CN116394695A - Four-wheel upright post sliding type electric cylinder leveling vehicle body and leveling method - Google Patents

Four-wheel upright post sliding type electric cylinder leveling vehicle body and leveling method Download PDF

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Publication number
CN116394695A
CN116394695A CN202310660440.9A CN202310660440A CN116394695A CN 116394695 A CN116394695 A CN 116394695A CN 202310660440 A CN202310660440 A CN 202310660440A CN 116394695 A CN116394695 A CN 116394695A
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China
Prior art keywords
leveling
vehicle body
electric cylinder
upright post
steering
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CN202310660440.9A
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Chinese (zh)
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CN116394695B (en
Inventor
曹树坤
王品正
王洪滨
曹翀
赵国
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University of Jinan
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University of Jinan
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    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16F—SPRINGS; SHOCK-ABSORBERS; MEANS FOR DAMPING VIBRATION
    • F16F15/00—Suppression of vibrations in systems; Means or arrangements for avoiding or reducing out-of-balance forces, e.g. due to motion
    • F16F15/02—Suppression of vibrations of non-rotating, e.g. reciprocating systems; Suppression of vibrations of rotating systems by use of members not moving with the rotating systems
    • F16F15/04—Suppression of vibrations of non-rotating, e.g. reciprocating systems; Suppression of vibrations of rotating systems by use of members not moving with the rotating systems using elastic means
    • F16F15/06—Suppression of vibrations of non-rotating, e.g. reciprocating systems; Suppression of vibrations of rotating systems by use of members not moving with the rotating systems using elastic means with metal springs
    • F16F15/067—Suppression of vibrations of non-rotating, e.g. reciprocating systems; Suppression of vibrations of rotating systems by use of members not moving with the rotating systems using elastic means with metal springs using only wound springs
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60G—VEHICLE SUSPENSION ARRANGEMENTS
    • B60G17/00—Resilient suspensions having means for adjusting the spring or vibration-damper characteristics, for regulating the distance between a supporting surface and a sprung part of vehicle or for locking suspension during use to meet varying vehicular or surface conditions, e.g. due to speed or load
    • B60G17/015—Resilient suspensions having means for adjusting the spring or vibration-damper characteristics, for regulating the distance between a supporting surface and a sprung part of vehicle or for locking suspension during use to meet varying vehicular or surface conditions, e.g. due to speed or load the regulating means comprising electric or electronic elements
    • B60G17/019—Resilient suspensions having means for adjusting the spring or vibration-damper characteristics, for regulating the distance between a supporting surface and a sprung part of vehicle or for locking suspension during use to meet varying vehicular or surface conditions, e.g. due to speed or load the regulating means comprising electric or electronic elements characterised by the type of sensor or the arrangement thereof
    • B60G17/01908—Acceleration or inclination sensors
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60G—VEHICLE SUSPENSION ARRANGEMENTS
    • B60G2400/00—Indexing codes relating to detected, measured or calculated conditions or factors
    • B60G2400/05—Attitude
    • B60G2400/051—Angle
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60G—VEHICLE SUSPENSION ARRANGEMENTS
    • B60G2800/00—Indexing codes relating to the type of movement or to the condition of the vehicle and to the end result to be achieved by the control action
    • B60G2800/20—Stationary vehicle
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60G—VEHICLE SUSPENSION ARRANGEMENTS
    • B60G2800/00—Indexing codes relating to the type of movement or to the condition of the vehicle and to the end result to be achieved by the control action
    • B60G2800/90—System Controller type
    • B60G2800/91—Suspension Control
    • B60G2800/912—Attitude Control; levelling control
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60G—VEHICLE SUSPENSION ARRANGEMENTS
    • B60G2800/00—Indexing codes relating to the type of movement or to the condition of the vehicle and to the end result to be achieved by the control action
    • B60G2800/90—System Controller type
    • B60G2800/91—Suspension Control
    • B60G2800/914—Height Control System
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
    • Y02T10/00—Road transport of goods or passengers
    • Y02T10/60—Other road transportation technologies with climate change mitigation effect
    • Y02T10/70—Energy storage systems for electromobility, e.g. batteries

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  • Engineering & Computer Science (AREA)
  • General Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Physics & Mathematics (AREA)
  • Acoustics & Sound (AREA)
  • Aviation & Aerospace Engineering (AREA)
  • Vehicle Body Suspensions (AREA)

