CN110182270A - A kind of levelling device and method for travelling bogie - Google Patents
A kind of levelling device and method for travelling bogie Download PDFInfo
- Publication number
- CN110182270A CN110182270A CN201910403195.7A CN201910403195A CN110182270A CN 110182270 A CN110182270 A CN 110182270A CN 201910403195 A CN201910403195 A CN 201910403195A CN 110182270 A CN110182270 A CN 110182270A
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- China
- Prior art keywords
- leveling
- crawler
- pallet
- driven
- shaft
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Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D55/00—Endless track vehicles
- B62D55/06—Endless track vehicles with tracks without ground wheels
- B62D55/065—Multi-track vehicles, i.e. more than two tracks
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D55/00—Endless track vehicles
- B62D55/08—Endless track units; Parts thereof
- B62D55/104—Suspension devices for wheels, rollers, bogies or frames
- B62D55/116—Attitude or position control of chassis by action on suspension, e.g. to compensate for a slope
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- Engineering & Computer Science (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Soil Working Implements (AREA)
Abstract
The invention discloses a kind of levelling devices for travelling bogie, levelling device supporting baffle is fixed in the two sides of its crawler-type traveling chassis fixed platform respectively, the both ends of driven wheel support shaft are multi-diameter shaft, key on the key shaft part at driven wheel support shaft both ends is connected with the corresponding driven keyway swung on leveling board respectively, the bearing connecting shaft section at driven wheel support shaft both ends passes through bearing respectively and connects corresponding levelling device supporting baffle, leveling motor is fixed in the fixed platform of crawler-type traveling chassis, driving gear is mounted on the both ends output shaft of leveling motor, each driven bottom end for swinging leveling board is equipped with the rack gear engaged with driving gear, the driven top for swinging leveling board is fixed with pallet, pendulum obliquity sensor is used to incude the angle of pallet and horizontal plane.The configuration of the present invention is simple is swift in response, and leveling precision is high, is a kind of directly effectively to level mode for Hills woods fruit travelling bogie.
Description
Technical field
The present invention relates to agro-farming field of mechanical technique, in particular to a kind of levelling device and method for travelling bogie.
Background technique
Topography height in knob rises and falls, transport vehicle when knob works as topography is uneven and caused by jolt meeting
Transported fruit is damaged to a certain extent.Poor, the transport system form list for Hills woods fruit harvesting equipment passability
One, the problems such as fruit damage ratio is high, quality is low carries out the research of Hills woods fruit travelling bogie, is to realize to improve Hills
The important component of Mechanization Level and productivity effect.In order to guarantee fruit not subject to damage, fruit case is in woodland transportational process
In should keep horizontal as far as possible, so the compensation leveling of fruit case heavy grade is Hills woods fruit travelling bogie core technology.
The research that current scholar both domestic and external has carried out the leveling method of trolley forms hydraulic cylinder leveling and electric cylinder
Leveling is two kinds of leveling methods of main representative.Hydraulic cylinder leveling working performance is easy to be influenced by temperature change, to environment
Adaptability it is weaker, secondly the failure symptom of Hydraulic Elements is difficult to find in time, and failure cause identification is difficult, not easy to repair.
Electric cylinder leveling process is excessively complicated, cannot simply and effectively achieve the purpose that leveling.
Summary of the invention
The present invention provides a kind of levelling device and method for travelling bogie, and the configuration of the present invention is simple is swift in response, and adjusts
Flat precision is high, is a kind of directly effectively to level mode for Hills woods fruit travelling bogie.
In order to achieve this, being used for the levelling device of travelling bogie designed by the present invention, it includes crawler-type traveling bottom
Disk, levelling device supporting baffle, leveling motor, leveling controller, driving gear, driven wheel support shaft and driven swing leveling
Plate, wherein levelling device supporting baffle, driven wheel support shaft are fixed in the two sides of crawler-type traveling chassis fixed platform respectively
Both ends be multi-diameter shaft, wherein the ladder shaft part of inside is key shaft part, the ladder shaft part in outside is bearing connecting shaft section, driven
It takes turns the key on the key shaft part at support shaft both ends to connect with the corresponding driven keyway swung on leveling board respectively, driven wheel support shaft
The bearing connecting shaft section at both ends passes through bearing respectively and connects corresponding levelling device supporting baffle, and crawler-type traveling chassis is fixed flat
It is fixed with leveling motor on platform, driving gear, each driven swing leveling are mounted on the both ends output shaft of leveling motor
The bottom end of plate is equipped with the rack gear engaged with driving gear, and the driven top for swinging leveling board is fixed with pallet, pendulum inclination angle sensing
Device is used to incude the angle of pallet and horizontal plane, puts the signal input of the signal output end connection leveling controller of obliquity sensor
End levels the control signal input of the motor control signal output end connection leveling motor of controller.
