CN115384292A

CN115384292A - Vehicle chassis and tractor thereof

Info

Publication number: CN115384292A
Application number: CN202211120257.1A
Authority: CN
Inventors: 方兴志; 李春; 李浩宇
Original assignee: Banyitong Science & Technology Developing Co ltd
Current assignee: Banyitong Science & Technology Developing Co ltd
Priority date: 2022-09-14
Filing date: 2022-09-14
Publication date: 2022-11-25

Abstract

The invention discloses a vehicle chassis and a tractor thereof, comprising a frame; the front wheels on the frame on each side are connected with the steering devices on the corresponding side so as to realize synchronous and independent rotation, and the rear wheels on the frame on each side are arranged at the output end of the reduction gearbox, and the input end of the reduction gearbox is provided with a driving motor. According to the invention, two groups of steering wheels are arranged, and an independent electronic steering mode is adopted, so that the steering angle limitation caused by a steering axle structure is avoided, a smaller turning radius can be achieved, and the flexibility of the whole vehicle in running is improved; meanwhile, the whole vehicle power system adopts two high-power motors, the two high-power motors are independent left and right in mechanical structure, the rotating speeds of the left and right measuring motors are controlled by the double-drive control system, the speeds of the left and right driving wheels are consistent when the vehicle runs straight, and the left and right motors respectively output different rotating speeds according to the steering angle when the vehicle turns, so that the purpose of differential speed of the driving wheels is achieved.

Description

Vehicle chassis and tractor thereof

Technical Field

The invention relates to the technical field of tractor equipment, in particular to a vehicle chassis and a tractor thereof.

Background

Chinese patent publication no: CN202499023U discloses a battery tractor, including the frame, install interchange variable frequency drive motor, power supply box and electrical control unit on the frame, the frame front end is installed and is turned to the axle, and the rear end is installed and is driven the control, the transaxle is through exchanging variable frequency drive motor drive control, it is connected with electrical control unit to exchange variable frequency drive motor through the power supply box. But the following disadvantages still exist in the actual using process: because of the adoption of the scheme of the steering axle, the steering wheel is limited by a mechanical mechanism, the steering angle is limited, the turning radius of the vehicle is large, meanwhile, the driving axle structure using the differential mechanism has the problem of poor difficulty removal capability, and the wheel on the other side cannot provide power when the single wheel slips.

Disclosure of Invention

The present invention is directed to a vehicle chassis that solves the problems set forth above in the background.

In order to achieve the purpose, the invention provides the following technical scheme:

a vehicle chassis comprises

A frame;

a pair of front wheels on each side frame connected to a steering device on the corresponding side for synchronous independent rotation, an

The rear wheels on the frame on each side are arranged at the output end of the reduction gearbox, and the input end of the reduction gearbox is provided with a driving motor.

Preferably, the front wheels are rotatably and symmetrically arranged at two sides of the swing axle, and the swing axle is movably connected with the frame through a connecting shaft, so that the front wheels at two sides can swing up and down.

Preferably, the steering device comprises steering motors respectively arranged at two sides of the swing axle, a steering pinion is arranged on a main shaft of the steering motor, the steering pinion is meshed with a steering gearwheel on the rotary support, and the front wheels at two sides are connected with the rotary support through a wheel carrier.

Preferably, a steering angle detection sensor is disposed at the center of the pivoting support.

Preferably, a steering feedback encoder is arranged on the steering motor.

Preferably, the two sides of the swing bridge are both provided with a return-to-center detection switch.

Preferably, an electromagnetic brake is arranged at the end part of the driving motor.

Preferably, the rear part of the frame is provided with a traction hook component.

The application also provides a tractor comprising the vehicle chassis.

Compared with the prior art, the invention has the beneficial effects that:

according to the invention, two groups of steering wheels are arranged, and an independent electronic steering mode is adopted, so that the steering angle limitation caused by a steering axle structure is avoided, a smaller turning radius can be achieved, and the flexibility of the whole vehicle in running is improved; meanwhile, the whole vehicle power system adopts two high-power motors, the two high-power motors are independent left and right in mechanical structure, the rotating speeds of the left and right measuring motors are controlled by the double-drive control system, the speeds of the left and right driving wheels are consistent when the vehicle runs straight, the left and right motors output different rotating speeds respectively according to steering angles when the vehicle turns, the purpose of driving wheel differential speed is achieved, and due to the independence of the mechanical structure, when a single-side tire skids, the output of the driving force on the other side is not influenced, so that the trafficability of the whole vehicle is improved.

Drawings

FIG. 1 is a schematic structural view of the present invention;

FIG. 2 is a bottom schematic view of the present invention;

FIG. 3 is a schematic view of the front wheel and swing axle configuration of the present invention;

FIG. 4 is a schematic structural view of the rear wheel, the reduction box and the driving motor of the present invention.

In the figure: the device comprises a frame 1, a front wheel 2, a rear wheel 3, a reduction gearbox 4, a driving motor 5, an electromagnetic brake 6, a swing axle 7, a connecting shaft 8, a steering motor 9, a steering pinion 10, a rotary support 11, a steering gearwheel 12, a steering angle detection sensor 13, a steering feedback encoder 14, a return detection switch 15 and a towing hook component 16.

Detailed Description

The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be obtained by a person skilled in the art without making any creative effort based on the embodiments in the present invention, belong to the protection scope of the present invention.