Abstract

The invention belongs to the field of leveling vehicles, and particularly discloses a four-wheel upright post sliding type electric cylinder leveling vehicle body and a leveling method, wherein the leveling electric cylinder is vertically arranged on a lower vehicle body and is used for leveling by taking the lower vehicle body as a reference; each upright post is connected with two leveling electric cylinders through a connecting plate, and the force required by up-and-down sliding acts on the upright post through the connecting plate, so that the bearing of each upright post is uniform in lifting force, the bending of the upright post is reduced, the weakening of the strength of the upright post is reduced, the lifting is more stable, and the lifting force is large; leveling is carried out through the sliding upright post, instability brought when the vehicle body is leveled can be effectively reduced, and side turning of the vehicle body is avoided. In the leveling process, the stand column is fixed with the long gear through the buckle and the shaft shoulder, so that the stand column can drive the long gear to slide up and down in the vertical sliding process, the stand column can steer at different heights, and the steering angle is accurate, the steering force is large, and the occupied space is small.

Description

Four-wheel upright post sliding type electric cylinder leveling vehicle body and leveling method
Technical Field
The invention relates to the field of leveling vehicles, in particular to a four-wheel upright post sliding type electric cylinder leveling vehicle body and a leveling method.
Background
The leveling function of the existing car body mainly relies on a hydraulic cylinder on a supporting leg to carry out lifting adjustment, the car body leveling work is achieved, the hydraulic cylinder directly replaces the supporting leg to support, load of the car body directly acts on the supporting leg, the strength of the supporting leg is seriously weakened, bending risks exist when the leveling work is carried out, the existing car body is different in height of two front wheels which rotate simultaneously when the car body turns due to the existence of a leveling device, the required turning force is large, the turning force of an existing turning pull rod structure or a rack and pinion structure turning device is small, turning work is difficult to complete in the leveling process, the side turning danger easily occurs during the work, and certain potential safety hazards exist.
Disclosure of Invention
Aiming at the defects existing in the prior art, the invention aims to provide a four-wheel upright post sliding type electric cylinder leveling vehicle body and a leveling method, which can realize the leveling of the vehicle body and the steering at the same time.
In order to achieve the above object, the present invention is realized by the following technical scheme:
in a first aspect, an embodiment of the invention provides a four-wheel upright post sliding type electric cylinder leveling vehicle body, which comprises an upper vehicle body, a lower vehicle body and a steering mechanism, wherein the upper vehicle body, the lower vehicle body and the steering mechanism are included, four corners of the upper vehicle body and the lower vehicle body are connected through four upright posts which can be lifted, and the bottoms of the upright posts penetrate through the lower vehicle body to be connected with a travelling mechanism; a group of leveling electric cylinders are respectively arranged at four corners of the lower-layer vehicle body, each group of leveling electric cylinders comprises two leveling electric cylinders, a connecting plate is horizontally arranged at the top of each leveling electric cylinder, the middle part of the connecting plate is fixed on a linear metal sleeve, thrust bearings are arranged at the upper end and the lower end of the linear metal sleeve, and the upper end of the upper thrust bearing and the lower end of the lower thrust bearing are fixed on an upright post; when the leveling electric cylinder moves up and down, the connecting plate is driven to move up and down, and the connecting plate drives the upright post to move up and down through the linear metal sleeve; each upright post can slide up and down under the drive of the leveling electric cylinder; the steering mechanism comprises a steering motor, the steering motor is arranged at the lower part of the lower-layer vehicle body, the steering motor is connected with a steering gear through a coupler and a steering gear shaft, the steering gear is meshed with two idler gears, the two idler gears transmit steering force to two long gears, one long gear is fixed on one upright post, the other long gear is fixed on the other upright post, and the two long gears move along with the up-and-down sliding of the upright post. When the leveling electric cylinder performs lifting movement, the connecting plate is driven to perform lifting movement, and the connecting plate drives the upright post to perform lifting movement through the linear metal sleeve; each upright post can slide up and down under the drive of the leveling electric cylinder, so that the running mechanisms are not at the same height in the working environment with uneven pavement, the vehicle body is ensured to be kept horizontal, and the leveling work is completed.
