CN117922690A - Agricultural four-wheel-drive self-adaptive chassis with rigidity-adjustable vibration reduction mechanism - Google Patents
Agricultural four-wheel-drive self-adaptive chassis with rigidity-adjustable vibration reduction mechanism Download PDFInfo
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- CN117922690A CN117922690A CN202410073244.6A CN202410073244A CN117922690A CN 117922690 A CN117922690 A CN 117922690A CN 202410073244 A CN202410073244 A CN 202410073244A CN 117922690 A CN117922690 A CN 117922690A
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- 230000007246 mechanism Effects 0.000 title claims abstract description 86
- 239000000725 suspension Substances 0.000 claims abstract description 62
- 238000013016 damping Methods 0.000 claims abstract description 39
- 230000035939 shock Effects 0.000 claims abstract description 29
- 239000006096 absorbing agent Substances 0.000 claims abstract description 24
- 230000005540 biological transmission Effects 0.000 claims description 38
- 230000003044 adaptive effect Effects 0.000 claims description 10
- 230000003068 static effect Effects 0.000 description 3
- 230000002411 adverse Effects 0.000 description 2
- 230000000694 effects Effects 0.000 description 2
- 229910000975 Carbon steel Inorganic materials 0.000 description 1
- 238000010521 absorption reaction Methods 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000003139 buffering effect Effects 0.000 description 1
- 239000010962 carbon steel Substances 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 238000006073 displacement reaction Methods 0.000 description 1
- 238000005265 energy consumption Methods 0.000 description 1
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Abstract
The invention relates to an agricultural four-wheel-drive self-adaptive chassis with an adjustable rigidity vibration reduction mechanism, which comprises a vehicle body and an independent suspension system; the vehicle body comprises a vehicle body and a frame; the independent suspension system comprises suspension damping devices arranged on the front side and the rear side of the vehicle body; the suspension damping device comprises a suspension device and a damping device; the suspension device comprises a parallel four-bar copying mechanism; the damping device comprises a spring damping shock absorber and an air spring system; the air spring system comprises an air spring, an additional air chamber, an inflator, a height adjusting valve and a connecting pipeline; the upper end of the spring damping shock absorber is hinged with the vehicle body, and the lower end of the spring damping shock absorber is hinged with a first connecting rod in the parallel four-rod profiling mechanism. The agricultural four-wheel-drive self-adaptive chassis can reduce the impact of uneven roads on a vehicle body and improve the application range of the agricultural unmanned vehicle while improving the passing performance of the agricultural unmanned vehicle.
Description
Technical Field
The invention relates to the field of chassis structures of agricultural unmanned vehicles, in particular to an agricultural four-wheel-drive self-adaptive chassis with an adjustable stiffness vibration reduction mechanism.
Background
With the development of unmanned vehicles, more unmanned vehicles are beginning to be put into the agricultural field. The traditional agricultural unmanned aerial vehicle mostly adopts a chassis structure with rigid connection, and can not buffer the bump of the vehicle body caused by the rugged road surface, so that the precision of a sensor on the vehicle is greatly influenced, and further the application scene of the unmanned aerial vehicle in the agricultural field is limited. In addition, in the hilly areas of the south mountain areas of China, the complex terrain environment requires that the agricultural unmanned vehicle has strong passing performance.
Disclosure of Invention
The invention aims to overcome the defects of the prior art and provides an agricultural four-wheel-drive self-adaptive chassis with an adjustable rigidity vibration reduction mechanism, which can improve the trafficability of an agricultural unmanned aerial vehicle and reduce the impact of uneven roads on the vehicle body at the same time, thereby improving the application range of the agricultural unmanned aerial vehicle.