Referring to fig. 1-4, the present invention provides a technical solution:

a vehicle chassis comprises

The bicycle comprises a frame 1, a pair of front wheels 2 and a pair of rear wheels 3 which are arranged at the front end and the rear end of the frame 1, so that the whole bicycle forms a supporting structure with four supporting points;

the front wheel 2 on each side frame 1 is connected with the steering device on the corresponding side to realize synchronous independent rotation, the steering angle limitation caused by a steering axle structure is avoided, a smaller turning radius can be achieved, and the driving flexibility of the whole vehicle is improved; the driving steering motor 9 drives the steering pinion 10 to rotate, and drives the rotary support 11 to rotate under the action of the steering bull gear 12, so that the front wheel 2 can rotate 360 degrees by taking the axis of the rotary support 11 as the center of a circle; the vehicle control system respectively gives instructions to the left and right steering motors 9 according to the steering angles provided by the steering wheel, respectively controls the inner and outer front wheels 2 to reach proper steering angles, detects the steering angles through a steering feedback encoder 14 at the tail part of the steering motors 9 and a steering angle detection sensor 13 at the central position of the rotary support 11, feeds the steering angles back to the vehicle control system, and monitors and adjusts the states of the steering wheels in real time;

the rear wheel 3 on each side frame 1 is arranged at the output end of a reduction gearbox 4, the input end of the reduction gearbox 4 is provided with a driving motor 5, the reduction gearbox 4 is arranged at the corresponding two sides of the frame 1, the whole vehicle power system adopts two high-power driving motors 5, the left and right driving motors 5 are independent on the mechanical structure, the rotating speeds of the left and right driving motors 5 are controlled through a double-drive control system, the left and right driving motors 3 are consistent in speed during straight running, the left and right driving motors 5 respectively output different rotating speeds according to the steering angle during turning, and the purpose of differential speed of the rear wheels 3 is achieved, and the output of the driving force at the other side is not influenced when a single-side tire skids due to the independence of the mechanical structure, so that the trafficability of the whole vehicle is improved, the end part of the driving motor 5 is provided with an electromagnetic brake 6, during driving braking, the vehicle is firstly decelerated through the directional braking of the driving motor 5, and when the rotating speed of the driving motor 5 is reduced to a critical point, the electromagnetic brake 6 is locked, so that the effect of parking is achieved; the vehicle is in a parking state, no acceleration signal exists or the vehicle is in a power-off state, the electromagnetic brake 6 is in a locking state, and the vehicle is prevented from accidentally acting; when starting on a slope, the electromagnetic brake 6 is opened at a proper time by monitoring the vehicle state, and the phenomenon that the vehicle slides down the slope can be effectively avoided;

in order to further improve the trafficability characteristic of whole car, the rotatable symmetry setting of front wheel 2 is in swing bridge 7 both sides, and swing bridge 7 passes through connecting axle 8 and frame 1 swing joint to make the front wheel 2 of both sides can the luffing motion, swing bridge 7 both sides all are provided with detection switch 15 in returning, and the advantage that sets up like this lies in: when the vehicle runs to an uneven bottom surface, the front wheels 2 on the left side and the right side can rotate up and down by taking the connecting shaft 8 as the circle center, so that the front wheels 2 on each side can fully contact the ground, and the stability of the whole vehicle is improved;

the rear part of the frame 1 is provided with a towing hook part 16, by means of which towing hook part 16 a quick connection and disconnection to and from the trailer is achieved.

The application also provides a tractor comprising the vehicle chassis.

Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that various changes, modifications, substitutions and alterations can be made in these embodiments without departing from the principles and spirit of the invention, the scope of which is defined in the appended claims and their equivalents.

Claims

1. A vehicle chassis, characterized by: comprises that

A frame (1);

a pair of front wheels (2), the front wheels (2) on each side of the frame (1) are connected with the steering devices on the corresponding sides to realize synchronous and independent rotation, an

The rear wheels (3) on each side of the frame (1) are arranged at the output end of the reduction gearbox (4), and the input end of the reduction gearbox (4) is provided with a driving motor (5).

2. A vehicle chassis according to claim 1, wherein: the front wheels (2) are rotatably and symmetrically arranged on two sides of the swing bridge (7), and the swing bridge (7) is movably connected with the frame (1) through a connecting shaft (8) so that the front wheels (2) on two sides can swing up and down.

3. A vehicle chassis according to claim 2, characterised in that: the steering device comprises steering motors (9) respectively arranged on two sides of a swing axle (7), a steering pinion (10) is arranged on a main shaft of each steering motor (9), the steering pinion (10) is meshed with a steering large gear (12) on a rotary support (11), and the front wheels (2) are connected with the rotary support (11) through wheel carriers.

4. A vehicle chassis according to claim 3, wherein: and a steering angle detection sensor (13) is arranged at the center of the rotary support (11).

5. A vehicle chassis according to claim 3, characterised in that: and a steering feedback encoder (14) is arranged on the steering motor (9).

6. A vehicle chassis according to claim 3, wherein: and two sides of the swing bridge (7) are provided with a return-to-center detection switch (15).

7. A vehicle chassis according to claim 1, wherein: and an electromagnetic brake (6) is arranged at the end part of the driving motor (5).

8. A vehicle chassis according to any of claims 1 to 7, characterised in that: the rear part of the frame (1) is provided with a traction hook component (16).

9. A tractor, its characterized in that: a vehicle chassis comprising any one of claims 1 to 8.