The steering mechanism comprises a steering motor, the steering motor is arranged at the lower part of the front end of the lower layer of the vehicle body, the steering motor is connected with a steering gear through a coupler and a steering gear shaft, the steering gear is meshed with two idler gears, steering force is transmitted to two long gears, one long gear is fixed on one upright post, the other long gear is fixed on the other upright post, and the long gears move along with the up-and-down sliding of the upright post.
As a further technical scheme, the upper end and the lower end of the steering gear are fixed through a bearing with a seat.
As a further technical scheme, the travelling mechanism comprises two driving wheels and two bearing wheels, wherein the two bearing wheels are arranged at the front end of the lower-layer vehicle body; the two driving wheels are arranged at the rear end of the lower-layer car body.
As a further technical scheme, the upright post penetrates through the lower-layer vehicle body and is connected with a driving wheel or a bearing wheel corresponding to the upright post through a connecting sleeve.
As a further technical scheme, the upper end of upper end thrust bearing link to each other with the stand through upper portion buckle, lower extreme thrust bearing's lower extreme link to each other with the stand through lower part buckle.
As a further technical scheme, a spring sleeved on the upright post is arranged between the upper buckle and the upper-layer vehicle body.
As a further technical scheme, the leveling electric cylinder is controlled by a control system.
As a further technical scheme, the inclination angle data of the leveling vehicle body is obtained by an inclination angle sensor horizontally arranged on the lower vehicle body; namely, an inclination sensor is also arranged on the lower-layer vehicle body, and the inclination sensor is connected with the control system.
In a second aspect, the embodiment of the invention also provides a leveling method for leveling the vehicle body by the four-wheel upright post sliding type electric cylinder, which comprises the following steps:
acquiring inclination angle data of the vehicle body through an inclination angle sensor horizontally arranged on the lower-layer vehicle body, judging inclination direction and angle information of the whole vehicle body, calculating the height difference between the highest point and the lowest point of the whole vehicle body through a control system, and calculating the height compensation displacement distance of the corresponding highest stand column and the corresponding lowest stand column according to the height difference; determining the current extension length of the leveling electric cylinder through the height information output by the leveling electric cylinder, outputting a corresponding control signal to the leveling electric cylinder where the corresponding upright post is positioned, and extending or retracting the leveling electric cylinder by a certain length to drive the upright post to lift by a certain height so as to finish the leveling work; the steering motor drives the steering gear to rotate, so that the two idler gears are driven to rotate, the two idler gears drive the long gears to rotate, and the two long gears drive the two stand columns to rotate by a certain angle, so that the steering effect is realized.
The beneficial effects of the embodiment of the invention are as follows:
the leveling electric cylinder is vertically arranged on the lower-layer vehicle body, and levels are carried out by taking the lower-layer vehicle body as a reference; each upright post is connected with two leveling electric cylinders through a connecting plate, and the force required by up-and-down sliding acts on the upright post through the connecting plate, so that the bearing of each upright post is uniform in lifting force, the bending of the upright post is reduced, the weakening of the strength of the upright post is reduced, the lifting is more stable, and the lifting force is large; leveling is carried out through the sliding upright post, instability brought when the vehicle body is leveled can be effectively reduced, and side turning of the vehicle body is avoided. In the leveling process, the stand column is fixed with the long gear through the buckle and the shaft shoulder, so that the long gear can be driven to slide up and down in the vertical sliding process of the stand column, but the mutual meshing between the long gear and the idler gear is not influenced in the vertical sliding process of the long gear, the stand column can steer at different heights, and the stand column has the advantages of accurate steering angle, large steering force and small occupied space.
Furthermore, the springs are arranged on the upright posts below the upper-layer vehicle body, so that rigid vibration caused by leveling can be buffered.
Drawings
The accompanying drawings, which are included to provide a further understanding of the invention and are incorporated in and constitute a part of this specification, illustrate embodiments of the invention and together with the description serve to explain the invention.
FIG. 1 is a schematic diagram of the overall structure of the present invention;
FIG. 2 is a schematic view of a portion of a column according to the present invention;
FIG. 3 is a partial schematic view of a steering device of the present invention;
fig. 4 is a schematic flow chart of a leveling control method for a four-wheel column sliding type electric cylinder leveling vehicle body.