The technical scheme for solving the technical problems is as follows:
An agricultural four-wheel-drive self-adaptive chassis with a rigidity-adjustable vibration reduction mechanism comprises a vehicle body and independent suspension systems arranged on the left side and the right side of the vehicle body, wherein the vehicle body comprises the vehicle body and racks positioned on the left side and the right side of the vehicle body, connecting shafts are arranged between the racks on the two sides, and two ends of each connecting shaft are respectively connected with the racks on the two sides; the bottom of the automobile body is contacted with the connecting shaft; the independent suspension system comprises suspension damping devices arranged on the front side and the rear side of the vehicle body; the suspension damping device comprises a suspension device and a damping device, wherein the suspension device comprises a parallel four-bar profiling mechanism; the parallel four-bar profiling mechanism comprises a first connecting rod, a second connecting rod and a third connecting rod, wherein the first connecting rod and the second connecting rod are arranged in parallel, one end of each of the first connecting rod and the second connecting rod is hinged with the frame, and the other end of each of the first connecting rod and the second connecting rod is connected with two ends of the third connecting rod respectively; the damping device comprises a spring damping shock absorber and an air spring system, wherein the air spring system comprises an air spring, an additional air chamber, an inflator, a height adjusting valve and a connecting pipeline; the upper end of the air spring is connected with the first connecting rod, and the lower end of the air spring is connected with the second connecting rod; the air outlet of the air spring is communicated with an additional air chamber arranged on the frame through a connecting pipeline; the height adjusting valve is arranged at the gas outlet of the inflator; the upper end of the spring damping shock absorber is hinged with the vehicle body, and the lower end of the spring damping shock absorber is connected with the first connecting rod; one side of the third connecting rod is provided with a mounting seat, one side of the mounting seat is rotationally connected to the third connecting rod through a rotating shaft, the other side of the mounting seat is connected with a wheel shaft of a wheel, and the wheel shaft of the wheel is rotationally connected to the mounting seat.
Preferably, the vehicle further comprises power driving devices for driving the wheels on the left side and the right side of the vehicle body to rotate, and the two groups of power driving devices are respectively used for driving the wheels on the left side and the right side of the vehicle body to rotate.
Preferably, the power driving device is arranged on the outer side of the vehicle body, each group of power driving device comprises two groups of power transmission mechanisms and one group of power driving mechanisms, wherein the two groups of power transmission mechanisms are respectively positioned on the front side and the rear side of the same side of the vehicle body, one group of power transmission mechanisms are used for transmitting output power of the power driving mechanisms to front wheels on the same side of the vehicle body, and the other group of power transmission mechanisms are used for transmitting output power of the power driving mechanisms to rear wheels on the same side of the vehicle body.
Preferably, the power transmission mechanism comprises a ball cage type transmission shaft, one end of the ball cage type transmission shaft is connected with the output end of the power driving mechanism, and the other end of the ball cage type transmission shaft is rotatably connected to the mounting seat and is connected with the wheel shaft of the wheel through a bevel gear transmission mechanism.
Preferably, the power driving mechanism comprises a three-way box and a power mechanism for driving an input shaft of the three-way box to rotate, wherein the three-way box is installed on the frame, two groups of output shafts are symmetrically arranged on the three-way box and are connected with one ends of two groups of ball cage type transmission shafts respectively.
Preferably, the power mechanism comprises a driving motor arranged on the frame, and a main shaft of the driving motor is connected with an input shaft of the three-way box through a chain transmission mechanism.
Preferably, the connecting shaft is provided on a front side or a rear side of the vehicle body.
Preferably, a buffer device is arranged between the two ends of the connecting shaft and the frame, the buffer device comprises a fixed seat and a spring damper, the fixed seat and the spring damper are arranged on the frame, a limiting groove is formed in the fixed seat, and the spring damper is vertically arranged in the limiting groove; the end part of the connecting shaft stretches into the limiting groove and is pressed at the upper end of the spring damper.
Preferably, the spring damper is composed of a coil spring and a damper.
