CN111497953A

CN111497953A - Double-drive type electric mud flat vehicle

Info

Publication number: CN111497953A
Application number: CN202010448440.9A
Authority: CN
Inventors: 丁述勇; 陆佳宙; 任芸; 林森; 郭远晶; 林勇
Original assignee: Zhijiang College of ZJUT
Current assignee: Zhijiang College of ZJUT
Priority date: 2020-05-25
Filing date: 2020-05-25
Publication date: 2020-08-07

Abstract

The invention discloses a double-drive electric beach vehicle which comprises a left motor, a right motor, a left driving wheel, a right driving wheel, an operating system and a control system, wherein the operating system comprises a left operating rod, a right operating rod, a left half shaft, a right half shaft and a planetary gear carrier; the control system is respectively and electrically connected with the left angle sensor, the right angle sensor, the left motor and the right motor. The left operating rod and the right operating rod respectively drive wheels on two sides of the vehicle, the structure is simple, the operation is simple and convenient, and when the vehicle needs to go straight, the operation can be realized by only operating one operating rod.

Description

Double-drive type electric mud flat vehicle

Technical Field

The invention relates to the technical field of mudflat vehicles, in particular to a double-drive type electric mudflat vehicle.

Background

About 50% of regions on the earth, such as desert, mudflat, marsh, gobi, snowfield and the like, where conventional ground vehicles have poor trafficability, low efficiency, large energy consumption and even no traffic due to small driving adhesion and large driving resistance when the vehicles run due to severe sinking, slipping and clay. In the regions, particularly in the tidal flat zones with saturated and supersaturated water content, the soil layer has low bearing capacity and small shear strength, so that the soil layer becomes a forbidden zone which cannot be exceeded by the existing vehicles, and even people can also step well. The daily operation of farmers depending on mudflat cultivation is greatly inconvenient due to a plurality of limitations.

China has 1.8-thousand kilometer coastlines, many coastal areas are suitable for developing marine aquaculture and planting due to unique natural environments, the marine aquaculture and planting usually can be carried out with the periodic change of flood tides and ebb tides for selecting operation time, and farmers generally choose to throw seedlings, plant and harvest agricultural products after ebb tides. Due to the transient change of the marine environment, operating personnel sometimes can not evacuate rapidly due to the rapid rising tide, so that certain potential safety hazards exist for beach operating personnel. Most of coastal beach areas are deep soft ground, ordinary vehicles cannot normally run, farmers use simple farm tools to perform heavy operation most of the time, collected agricultural products cannot be rapidly transported out and cannot be well kept fresh, and the beach vehicle which can not only realize amphibious running in a water channel, but also has good bearing characteristics on the deep soft ground and can quickly and safely run and operate is urgently needed.

The development of tracked vehicles dates back to 1770, invented and patented by richard lovers ehivois, united kingdom. When tracked vehicles were described as "portable tracks" or "man-made roads", such portable tracks were made of pieces of wood, moved along a carriage associated therewith, similar to an infinitely long track laid in front of wheels, which was originally conceived for full-track vehicles. The first 19 th century was that a large number of inventor's invested in the creation of inventions for full-track vehicles and applied for a large number of patents. Although a great deal of invention and creation exists in the period, the tracked vehicle is not developed according to the current situation, the technology is still quite laggard, the driving force cannot meet the requirement of power, the design of steering is unreasonable, the available track materials are only wood and cast iron, and the performance can not meet the requirement of the tracked vehicle.

This situation has changed rapidly at the end of the nineteenth century due to the invention of the internal combustion engine and with the birth of the first automobile. In 1901 the first semi-track steam locomotive was released, and then passenger cars and tracked vehicles were revolutionized, and agricultural tractors were produced and widely used in the early stages of war. This period of time has resulted in limited use of tracked vehicles due to the fact that theoretical studies between soil and vehicle are quite inadequate. In the later stage of a battle, a first tank appears on a battlefield, and the research between the tracked vehicle and the environment in which the tracked vehicle is located is pushed forward by the repulsions of the tank on the battlefield. After a war, the technology of tracked vehicles widely used in war is transformed into civil use, mainly applied in the agricultural field. The state of the art of agricultural tractors has increased significantly, and it has progressed in line with the development of motor vehicles. The development of tracked vehicles in this period has created a rigorous discipline that provides ample space for subsequent basic research. The development of tracked vehicles during this period has been largely dependent on the development of the automotive industry, tracked vehicles being only derivatives of automobiles, or simple modifications of automobiles.