In the figure: 1-a bearing wheel; 2-a tire connection sleeve; 3-stand columns; 4-a long gear; 5-driving wheels; 6-leveling the electric cylinder; 7-clamping buckles; 8-connecting plates; 9-a linear metal sleeve; 10-thrust bearings; 11-upper layer vehicle body; 12-a bearing with a seat; 13-idler; 14-steering motor; 15-lower layer vehicle body; 16-steering gear; 17-a spring; 18-tilt sensor.
Detailed Description
It should be noted that the following detailed description is illustrative and is intended to provide further explanation of the invention. Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs.
It is noted that the terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of exemplary embodiments according to the present invention. As used herein, the singular forms also are intended to include the plural forms unless the present invention clearly dictates otherwise, and furthermore, it should be understood that when the terms "comprise" and/or "include" are used in this specification, they specify the presence of stated features, steps, operations, devices, components, and/or combinations thereof;
for convenience of description, the words "upper", "lower", "left" and "right" in the present invention, if they mean only the directions of upper, lower, left and right in correspondence with the drawings themselves, are not limiting in structure, but merely serve to facilitate description of the present invention and simplify description, rather than to indicate or imply that the apparatus or elements referred to must have a specific orientation, be constructed and operated in a specific orientation, and thus should not be construed as limiting the present invention.
The terms "mounted," "connected," "secured," and the like are to be construed broadly and refer to either a fixed connection, a removable connection, or an integral body, for example; the terms are used herein as specific meanings as understood by those of ordinary skill in the art, and are not limited to the following terms.
A four-wheeled upright sliding electric cylinder leveling vehicle body according to the present invention will be described in detail below with reference to fig. 1 to 2 of the accompanying drawings. In this embodiment, the end on which the steering mechanism is mounted is the front end of the leveling vehicle body, and the opposite other end is the rear end of the leveling vehicle body.
The four-wheel upright post sliding type electric cylinder leveling vehicle body mainly comprises a travelling mechanism, a lower vehicle body 15, an upper vehicle body 11, an upright post 3, a leveling electric cylinder 6, a connecting plate 8, a buckle 7, a linear metal sleeve 9, a thrust bearing 10, a steering motor 14, a steering gear 16 and an idler wheel 13;
the four angles of the upper layer car body 11 and the lower layer car body 15 are connected through four lifting stand columns 3, the tops of the stand columns 3 penetrate through the upper layer car body and are fixed on the upper layer car body 11 through fixing pieces; the bottom of the upright post 3 passes through the lower layer car body 15 and is connected with a travelling mechanism through a connecting piece; the travelling mechanism in the embodiment comprises two driving wheels 5 and two bearing wheels 1, eight leveling electric cylinders 6 are vertically arranged on a lower-layer vehicle body 15, the two leveling electric cylinders 6 are in one group, four groups of leveling electric cylinders 6 are respectively positioned at four corners of the top of the lower-layer vehicle body, the top of each group of leveling electric cylinders 6 is horizontally provided with a connecting plate 8 through a screw, the middle part of each connecting plate 8 is fixed on a linear metal sleeve 9 on a stand column through a screw, the upper end and the lower end of each linear metal sleeve 9 are provided with thrust bearings 10, and the upper end of each upper thrust bearing and the lower end of each lower thrust bearing are fixed in positions through a buckle 7; when the leveling electric cylinder 6 moves up and down, the connecting plate 8 is driven to move up and down, and the connecting plate 8 drives the upright post 3 to move up and down through the linear metal sleeve 9; each upright post 3 can slide up and down under the drive of the leveling electric cylinder 6, so that the running mechanisms are not at the same height in the working environment with uneven pavement, the vehicle body is ensured to be kept level, and the leveling work is completed.
The leveling electric cylinder 6 is vertically arranged on the lower-layer vehicle body 15, and the leveling electric cylinder 6 levels by taking the lower-layer vehicle body 15 as a reference; each upright post 3 is connected with two leveling electric cylinders 6 through a connecting plate 8, and the force required by up-and-down sliding acts on the upright posts 3 through the connecting plate 8, so that the bearing of each upright post 3 is uniform in lifting force, the bending of the upright posts 3 is reduced, the weakening of the strength of the upright posts 3 is reduced, the lifting is more stable, and the lifting force is large; leveling is performed through sliding of the upright posts 3, instability brought when the vehicle body is leveled can be effectively reduced, and side turning of the vehicle body is avoided.
