and the center of vehicle frame 1 arranges and drives
Room is sailed, by the electromotor that need to be radiated, hydraulic system radiator, operation height is adjustable and retractable fertilization system etc. is unlikely to
Driver's cabin front, and the function end of hydraulic system is arranged in engine-side with nearby principle.Driver's cabin rear is sequentially arranged
Dispenser system and medicine-chest, hydraulic control system and hydraulic oil container, operation height is adjustable and retractable spraying system.
The fog machine of the present embodiment is a kind of operation chassis high-clearance, power full-hydraulic output, wheelspan, wheelbase, liftoff
The parameters such as gap energy self-adaptative adjustment, and gather the field management projects such as dispenser, fertilising in the equipment for plant protection of one, it is each to make
Industry project can individually or simultaneously operation, be capable of achieving a tractor serves several purposes, improve working performance, reduces cost.The equipment is provided simultaneously with
Stability Analysis of Structures, multiple functional, working performance be high, it is adaptable the features such as.Separately reserved installation by pollinating device connects the fog machine
Mouthful.
Operation process of the fog machine of the present embodiment in certain field is as follows：
Before operation, as shown in figure 16, fog machine is at original position A of field；As shown in figure 17, at the both sides spray boom 92 of fog machine
In collapsed state（Now both sides spray boom 92 is parallel with the fore-and-aft direction of vehicle frame 1）；As shown in figure 18, both sides spray boom 92 is made first
Launch（Both sides spray boom 92 is vertical with the fore-and-aft direction of vehicle frame 1）, the wherein end of side spray boom 92 is concordant with ridge 2, middle
Spray boom 91 and side spray bar 92 are overall concordant with the ridge 1 of field original position A, then regulate centre according to crop actual height
The height of spray boom 91 and side spray bar 92 so as to reach optimal spray effect；Such as the irregular situation in ground, can be according to two side sprays
The end height leveling side spray bar 92 of bar 92, to avoid side spray bar 92 from inclining the impact for causing to travel and operation is inconvenient.
When starting operation, spray component 9 is opened, while control fog machine going at the B of position with straight-line travelling mode of operation
Sail, brake when fog machine front end road wheel 42 is reached at the B of position, then control fog machine with cross running mode of operation to position C
Place's traveling, while adjusting side spray boom 92 is in collapsed state（Referring to Figure 19）.When fog machine drives to approximated position C when systems
Move, then control fog machine and travelled at the D of position with straight-line travelling mode of operation, while adjust both sides spray boom 92 to be in launching shape
State.Brake during the D of fog machine approximated position, the height of spray boom 91 and side spray bar 92 is to retractable height in the middle of adjustment, then adjusts
Both sides spray boom 92 is in collapsed state, completes one and works back and forth.The present embodiment is one and works complete whole field back and forth
Between operation.When field wider width, what is can repeated as procedure described above works back and forth, until completing whole farm work.
The above is only the preferred embodiment of the present invention, and protection scope of the present invention is not limited merely to above-mentioned enforcement
Example.To those of ordinary skill in the art, improvement resulting under without departing from the technology of the present invention concept thereof and change
Change and also should be regarded as protection scope of the present invention.
Claims (7)
1. a kind of steering for fog machine four motorized wheels chassis, including the vehicle frame installed in the chassis（1）On
Four ground-engaging elements（2）, it is characterised in that：Each ground-engaging element（2）It is equipped with independently to be driven by steering two-way hydraulic motor and turns
To fluid pressure type steering assembly（3）, four ground-engaging elements（2）With two be a component be two groups, two groups of ground-engaging elements（2）Set up separately
In vehicle frame（1）Front-end and back-end, two ground-engaging elements of each group（2）It is divided into vehicle frame（1）Both sides；Also include for driving
Each fluid pressure type steering assembly（3）Steering hydraulic system（6）, the steering hydraulic system（6）Including steering pressure oil sources（61）
And steering oil vessel（62）, each group ground-engaging element（2）In two turn to two-way hydraulic motors be respectively the first steering bidirectional hydraulic
Motor（31）Two-way hydraulic motor is turned to second（32）, first turns to two-way hydraulic motor（31）Bidirectional hydraulic is turned to second
Motor（32）Connect in a series arrangement and by a control valve（63）With steering pressure oil sources（61）And steering oil vessel（62）Phase
Even, wherein first turns to two-way hydraulic motor（31）Two oil inlet and outlets pass through reversal valve（64）Bidirectional hydraulic is turned to second
Motor（32）An oil inlet and outlet and control valve（63）It is connected, second turns to two-way hydraulic motor（32）Another enter fuel-displaced
Mouth and control valve（63）It is connected.
2. the steering for fog machine four motorized wheels chassis according to claim 1, it is characterised in that：It is described
Reversal valve（64）For two-position four-way solenoid valve, described first turns to two-way hydraulic motor（31）Two oil inlet and outlets be divided into first
Oil inlet and outlet and the second oil inlet and outlet；The two-position four-way solenoid valve has two working conditions, and the first working condition is to make the
One turns to two-way hydraulic motor（31）The first oil inlet and outlet and second turn to two-way hydraulic motor（32）Connected, the first steering is double
To hydraulic motor（31）The second oil inlet and outlet with control valve（63）It is connected；Second working condition is to make the first steering bidirectional hydraulic
Motor（31）The first oil inlet and outlet with control valve（63）It is connected, first turns to two-way hydraulic motor（31）The second oil inlet and outlet
Two-way hydraulic motor is turned to second（32）It is connected.