With the development of modern electromechanical hydraulic and ergonomic technology, mechanical-hydraulic steering systems with additional hydraulic pump-hydraulic motor drive on the mechanical system will be increasingly used. The mechanical hydraulic double-flow differential steering mechanism is a novel closed double-flow transmission mechanism which properly combines hydraulic transmission and gear transmission by utilizing the hydraulic mechanical stepless transmission principle. The steering mechanism is used on foreign military armored vehicles, tractors, bulldozers and other engineering machines, the research and the application of the domestic hydraulic mechanical differential steering mechanism mainly aim at military tracked vehicles, and the development and the research of the civil hydraulic mechanical continuously variable transmission which is suitable for the working condition of agricultural tractors are mainly carried out.

The mechanical hydraulic double power flow differential steering system is originally applied to military vehicles and high-power crawler engineering vehicles, such as D61EX/PX of Pinus Japan, D6R of carter, USA, and D8N industrial bulldozers. The transmission is used by the ChallengerMT700/800 series, which is introduced by Kattpeler corporation after entering the agricultural machinery market, the 8000/9000 series agricultural rubber track tractors of John Diel corporation, and the Dongfhong 1302R/1502R tractors produced by the Chinese drag group.

Disclosure of Invention

The invention aims to provide a double-drive type electric beach vehicle, which is used for realizing three operations of advancing, retreating and steering through two operating rods, and only one operating rod needs to be operated during straight motion.

In order to achieve the above purpose, the invention provides the following technical scheme: the utility model provides an electronic mud flat car of double-drive formula, includes left motor, right motor, left action wheel and right action wheel, left motor and right motor are used for the drive respectively left action wheel and right action wheel still include:

the operating system comprises a left operating rod, a right operating rod, a left half shaft, a right half shaft and a planetary gear carrier, wherein the right operating rod is fixedly connected with the planetary gear carrier, the left operating rod is fixedly connected with the left half shaft, the end parts, close to each other, of the left half shaft and the right half shaft are respectively provided with a sun bevel gear, the planetary gear carrier is provided with two planetary bevel gears, the two sun bevel gears are respectively meshed with the two planetary bevel gears, the planetary gear carrier is provided with a right angle sensor, and the left half shaft is provided with a left angle sensor; and

and the control system is respectively electrically connected with the left angle sensor, the right angle sensor, the left motor and the right motor, and controls the steering and rotating speed of the left motor and the right motor according to angle signals collected by the left angle sensor and the right angle sensor.

Preferably, the double-drive electric beach vehicle comprises a chassis and vehicle frames respectively arranged on two sides of the chassis.

Preferably, the left half shaft and the right half shaft are respectively arranged on the bottom surface of the chassis through brackets, and the axes of the left half shaft and the right half shaft are on the same straight line.

Preferably, the planet carrier is rotatably provided on the right half shaft.

Preferably, the two sun bevel gears are symmetrical to each other, and the two planet bevel gears are symmetrical to each other.

Preferably, a right operating rod fixing groove is formed in the planet carrier, a left operating rod fixing groove is formed in the left half shaft, and the bottom end of the left operating rod and the bottom end of the right operating rod are fixedly inserted into the left operating rod fixing groove and the right operating rod fixing groove respectively.

Preferably, the chassis is provided with openings through which the left operating rod and the right operating rod respectively pass, and the top ends of the left operating rod and the right operating rod pass through the openings and then are positioned above the chassis.

Preferably, a gear mark is arranged on the chassis.

Preferably, an operating system shell is arranged outside the operating system.

Preferably, the two sides of the frame are respectively provided with a crawler belt, a plurality of supporting wheels for supporting the crawler belt and a tensioning wheel, and the left driving wheel and the right driving wheel respectively drive the crawler belts on the two sides of the frame to run.

Compared with the prior art, the invention has the advantages that:

1. the left operating rod and the right operating rod respectively drive the wheels on the two sides of the vehicle, so that the vehicle is simple in structure, good in stability, simple and convenient to operate, easy to operate and low in manufacturing cost; when the left operating lever is controlled independently, the left wheels move, and when the right operating lever is controlled independently, the right wheels move, so that the turning action of the vehicle is realized; when the left operating rod and the right operating rod are controlled simultaneously, wheels on two sides move simultaneously, and therefore the straight-going action of the vehicle is achieved.

2. The operating system is a mechanical structure designed based on the structural principle of the symmetrical conical differential, and can automatically drive the left operating rod to synchronously rotate when the right operating rod is independently controlled, so that the operation can be realized only by operating the right operating rod when a vehicle needs to run straight.

Drawings

Fig. 1 is a structural principle of a symmetrical cone differential.