Further, in this embodiment, the steering motor 14 is mounted at the lower part of the front end of the lower layer vehicle body 15, the steering motor 14 is connected with the steering gear 16 through a coupling and a steering gear shaft, the steering gear 16 is fixed up and down through a bearing with a seat 12, the steering gear 16 is meshed with two idle gears 13, the two idle gears 13 transmit steering force to two long gears 4, the upper end and the lower end of one long gear 4 are respectively fixed on one upright post 3 through a shaft shoulder and a buckle, and move along with the up-down sliding of the upright post 3; the upper end and the lower end of the other long gear 4 are respectively fixed on the other upright post 3 through a shaft shoulder and a buckle 7 and move along with the up-and-down sliding of the upright post 3; in the leveling process, the stand column 3 is fixed with the long gear through the buckle and the shaft shoulder, so that the long gear 4 can be driven to slide up and down in the vertical sliding process of the stand column 3, but the mutual engagement between the long gear 4 and the idler gear 13 is not influenced in the vertical sliding process of the long gear 4, and the stand column can steer at different heights, and has the advantages of accurate steering angle, large steering force and small occupied space.
Further, a tire connecting sleeve 2 is respectively connected to the lower part of each upright post 3 through a connecting pin, the tire connecting sleeve 2 is fixed on the wheel frame of the driving wheel 5 or the bearing wheel 1 through welding, and when the upright posts 3 rotate, the bearing wheel 1 is driven to turn.
Further, a spring 17 is installed between the upper layer car body 11 and the buckle 7 at the upper part of each upright post 3, and is used as a buffer device during leveling operation.
Further, an inclination sensor 18 is arranged at the center of the lower-layer vehicle body, the inclination sensor 18 is connected with a control system, vehicle inclination data are acquired through the inclination sensor 18, inclination direction and angle information of the vehicle body are judged, then the height difference between the highest point and the lowest point of the vehicle body is calculated through the control system, and the height compensation displacement distance of the corresponding highest stand column and the corresponding lowest stand column is calculated according to the height difference.
The embodiment also provides a method for leveling the vehicle body by the four-wheel upright post sliding type electric cylinder, which specifically comprises the following steps:
the lower-layer vehicle body is used as a reference to vertically install a leveling electric cylinder, the lifting of the leveling electric cylinder drives the vertical column to slide up and down, and then drives the travelling mechanism to lift, so that the travelling mechanism is not at the same height, and the vehicle body can be kept horizontal when the vehicle body is inclined or a hollow road surface, and the leveling effect is achieved; specifically, the inclination angle sensor 18 is used for acquiring the inclination angle data of the whole vehicle body, judging the inclination direction and the angle information of the whole vehicle body, calculating the height difference between the highest point and the lowest point of the whole vehicle body through the control system, and calculating the height compensation displacement distance of the corresponding highest stand column and the lowest stand column according to the height difference; the leveling electric cylinder 6 is controlled by the control system to output height information to determine the current extending length of the leveling electric cylinder 6, a corresponding control signal is output to the leveling electric cylinder 6 where the corresponding upright post 3 is positioned, the leveling electric cylinder 6 extends or retracts for a certain length to drive the upright post 3 to lift for a certain height, and leveling work is completed; during the leveling operation, the tilt sensor 18 continuously outputs tilt data, and when the tilt data is smaller than a set value, a leveling stop signal is output, and the leveling electric cylinder 6 stops operating.
Meanwhile, the steering motor 14 is controlled by the control system, the steering motor 14 drives the steering gear 16 to rotate, so that the two idler gears 13 are driven to rotate, the two idler gears 13 drive the long gears 4 to rotate, and the two long gears 4 drive the two upright posts 3 to rotate for a certain angle, so that the steering effect is realized; the invention solves the problem that the strength of the landing leg of the existing car body hydraulic oil cylinder is weakened, and can perform more stable leveling work in a complex working environment; the lower-layer vehicle body has higher ground clearance, and the two wheels are not connected by an axle, so that the lower-layer vehicle body can be applied to plant protection occasions in the growth process of long-stalk crops.
Finally, it is pointed out that relational terms such as first and second are used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions.
The above description is only of the preferred embodiments of the present invention and is not intended to limit the present invention, but various modifications and variations can be made to the present invention by those skilled in the art. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention should be included in the protection scope of the present invention.