Compared with the prior art, the invention has the following beneficial effects:
1. The agricultural unmanned vehicle with the agricultural four-wheel-drive self-adaptive chassis can absorb shock through four groups of shock absorbing devices on the front, back, left and right of the vehicle body, and a parallel four-bar profiling mechanism in the four groups of suspension devices on the front, back, left and right can swing up and down; the whole stand and the independent suspension system on the left side and the right side of the vehicle body can rotate around the axis of the connecting shaft; when the vehicle is stationary on uneven ground, if the wheel center of one of the front and rear wheels is raised or lowered relative to the vehicle body, the valve in the height adjusting valve in the air spring system can be driven to move downwards or upwards, so that the air spring is inflated or deflated, and the vehicle body is ensured to be always kept in a horizontal state; when the vehicle runs on uneven ground, if the wheel center of one of the front and rear wheels rises or falls, the parallel four-bar profiling mechanism in the independent suspension system rotates upwards or downwards, and the spring damping shock absorber and the air spring are compressed or stretched simultaneously, so that the vehicle body is always kept in a balanced state; if the parallel four-bar profiling mechanisms on one side of the front and the rear swing upwards or downwards to a limit state, the stand is caused to rotate around the axis of the connecting shaft, the independent suspension system on the other side of the front and the rear rotates around the connecting hinge point of the parallel four-bar profiling mechanisms and the stand along with the stand, after the parallel four-bar profiling mechanisms on the other side of the front and the rear rotate to the limit state, the independent suspension system on the other side of the front and the rear rotates around the axis of the connecting shaft along with the stand, and the spring damping shock absorber and the air spring in the independent suspension system on the other side of the front and the rear correspondingly compress or stretch together, namely, when the agricultural unmanned vehicle runs on uneven ground, the four groups of wheels on the front and the rear can be gripped on the ground; when the ground impacts the wheels upwards or downwards, the air springs are extruded or stretched, so that pressure difference is generated between the air springs and the air in the additional air chamber, the air in the two parts is exchanged, the connecting pipeline has smaller flow area, damping exists during air exchange, impact force generated by the ground is absorbed, and the impact force generated by the ground can be absorbed through the spring damping dampers arranged in the independent suspension systems at the left side and the right side of the vehicle body and the dampers in the buffer device, so that the agricultural unmanned vehicle is ensured not to bump greatly when running on the uneven ground, and adverse effects of vibration and impact on the working performance of electronic components in the agricultural unmanned vehicle are reduced, so that the accuracy of the sensor on the vehicle body is ensured.
2. The agricultural four-wheel-drive self-adaptive chassis with the rigidity-adjustable vibration reduction mechanism realizes the maintenance of the posture of the vehicle body under different road conditions through the angle change of the parallel four-bar profiling mechanism in the four sets of suspension vibration reduction devices and the limitation of the spring damping vibration absorber on the working plane of the parallel four-bar profiling mechanism.
Drawings
Fig. 1-4 are schematic structural views of four different view angles of an agricultural four-wheel drive adaptive chassis with an adjustable stiffness vibration reduction mechanism of the present invention.
Fig. 5-7 are schematic structural views (with wheels removed) of three different view angles of an agricultural four-wheel drive adaptive chassis with an adjustable stiffness vibration reduction mechanism of the present invention.
Fig. 8 is a schematic structural view of the power driving device.
Fig. 9 is a schematic structural view of the buffering device.
Detailed Description
The present invention will be described in further detail with reference to examples and drawings, but embodiments of the present invention are not limited thereto.
Referring to fig. 1-9, the agricultural four-wheel-drive adaptive chassis with the rigidity-adjustable vibration reduction mechanism comprises a vehicle body 1 and independent suspension systems (namely a left independent suspension system 2 and a right independent suspension system 3) arranged on the left side and the right side of the vehicle body 1, wherein the vehicle body 1 comprises a vehicle body 101 and racks 102 positioned on the left side and the right side of the vehicle body 101, wherein the racks 102 on the two sides are connected through a connecting shaft 7, and the bottom of the vehicle body 101 is in contact with the connecting shaft 7; the independent suspension system comprises suspension damping devices arranged on the front side and the rear side of the vehicle body 1; the suspension damping device comprises a suspension device and a damping device, wherein the suspension device comprises a parallel four-bar