A kind of leveling method of above-mentioned apparatus, it includes the following steps:
Step 1: when crawler-type traveling chassis passes through up-and-down surfaced road, pallet has a certain degree with horizontal plane shape；
Step 2: the pendulum obliquity sensor incudes the angle between pallet and horizontal plane in real time, and angle signal is transmitted
Give leveling controller:
Step 3: leveling controller is according to the angle signal control leveling motor work between pallet and horizontal plane, leveling electricity
Machine drives driving gear rotation, so that driven swings leveling board be driven to be swung accordingly, thus make pallet and horizontal plane it
Between angle be adjusted to zero, guarantee pallet leveling.
The present invention quickly directly can efficiently carry out the leveling of travelling bogie by above structure and method, when pallet occurs
When inclination, pendulum obliquity sensor can real-time detection go out the variation of angle, leveling motor can make a response in a very short period of time
It is leveled.Gear type leveling mode of the invention has apparent corresponding compared to traditional hydraulic cylinder leveling and electric cylinder leveling
Advantage in speed, and have stronger adaptability to working environment.
Detailed description of the invention
Fig. 1 is overall structure diagram of the invention；
Fig. 2 is the structural schematic diagram that motor levels part in the present invention；
Fig. 3 is driving gear and the driven structural schematic diagram for swinging leveling board part in the present invention；
Fig. 4 is that electric control principle block diagram is leveled in the present invention.
Wherein, 1-crawler-type traveling chassis, 1.1-fixed platforms, 1.2-crawler travel framves, the support of 2-levelling devices
Baffle, 3-pallets, 4-leveling motors, 4.1-both ends output shafts, 5-leveling controllers, 6-bearing blocks, 7-driving gears,
8-driven wheel support shafts, 9-pendulum obliquity sensors, 10-driven swing leveling boards, 10.1-rack gears, 11-bearings, 12-
Key, 13-keyways, 14-track drive turbin generators, 15-electric machine controllers.
Specific embodiment
Below in conjunction with the drawings and specific embodiments, the present invention is described in further detail:
The levelling device of travelling bogie is used for designed by the present invention, as shown in figures 1-4, it to include crawler-type traveling bottom
Disk 1, levelling device supporting baffle 2, leveling motor 4, leveling controller 5, driving gear 7, driven wheel support shaft 8 and driven swing
Leveling board 10, wherein levelling device supporting baffle 2 is fixed in the two sides of 1 fixed platform 1.1 of crawler-type traveling chassis respectively,
The both ends of driven wheel support shaft 8 are multi-diameter shaft, wherein the ladder shaft part of inside is key shaft part, the ladder shaft part in outside is bearing
Connecting shaft section, key 12 on the key shaft part at 8 both ends of driven wheel support shaft respectively with the corresponding driven key swung on leveling board 10
Slot 13 connects, and the bearing connecting shaft section at 8 both ends of driven wheel support shaft passes through bearing 11 respectively and connects corresponding levelling device support
Baffle 2, the middle part of 1 fixed platform 1.1 of crawler-type traveling chassis are fixed with leveling motor 4, the both ends output shaft of leveling motor 4
Driving gear 7 is equipped with by key 12 and keyway 13 on 4.1, each driven bottom end for swinging leveling board 10 is equipped with and active
The rack gear 10.1 (rack gear 10.1 is fixed on the inside of the driven bottom end for swinging leveling board 10) that gear 7 engages, driven swing leveling board
10 top is fixed with pallet 3, and pendulum obliquity sensor 9 (liquid pendulum obliquity sensor) is used to incude the angle of pallet 3 Yu horizontal plane
Degree, the signal input part of the signal output end connection leveling controller 5 of pendulum obliquity sensor 9, levels the motor control of controller 5
The control signal input of signal output end connection leveling motor 4.
In above-mentioned technical proposal, the both ends output shaft 4.1 of the leveling motor 4 rotates synchronously always.
In above-mentioned technical proposal, the both ends output shaft 4.1 of the leveling motor 4 is set by the support of corresponding bearing block 6 respectively
It sets in the fixed platform 1.1 on crawler-type traveling chassis 1.
In above-mentioned technical proposal, the track drive turbin generator 14 in the crawler-type traveling chassis 1 is by electric machine controller 15
It is controlled, electric machine controller 15 can receive the control of remote control signal.