3. the steering for fog machine four motorized wheels chassis according to claim 1, it is characterised in that：It is described
Control valve（63）For three clematis stem electromagnetic valves, three clematis stem electromagnetic valves include oil-in, oil-out, unload oil inlet, unload oil export,
First actuator port and the second actuator port, oil-in and steering pressure oil sources（61）It is connected, oil-out and steering oil vessel（62）
It is connected, unloads oil inlet and steering pressure oil sources（61）It is joined directly together or is indirectly connected to by Hydraulic Elements, unloads oil export and turn
To fuel tank（62）It is joined directly together or is indirectly connected to by Hydraulic Elements, first turns to two-way hydraulic motor（31）Turn to second
Two-way hydraulic motor（32）It is connected between the first actuator port and the second actuator port；Three clematis stem electromagnetic valves have three works
Make state, the first working condition connects the second actuator port, unloads oil inlet to make oil-in connect the first actuator port, oil-out
With unload oil export disconnect, the second working condition for make oil-in connect the second actuator port, oil-out connect the first actuator port,
Unload oil inlet and disconnect with oil export is unloaded, the 3rd working condition is to make oil-in, oil-out, the first actuator port and the second working oil
Mouth mutually disconnects, unloads oil inlet and emptying outlet.
4. the steering for fog machine four motorized wheels chassis according to claim 3, it is characterised in that：Two
Two groups of ground-engaging elements are controlled respectively（2）Control valve（63）In, one of control valve（63）Unload oil inlet with another control
Valve processed（63）Unload oil export be connected.
5. the steering for fog machine four motorized wheels chassis according to any one of claim 1 to 4, it is special
Levy and be：Each fluid pressure type steering assembly（3）Including rotating casing（33）, rotating shaft（34）, mounting bracket（35）With above-mentioned steering
Two-way hydraulic motor, rotating casing（33）Installed in vehicle frame（1）On, rotating shaft（34）Rotating casing is arranged on by Bearning mechanism
（33）In and can rotate around vertical axis, mounting bracket（35）It is fixed in rotating shaft（34）Lower end, turn to two-way hydraulic motor
Output shaft and rotating shaft（34）Upper end be connected, ground-engaging element（2）Walking component（4）Installed in mounting bracket（35）On.
6. the steering for fog machine four motorized wheels chassis according to claim 5, it is characterised in that：It is described
Mounting bracket（35）Be the L-type support frame being formed by connecting by orthogonal two side bars, a line beam of L-type support frame with turn
Axle（34）It is affixed, ground-engaging element（2）Walking component（4）On another side bar of L-type support frame.
7. the steering for fog machine four motorized wheels chassis according to any one of claim 1 to 4, it is special
Levy and be：The fluid pressure type steering assembly（3）Drive ground-engaging element（2）In road wheel（42）The steer axis of steering and walking
Wheel（42）Pivot center intersect, and the steer axis be located at road wheel（42）Two sides between.
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| CN201710047178.5A CN106627752B (en) | 2017-01-22 | 2017-01-22 | Steering for fog machine four motorized wheels chassis |
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Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN109185248A (en) * | 2018-10-31 | 2019-01-11 | 湖南农业大学 | A kind of leveling system and its leveling method adaptively leveling chassis for high-clearance fog machine |
| CN109306978A (en) * | 2018-12-07 | 2019-02-05 | 湖南十开科技有限公司 | Hydraulic moving control unit and hydraulic travel system |
| CN110228522A (en) * | 2019-06-10 | 2019-09-13 | 吉林大学 | A kind of independent steering gear and hydraulic system |
| CN110525516A (en) * | 2019-10-10 | 2019-12-03 | 山东路得威工程机械制造有限公司 | A kind of traveling vehicle frame with a variety of steering patterns |
| CN110685967A (en) * | 2019-09-20 | 2020-01-14 | 农业农村部南京农业机械化研究所 | Full hydraulic drive high-speed transplanter chassis |
| CN111637105A (en) * | 2020-06-04 | 2020-09-08 | 扬州大学 | Hydraulic control system and control method for ground clearance and wheel track variable walking platform |
| CN115503827A (en) * | 2022-11-16 | 2022-12-23 | 福建省威盛机械发展有限公司 | Vehicle chassis and transport vehicle |
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Cited By (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109185248A (en) * | 2018-10-31 | 2019-01-11 | 湖南农业大学 | A kind of leveling system and its leveling method adaptively leveling chassis for high-clearance fog machine |
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| CN109306978B (en) * | 2018-12-07 | 2023-12-08 | 湖南十开科技有限公司 | Hydraulic walking control unit and hydraulic walking system |
| CN110228522A (en) * | 2019-06-10 | 2019-09-13 | 吉林大学 | A kind of independent steering gear and hydraulic system |
| CN110685967A (en) * | 2019-09-20 | 2020-01-14 | 农业农村部南京农业机械化研究所 | Full hydraulic drive high-speed transplanter chassis |
| CN110685967B (en) * | 2019-09-20 | 2021-01-29 | 农业农村部南京农业机械化研究所 | Full hydraulic drive high-speed transplanter chassis |
| CN110525516A (en) * | 2019-10-10 | 2019-12-03 | 山东路得威工程机械制造有限公司 | A kind of traveling vehicle frame with a variety of steering patterns |
| CN111637105A (en) * | 2020-06-04 | 2020-09-08 | 扬州大学 | Hydraulic control system and control method for ground clearance and wheel track variable walking platform |
| CN115503827A (en) * | 2022-11-16 | 2022-12-23 | 福建省威盛机械发展有限公司 | Vehicle chassis and transport vehicle |
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Application publication date: 20170510 Assignee: JISHOU ZONGNAN HEAVY INDUSTRY Co.,Ltd. Assignor: Hunan Agricultural University Contract record no.: X2021980003520 Denomination of invention: Steering system for four wheel independent drive chassis of plant protection machine Granted publication date: 20171201 License type: Common License Record date: 20210514 |