Fig. 2 is a schematic view of the overall structure of the present invention.

Fig. 3 is a schematic bottom view of the present invention (the operating system housing is not shown).

FIG. 4 is a schematic diagram of an operating system according to the present invention.

FIG. 5 is a schematic view of the gear structure of the operating system of the present invention.

Fig. 6 is a schematic diagram of an installation structure of the operating system in the present invention.

Fig. 7 is a schematic view of the vehicle stationary state operating lever of the present invention.

Fig. 8 is a schematic view of a straight-ahead state operating lever of the vehicle of the present invention.

Fig. 9 is a schematic view of the operating lever in a right turn in a forward state of the vehicle of the present invention.

Fig. 10 is a schematic view of the operation lever in the left turn in the forward state of the vehicle of the invention.

FIG. 11 is a schematic view of the vehicle linear reverse operating lever of the present invention.

FIG. 12 is a schematic view of the operating lever of the present invention when the vehicle is reversing and turning to the right.

FIG. 13 is a schematic view of the operating lever for a left turn in a reverse state of the vehicle of the present invention.

FIG. 14 is a schematic view of the operating lever of the present invention when the vehicle is left-hand steered in situ.

FIG. 15 is a schematic illustration of the operating lever of the present invention for pivot steering to the right.

Detailed Description

In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention is further specifically described below by way of embodiments in combination with the accompanying drawings.

In this embodiment, the side where the driving seat is located is the left side, and the left driving wheel, the left motor, the left operating rod, the left half shaft, the left angle sensor and the like are located at the side where the driving seat is located.

Example (b): a double-drive electric beach vehicle is shown in figures 2-6 and comprises a chassis 1, frames 2 arranged on two sides of the chassis 1 respectively, an operating system 3 and a control system 8, wherein a left motor 4 and a right motor 5 are arranged below the chassis 1, tracks 7, a plurality of supporting wheels and tensioning wheels are arranged on two sides of the frame 2 respectively, the supporting wheels and the tensioning wheels are used for supporting or tensioning the tracks 7, a left driving wheel and a right driving wheel 6 are further arranged on two sides of the frame 2 respectively, the left driving wheel is used for driving the left tracks to operate, the right driving wheel 6 is used for driving the right tracks to operate, and the left driving wheel and the right driving wheel are driven by the left motor 4 and the right motor 5 respectively.

The operating system of the present invention is a mechanical structure designed based on the structural principle of a symmetrical cone differential, according to the principle of the differential, as shown in fig. 1, a differential case 300 is used as a driving member in the differential and is integrally connected to a planetary gear shaft 500, side gears 100 and 200 are driven members in the differential, and a planetary gear 400 can revolve around the rotational axis of the differential together with the planetary gear shaft 500 and can rotate around the axis of the planetary gear shaft 500. When a vehicle provided with the differential mechanism runs in a straight line, the left wheel and the right wheel bear the same resistance, the planetary gear 400 does not rotate, power is transmitted to the two half shafts, and the rotating speeds of the left wheel and the right wheel are consistent; when the vehicle turns, the planetary gear 400 rotates around the half shaft and simultaneously rotates, so that the wheels can rotate at different rotating speeds, and the vehicle can smoothly pass through a curve.

Specifically, the operating system 3 in the present embodiment includes a left operating rod 9, a right operating rod 10, a left half shaft 11, a right half shaft 12, and a planet carrier 13, wherein the left half shaft 11 and the right half shaft 12 are respectively disposed on the bottom surface of the chassis 1 through a bracket 16, the axes of the left half shaft 11 and the right half shaft 12 are on the same straight line, the ends of the two shafts close to each other are both provided with a sun bevel gear 14, and the two sun bevel gears 14 are symmetrical to each other; the planet carrier 13 is rotatably arranged on the right half shaft 12 through a bearing, and the planet carrier 13 and the right half shaft 12 can rotate relatively; the planet gear carrier 13 is provided with two planetary bevel gears 15 which are symmetrical up and down, the two sun bevel gears 14 are respectively meshed with the two planetary bevel gears 15, and the four bevel gears are distributed in a square shape. An operating system shell is provided outside the operating system 3 for protecting the operating system 3.

In the structure, the planet gear carrier 13 is provided with a right operating rod fixing groove 18, the bottom end of the right operating rod 10 is fixedly inserted in the right operating rod fixing groove 18, and the planet gear carrier 13 can be driven to rotate by operating the right operating rod 10; be equipped with left action bars fixed slot 17 on the left semi-axis 11, left action bars 9 is fixed to be pegged graft in left action bars fixed slot 17, can drive left semi-axis 11 rotatory through controlling left action bars 9.