In above-mentioned technical proposal, the leveling controller 5 is fixed on leveling motor 4, and electric machine controller 15 is fixed on shoe
On the crawler travel frame 1.2 of belt walking chassis 1, the pendulum obliquity sensor 9 is mounted on driven swing leveling board 10.Due to
Pallet 3 directly bears the weight of fruit case fruit, may will affect the work of pendulum obliquity sensor 9, furthermore driven swing leveling board
10 with pallet 3 be it is relatively-stationary, pendulum obliquity sensor 9 can be placed on driven swing leveling board 10 and indirectly be measured
Angle between pallet 3 and horizontal plane.
For every crawler belt there are two side plate, two side plates are solid by crossbeam in the crawler-type traveling chassis 1 of above-mentioned technical proposal
Fixed connection, crawler travel frame 1.2 are fixedly connected with side plate, and thrust wheel is connect by crossbeam with side plate, and directive wheel passes through tensioning dress
It sets and is fixedly connected with side plate, baffle is fixedly connected with crawler travel frame.
A kind of leveling method of above-mentioned apparatus, it includes the following steps:
Step 1: when crawler-type traveling chassis 1 passes through up-and-down surfaced road, pallet 3 (fixed platform 1.1 and crawler travel frame
1.2 is parallel) it has a certain degree with horizontal plane shape；
Step 2: the pendulum obliquity sensor 9 incudes the angle between pallet 3 and horizontal plane in real time, and angle signal is passed
It is defeated by leveling controller 5:
Step 3: leveling controller 5 works according to the angle signal control leveling motor 4 between pallet 3 and horizontal plane, adjusts
Flat telegram machine 4 drives driving gear 7 to rotate, so that driven swing leveling board 10 be driven to be swung accordingly, (leveling motor 4 is driven
Driving gear 7 rotates, and driving gear 7 is engaged with driven swing leveling board 10, and driven swing leveling board 10 rotates certain angle
The angle generated between pallet 3 and horizontal plane caused by balancing out due to topography reason), to make between pallet 3 and horizontal plane
Angle be adjusted to zero (when leveling controller 5 calculates leveling motor 4 according to the angle between pallet 3 and horizontal plane and leveled
The direction for needing to rotate and circle number), to offset inclination, guarantees that pallet 3 levels, effectively avoid fruit caused by due to climb and fall
Case is moved forward and backward, and it is not injured to be finally reached fruit in guard box.
The content that this specification is not described in detail belongs to the prior art well known to professional and technical personnel in the field.
Claims (6)
1. a kind of levelling device for travelling bogie, it includes crawler-type traveling chassis (1), it is characterised in that: it further includes
Levelling device supporting baffle (2), leveling motor (4), leveling controller (5), driving gear (7), driven wheel support shaft (8) and from
Movable pendulum moves leveling board (10), wherein fixed leveling fills respectively for the two sides of crawler-type traveling chassis (1) fixed platform (1.1)
It sets supporting baffle (2), the both ends of driven wheel support shaft (8) are multi-diameter shaft, wherein the ladder shaft part of inside is key shaft part, outside
Ladder shaft part be bearing connecting shaft section, the key (12) on the key shaft part at driven wheel support shaft (8) both ends respectively with it is corresponding from
Movable pendulum moves the connection of the keyway (13) on leveling board (10), and the bearing connecting shaft section at driven wheel support shaft (8) both ends passes through axis respectively
It holds (11) and connects corresponding levelling device supporting baffle (2), be fixed in crawler-type traveling chassis (1) fixed platform (1.1)
Leveling motor (4) is mounted on driving gear (7) on the both ends output shaft (4.1) of leveling motor (4), and each driven swing is adjusted
The bottom end of plate (10) is equipped with the rack gear (10.1) engaged with driving gear (7), and the driven top for swinging leveling board (10) is solid
Surely have pallet (3), pendulum obliquity sensor (9) is used to incude the angle of pallet (3) and horizontal plane, puts the letter of obliquity sensor (9)
The signal input part of number output end connection leveling controller (5), the motor control signal output end of leveling controller (5), which connects, to be adjusted
The control signal input of flat telegram machine (4).
2. the levelling device according to claim 1 for travelling bogie, it is characterised in that: the leveling motor (4)
Both ends output shaft (4.1) rotates synchronously always.
3. the levelling device according to claim 1 for travelling bogie, it is characterised in that: the leveling motor (4)
The fixed platform in crawler-type traveling chassis (1) is arranged in both ends output shaft (4.1) by corresponding bearing block (6) support respectively
(1.1) on.
4. the levelling device according to claim 1 for travelling bogie, it is characterised in that: the crawler-type traveling chassis
(1) the track drive turbin generator (14) in is controlled by electric machine controller (15), and electric machine controller (15) can receive remote control control
The control of signal processed.
5. the levelling device according to claim 4 for travelling bogie, it is characterised in that: the leveling controller (5)
It being fixed on leveling motor (4), electric machine controller (15) is fixed on the crawler travel frame (1.2) on crawler-type traveling chassis (1),
The pendulum obliquity sensor (9) is mounted on driven swing leveling board (10).