profiling mechanism 301; the parallel four-bar profiling mechanism 301 comprises a first connecting rod 308, a second connecting rod 309 and a third connecting rod 310, wherein the first connecting rod 308 and the second connecting rod 309 are arranged in parallel, one end of the first connecting rod 308 is hinged with the frame 102, and the other end of the first connecting rod is connected with two ends of the third connecting rod 310 respectively; the damping device comprises a spring damping shock absorber 302 and an air spring system, wherein the air spring system comprises an air spring 303, an additional air chamber 304, an inflator 305, a height adjusting valve 306 and a connecting pipeline 307, the upper end of the air spring 303 is connected with a first connecting rod 308, and the lower end of the air spring is connected with a second connecting rod 309; the inflator 305 is mounted on the frame 102, the air outlet of the inflator 305 is communicated with the air inlet of the air spring 303 through a connecting pipeline 307, and the air outlet of the air spring 303 is communicated with an additional air chamber 304 mounted on the frame 102 through the connecting pipeline 307; the height adjustment valve 306 is installed at the gas outlet of the inflator 305; the upper end of the spring damping shock absorber 302 is hinged with the vehicle body 101, the lower end of the spring damping shock absorber 302 is hinged with the first connecting rod 308, one side of the third connecting rod 310 is provided with a mounting seat 6, one side of the mounting seat 6 is rotatably connected to the third connecting rod 310 through a rotating shaft, the other side of the mounting seat 6 is connected with a wheel axle 8 of a wheel, and the wheel axle 8 of the wheel is mounted on the mounting seat 6; by providing the spring damper 302 and the air spring 303, the shock absorption and impact resistance of the vehicle body 101 can be improved, and adverse effects of vibration (or shock) and impact on the operation performance of electronic components inside the unmanned carrier vehicle can be reduced.
Referring to fig. 1-9, the agricultural four-wheel-drive adaptive chassis with the rigidity-adjustable vibration reduction mechanism further comprises power driving devices 4 for driving wheels on the left side and the right side of the vehicle body 1 to rotate, wherein the power driving devices 4 are arranged on the outer side of the vehicle body 101, and the power driving devices 4 are in two groups and are respectively used for driving the wheels on the left side and the right side of the vehicle body 1 to rotate; each group of power driving device 4 comprises two groups of power transmission mechanisms and one group of power driving mechanisms, wherein the two groups of power transmission mechanisms are respectively positioned at the front side and the rear side of the same side of the vehicle body 101, one group of power transmission mechanisms is used for transmitting the output power of the power driving mechanisms to the front side wheels of the same side of the vehicle body 101, and the other group of power transmission mechanisms is used for transmitting the output power of the power driving mechanisms to the rear side wheels of the same side of the vehicle body 101; in this embodiment, the power transmission mechanism includes a ball cage type transmission shaft 406, one end of the ball cage type transmission shaft 406 is connected with the output end of the power driving mechanism, and the other end is rotatably connected to the mounting seat 6 and is connected with the wheel axle 8 of the wheel through a bevel gear transmission mechanism; the power driving mechanism comprises a three-way box 405 and a power mechanism for driving an input shaft of the three-way box 405 to rotate, wherein the three-way box 405 is installed on the frame 102, two groups of output shafts are arranged on the three-way box 405, and the two groups of output shafts are symmetrically arranged and are respectively connected with one ends of two groups of ball cage type transmission shafts 406; the power mechanism comprises a driving motor and a chain transmission mechanism which are arranged on the frame 102, wherein the chain transmission mechanism comprises a driving sprocket 407, a driven sprocket 402 and a chain 401; the driving sprocket 407 is mounted on a main shaft of the driving motor, and the driven sprocket 402 is rotatably connected to the three-way box 405 through a rotating shaft 403; the chain 401 is looped between the drive sprocket 407 and the driven sprocket 402; the rotating shafts 403 are respectively connected with ball cage type transmission shafts 406 at two sides in the three-way box 405 through bevel gear transmission mechanisms 404.
The chain transmission mechanism is driven to rotate by the driving motor, so that the rotating shaft 403 connected with the driven sprocket 402 is driven to rotate, and the ball cage type transmission shaft 406 on the left side or the right side is driven to rotate by the bevel gear transmission mechanism 404 while the rotating shaft 403 rotates, so that the wheels are driven to rotate. In this embodiment, there are two sets of power drives 4, and thus two sets of drive motors, which can provide differential steering capability for the unmanned vehicle, and with the aid of the spring-damper shock absorber 302, lower energy consumption and faster steering can be achieved.