In order to collect rotation signals of the left and right operating levers 9 and 10, a right angle sensor 20 is provided on the planet carrier 13, a left angle sensor 19 is provided on the left half shaft 11, when the left or

right operating lever

9 or 10 is operated, the left half shaft 11 or the planet carrier 13 rotates by a certain angle, and the left or

right angle sensor

19 or 20 collects a specific angle of rotation.

In this embodiment, two openings for the left operating rod 9 and the right operating rod 10 to pass through are provided in the front of the driving seat on the chassis 1, and the top ends of the left operating rod 9 and the right operating rod 10 pass through the openings and then are located above the chassis 1 and in the front of the driving seat, so that the driver can control the chassis conveniently. Be equipped with the gear sign between two openings, set up three gear: n range (neutral), D range (forward), and R range (reverse).

In this embodiment, the control system 8 is electrically connected to the left angle sensor 19, the right angle sensor 20, the left motor 4 and the right motor 5, and the control system 8 linearly controls the rotation speeds of the left motor 4 and the right motor 5 according to the angle information collected by the left angle sensor 19 and the right angle sensor 20, so as to control the advancing speeds of the left and right crawlers, when the left operating rod 9 or the right operating rod 10 advances forwards, the left motor 4 or the right motor 5 rotates forwards to drive the corresponding crawler to advance, and the position of the left operating rod 9 or the right operating rod 10 between the N-gear and the D-gear is controlled to control the rotation speed of the crawler at the corresponding side; similarly, when the left operating rod 9 or the right operating rod 10 is pushed backwards, the left motor 4 or the right motor 5 rotates reversely to drive the corresponding crawler belt to move backwards.

In this embodiment, the angle sensor chooses for use the general angle sensor of VTA10 series of Shanxi Tai Runda scientific and technological company, and this angle sensor adopts solid-state magnetic technology to realize angle signal's detection, has angle sensor, angle encoder, angle position switch function, both can single function independent application, can multi-functional mixed application again, has the military project quality, is applicable to the field that requires still to possess the high reliability in adverse circumstances. The control system 8 is a Microcontroller (MCU) and selects 8051 in the MCS-51 series single chip microcomputer as a control element.

In the embodiment, when implemented specifically, the control process principle is as follows:

when the vehicle is at a standstill and the left and right operating levers are in the N-range (neutral) position in a state where the vehicle is not operated, as shown in fig. 7, the carrier 13 and the left axle shaft 11 connected to the operating levers are not rotated, and the vehicle does not run straight and is not steered.

In the straight-ahead state of the vehicle, as shown in fig. 8, since the left and right levers are both in the D-range (forward range), the tracks on both sides controlled by the levers rotate forward at the same rotational speed, and the vehicle is in a straight-ahead motion state. It is noted that the mechanical structure of the operating system of the present invention is based in part on a symmetrical cone differential design, and the right operating lever 10 is rigidly connected to the planet carrier 13 so as to be able to rotate circumferentially together. Therefore, according to the working principle of the differential, the planet gear carrier 13 can drive the sun bevel gears 14 on the two sides to rotate at a constant speed. Therefore, the left operating rod 9 rigidly connected with the left half shaft 11 can be driven to move together only by controlling the right operating rod 10, and the moving distances of the left and right operating rods are also equal due to the equal radius and the equal number of teeth of the half shaft gears at the two sides. In short, when the vehicle is controlled to go straight forward, only the right operating lever 10 is moved to the D range, and the left operating lever 9 is also moved to the D range.

When the vehicle needs to turn in the advancing process, the left operating rod and the right operating rod can be controlled respectively to realize steering. According to the design idea, the angle sensor linearly controls the rotating speed of the motors on the two sides by identifying the rotating angle of the operating rod, so that the advancing speed of the left and right crawler belts is controlled. Therefore, the rotating speed of the corresponding side track can be controlled by controlling the distance between the N gear and the D gear of the operating rod. When the vehicle is ready to turn right in a straight-ahead state, the traveling speed of the left-side crawler needs to be kept higher than that of the right-side crawler, and the control action at this time is that the travel of the left operating rod 9 is controlled to be larger than that of the right operating rod 10, and the radius of the vehicle turning can be controlled by controlling the travel difference of the left and right operating rods, as shown in fig. 9; it is worth noting that at the moment, the left hand and the right hand respectively control the left operating rod and the right operating rod, and due to the principle of the differential mechanism, the differential motion of the left operating rod and the right operating rod can be eliminated through the autorotation of the planetary bevel gear in the structure, so that the front and back motions of the left operating rod and the right operating rod are not interfered with each other. Similarly, when the vehicle is in a straight-ahead state and ready for left turn, the right-side track traveling speed needs to be kept higher than the left-side track traveling speed. The control action at this time is as follows: the stroke of the right operating rod 10 is controlled to be larger than that of the left operating rod 9, and the steering radius of the vehicle can be controlled by controlling the stroke difference of the left operating rod and the right operating rod. As shown in fig. 10.