6. a kind of leveling method based on claim 1 described device, which is characterized in that it includes the following steps:
Step 1: when crawler-type traveling chassis (1) passes through up-and-down surfaced road, pallet (3) has a certain degree with horizontal plane shape；
Step 2: pendulum obliquity sensor (9) incudes the angle between pallet (3) horizontal plane in real time, and angle signal is transmitted
To leveling controller (5):
Step 3: leveling controller (5) works according to angle signal control leveling motor (4) between pallet (3) and horizontal plane,
Leveling motor (4) drives driving gear (7) rotation, so that driven swing leveling board (10) is driven to be swung accordingly, thus
So that the angle between pallet (3) and horizontal plane is adjusted to zero, guarantees pallet (3) leveling.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910403195.7A CN110182270A (en) | 2019-05-15 | 2019-05-15 | A kind of levelling device and method for travelling bogie |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910403195.7A CN110182270A (en) | 2019-05-15 | 2019-05-15 | A kind of levelling device and method for travelling bogie |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN110182270A true CN110182270A (en) | 2019-08-30 |
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ID=67716401
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201910403195.7A Pending CN110182270A (en) | 2019-05-15 | 2019-05-15 | A kind of levelling device and method for travelling bogie |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN110182270A (en) |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110667716A (en) * | 2019-10-10 | 2020-01-10 | 北京瑞盈智拓科技发展有限公司 | Self-leveling chassis and vehicle |
| CN110663295A (en) * | 2019-11-13 | 2020-01-10 | 长沙桑铼特农业机械设备有限公司 | Rotary cultivator based on worm and gear leveling and automatic leveling method thereof |
| CN111485823A (en) * | 2020-05-07 | 2020-08-04 | 张强 | Automatic well rig of alignment |
| CN114940222A (en) * | 2022-06-10 | 2022-08-26 | 华南农业大学 | Light caterpillar chassis with slope self-adaptive adjustment |
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| DE10063394A1 (en) * | 2000-12-19 | 2002-06-20 | Macmoter Spa | Tracked vehicle for constructional purposes has spring/hydraulically-loaded support arms for chassis to permit relative movements between lowe vehicle body and chassis |
| WO2015095543A1 (en) * | 2013-12-18 | 2015-06-25 | Abb Technology Ag | Modular confined space crawler for use in machinery |
| CN105460091A (en) * | 2016-01-12 | 2016-04-06 | 重庆交通大学 | Crawler belt chassis assembly |
| CN206243289U (en) * | 2016-11-28 | 2017-06-13 | 四川农业大学 | A kind of intelligent car body leveling dolly |
| CN208434198U (en) * | 2018-06-01 | 2019-01-25 | 盐城合众联通信息技术有限公司 | A kind of chip mounter outer light source locating support |
-
2019
- 2019-05-15 CN CN201910403195.7A patent/CN110182270A/en active Pending
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| DE10063394A1 (en) * | 2000-12-19 | 2002-06-20 | Macmoter Spa | Tracked vehicle for constructional purposes has spring/hydraulically-loaded support arms for chassis to permit relative movements between lowe vehicle body and chassis |
| WO2015095543A1 (en) * | 2013-12-18 | 2015-06-25 | Abb Technology Ag | Modular confined space crawler for use in machinery |
| CN105460091A (en) * | 2016-01-12 | 2016-04-06 | 重庆交通大学 | Crawler belt chassis assembly |
| CN206243289U (en) * | 2016-11-28 | 2017-06-13 | 四川农业大学 | A kind of intelligent car body leveling dolly |
| CN208434198U (en) * | 2018-06-01 | 2019-01-25 | 盐城合众联通信息技术有限公司 | A kind of chip mounter outer light source locating support |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110667716A (en) * | 2019-10-10 | 2020-01-10 | 北京瑞盈智拓科技发展有限公司 | Self-leveling chassis and vehicle |
| CN110663295A (en) * | 2019-11-13 | 2020-01-10 | 长沙桑铼特农业机械设备有限公司 | Rotary cultivator based on worm and gear leveling and automatic leveling method thereof |
| CN111485823A (en) * | 2020-05-07 | 2020-08-04 | 张强 | Automatic well rig of alignment |
| CN114940222A (en) * | 2022-06-10 | 2022-08-26 | 华南农业大学 | Light caterpillar chassis with slope self-adaptive adjustment |
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| SE01 | Entry into force of request for substantive examination | ||
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| RJ01 | Rejection of invention patent application after publication |
Application publication date: 20190830 |
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| RJ01 | Rejection of invention patent application after publication |