Claims (10)

1. The four-wheel upright post sliding type electric cylinder leveling vehicle body is characterized by comprising an upper vehicle body, a lower vehicle body and a steering mechanism, wherein four corners of the upper vehicle body and the lower vehicle body are connected through four liftable upright posts, and the bottoms of the upright posts penetrate through the lower vehicle body to be connected with a travelling mechanism; a group of leveling electric cylinders are respectively arranged at four corners of the lower-layer vehicle body, each group of leveling electric cylinders comprises two leveling electric cylinders, a connecting plate is horizontally arranged at the top of each leveling electric cylinder, the middle part of the connecting plate is fixed on a linear metal sleeve, thrust bearings are arranged at the upper end and the lower end of the linear metal sleeve, and the upper end of the upper thrust bearing and the lower end of the lower thrust bearing are fixed on an upright post; when the leveling electric cylinder moves up and down, the connecting plate is driven to move up and down, and the connecting plate drives the upright post to move up and down through the linear metal sleeve; each upright post can slide up and down under the drive of the leveling electric cylinder; the steering mechanism comprises a steering motor, the steering motor is arranged at the lower part of the lower-layer vehicle body, the steering motor is connected with a steering gear through a coupler and a steering gear shaft, the steering gear is meshed with two idler gears, the two idler gears transmit steering force to two long gears, one long gear is fixed on one upright post, the other long gear is fixed on the other upright post, and the two long gears move along with the up-and-down sliding of the upright post.
2. The four-wheel column sliding electric cylinder leveling vehicle body according to claim 1, wherein the upper end and the lower end of the steering gear are fixed by a bearing with a seat.
3. The four-wheel column sliding type electric cylinder leveling vehicle body according to claim 1, wherein the travelling mechanism comprises two driving wheels and two bearing wheels, and the two bearing wheels are arranged at the front end of the lower vehicle body; the two driving wheels are arranged at the rear end of the lower-layer car body.
4. A four-wheel column sliding electric cylinder leveling vehicle body according to claim 3, wherein the column penetrates through the lower layer vehicle body to be connected with a driving wheel or a bearing wheel corresponding to the column through a connecting sleeve.
5. The four-wheel column sliding electric cylinder leveling vehicle body according to claim 1, wherein the upper end of the upper end thrust bearing is connected with the column through an upper buckle, and the lower end of the lower end thrust bearing is connected with the column through a lower buckle.
6. The four-wheel column sliding electric cylinder leveling vehicle body according to claim 5, wherein a spring sleeved on the column is arranged between the upper buckle and the upper vehicle body.
7. The four-wheel column sliding type electric cylinder leveling vehicle body according to claim 1, wherein the upper end of the long gear and the lower end of the long gear are respectively fixed on the column through a shaft shoulder and a buckle and move along with the up-and-down sliding of the column.
8. The four-wheel column sliding electric cylinder leveling vehicle body of claim 1, wherein the leveling electric cylinder is controlled by a control system.
9. The four-wheel column sliding electric cylinder leveling vehicle body according to claim 8, wherein an inclination sensor is further installed on the lower vehicle body, and the inclination sensor is connected with the control system.
10. The leveling method of the four-wheel column sliding type electric cylinder leveling vehicle body according to claim 9, characterized in that the vehicle body inclination angle data is obtained through an inclination angle sensor horizontally installed on the lower layer vehicle body, the inclination direction and the angle information of the whole vehicle body are judged, the height difference between the highest point and the lowest point of the whole vehicle body is calculated through a control system, and the height compensation displacement distance of the corresponding highest column and the lowest column is calculated according to the height difference; determining the current extension length of the leveling electric cylinder through the height information output by the leveling electric cylinder, outputting a corresponding control signal to the leveling electric cylinder where the corresponding upright post is positioned, and extending or retracting the leveling electric cylinder by a certain length to drive the upright post to lift by a certain height so as to finish the leveling work; the steering motor drives the steering gear to rotate, so that the two idler gears are driven to rotate, the two idler gears drive the long gears to rotate, and the two long gears drive the two stand columns to rotate by a certain angle, so that the steering effect is realized.
CN202310660440.9A 2023-06-06 2023-06-06 Four-wheel upright post sliding type electric cylinder leveling vehicle body and leveling method Active CN116394695B (en)

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US20190009844A1 (en) * 2016-06-08 2019-01-10 Jiangsu University Auto-leveling drive axle device for wheeled tractor, and leveling method
KR102079673B1 (en) * 2019-08-05 2020-02-19 주식회사 에이이 Automatic Guided Vehicle for Drilling a Pipe and Maintaining Method for the Area of Sinkholl using It
WO2023072467A1 (en) * 2021-10-28 2023-05-04 e-more AG Platform for at least four-wheeled motor vehicles with electric drives

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* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE19542108A1 (en) * 1994-11-22 1996-05-30 Volkswagen Ag Individual wheel mount for vehicle
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