In the straight reverse state of the vehicle, as shown in fig. 11, similarly to the straight forward state of the vehicle, when the vehicle needs to be reversed straight, only the right operating lever 10 needs to be controlled to move to the R-range (reverse), and the left operating lever 9 also moves at the same speed, so that the tracks on both sides of the vehicle are controlled to rotate backward at a constant speed, and the straight reverse state of the vehicle is realized.

The steering principle in the process of backing the vehicle is the same as that in the process of linearly steering the vehicle. When the vehicle is ready to turn right in reverse, the left track travel speed needs to be maintained greater than the right track travel speed. The control action at this time is as follows: controlling the stroke of the left operating lever 9 to be greater than the stroke of the right operating lever 10 allows the radius of the vehicle to be steered by controlling the stroke difference between the left and right operating levers, as shown in fig. 12. Similarly, when the vehicle is ready to turn left in a reverse state, the right-side crawler travel speed needs to be kept higher than the left-side crawler travel speed. The control action at this time is as follows: controlling the stroke of the right operating lever 10 to be greater than the stroke of the left operating lever 9 allows the radius of the vehicle to be steered by controlling the stroke difference between the left and right operating levers, as shown in fig. 13.

The crawler is required to have the pivot steering capacity, the operating mechanism of the design can also realize the pivot steering operation of the crawler, and as shown in fig. 14, the left operating rod 9 is controlled to be in an N gear, namely, the left crawler of the crawler is kept still. And moving the right operating rod 10 forwards or backwards, namely controlling the right crawler of the vehicle to rotate forwards or backwards, so as to realize the pivot left steering of the vehicle. Similarly, the right operating lever 10 is controlled to be in the N range, i.e., the right track of the vehicle is kept stationary. Moving the left operating rod 9 forwards or backwards, namely controlling the left track of the vehicle to rotate forwards or backwards, so as to realize pivot right steering of the vehicle, as shown in fig. 15.

The above embodiments are merely illustrative of the technical ideas and features of the present invention, and the purpose thereof is to enable those skilled in the art to understand the contents of the present invention and implement the present invention, and not to limit the protection scope of the present invention. All equivalent changes and modifications made according to the spirit of the present invention should be covered within the protection scope of the present invention.

Claims

1. The utility model provides an electronic mud flat car of double-drive formula, includes left motor, right motor, left action wheel and right action wheel, left motor and right motor are used for the drive respectively left action wheel and right action wheel, its characterized in that still includes:

2. The dual-drive electric beach vehicle as claimed in claim 1 which comprises a chassis and frames respectively arranged on two sides of the chassis.

3. The double-drive electric beach vehicle as claimed in claim 2, wherein the left half shaft and the right half shaft are respectively arranged on the bottom surface of the chassis through brackets, and the axes of the left half shaft and the right half shaft are on the same straight line.

4. The dual drive electric beach vehicle of claim 3 wherein the planet carrier is rotatably disposed on the right half shaft.

5. The dual-drive electric beach vehicle as claimed in claim 4 wherein the sun bevel gears and the planet bevel gears are symmetrical.

6. The dual-drive electric beach vehicle as claimed in any one of claims 1 to 5 wherein the planet carrier is provided with a right operating rod fixing groove, the left half shaft is provided with a left operating rod fixing groove, and the bottom end of the left operating rod and the bottom end of the right operating rod are respectively fixedly inserted into the left operating rod fixing groove and the right operating rod fixing groove.

7. The dual-drive electric beach vehicle as claimed in claim 6 wherein the chassis is provided with openings through which the left and right operating rods pass, and the top ends of the left and right operating rods pass through the openings and are located above the chassis.

8. The dual-drive electric beach vehicle as claimed in claim 7 wherein the chassis is provided with gear marks.

9. The dual drive electric beach vehicle of any one of claims 1-5 wherein an operating system enclosure is provided outside the operating system.

10. The dual-drive electric beach vehicle as claimed in claim 2 wherein the two sides of the frame are respectively provided with a track, a plurality of support wheels for supporting the track and a tension wheel, and the left driving wheel and the right driving wheel respectively drive the tracks on the two sides of the frame to run.