Referring to fig. 1-9, the connecting shaft 7 is disposed on the front side or the rear side of the vehicle body 101, a buffer device 5 is disposed between two ends of the connecting shaft 7 and the frame 102, the buffer device 5 includes a fixing seat and a spring damper disposed on the frame 102, wherein a limit groove 501 is disposed on the fixing seat, and the spring damper is vertically mounted in the limit groove 501; the end part of the connecting shaft 7 extends into the limit groove 501 and is pressed at the upper end of the spring damper; in the present embodiment, the spring damper is constituted by a coil spring 502 and a damper 503.
Referring to fig. 1 to 9, the working principle of the agricultural four-wheel-drive self-adaptive chassis with the rigidity-adjustable vibration reduction mechanism is as follows:
The agricultural unmanned vehicle with the agricultural four-wheel-drive self-adaptive chassis can absorb shock through four groups of shock absorbing devices on the front, back, left and right of the vehicle body 101, and the parallel four-bar profiling mechanism 301 in the four groups of suspension devices on the front, back, left and right can swing up and down; the whole of the stand 102 and the independent suspension system on the left and right same sides of the vehicle body 101 can rotate around the axis of the connecting shaft 7;
When the vehicle is stationary on uneven ground, if the wheel center of one of the front and rear wheels is raised or lowered relative to the vehicle body 101, the valve in the height adjusting valve 306 in the air spring system is driven to move downwards or upwards, so that the air spring 303 is inflated or deflated, and the vehicle body 101 is ensured to be always kept in a horizontal state;
When the vehicle runs on uneven ground, if the wheel center of one side of the front and rear wheels is lifted or lowered, the parallel four-bar profiling mechanism 301 on the side is caused to rotate upwards or downwards, the spring damping shock absorber 302 and the air spring 303 are compressed or stretched together, so that the vehicle body 101 always keeps a balanced state, if the parallel four-bar profiling mechanism 301 on the front and rear side swings upwards or downwards to a limit state, the stand 102 is caused to rotate around the axis of the connecting shaft 7, the independent suspension system on the front and rear side follows the stand 102 to rotate around the connecting hinge point of the parallel four-bar profiling mechanism 301 and the stand 102, after the parallel four-bar profiling mechanism 301 on the front and rear side rotates to the limit, the independent suspension system on the front and rear side follows the stand 102 to jointly rotate around the axis of the connecting shaft 7, and the spring damping shock absorber 302 and the air spring 303 in the independent suspension system on the front and rear side correspondingly compress or stretch together, namely, when the agricultural vehicle runs on uneven ground, the front and rear four groups of wheels can grip the ground;
When the ground impacts the wheels upwards or downwards, the air springs 303 are extruded or stretched, so that pressure difference is generated between the air springs 303 and the air inside the additional air chamber 304, the air inside the two parts is exchanged, the connecting pipeline 307 has smaller flow area, so that damping exists during air exchange, impact force generated by the ground is absorbed, and the impact force can be absorbed through the spring damping shock absorbers 302 and the dampers in the buffer devices 5 arranged in the independent suspension systems at the left side and the right side of the vehicle body 101, so that the agricultural unmanned vehicle is ensured not to jolt greatly when running on uneven ground.
In addition, the high ground clearance design of the agricultural four-wheel drive chassis structure and the design that independent suspension systems on the left side and the right side of the vehicle body 101 can relatively rotate around the connecting shaft 7 at a large angle improve the trafficability of the unmanned vehicle and greatly expand the application scene of the agricultural unmanned vehicle.
In this embodiment, the suspension stiffness design rule is:
the suspension offset frequency f is an important parameter for judging the smoothness of the whole vehicle, and the range of the offset frequency f is defined in the early stage of the design of the agricultural four-wheel drive chassis. In the embodiment, the sprung mass P of the four-point suspension is 1225N when the whole vehicle is in service, the sprung mass P of the four-point suspension is 612.5N when the vehicle is in idle load, the wheel track is 1290 mm=1.29 m, the maximum speed is 6m/s, the materials of the springs in the suspension are carbon steel wires 40 Mn-70 Mn, and the shear modulus G is 72000.
From the above parameters, the vibration time interval due to the wheelbase is:
In order to obtain the smoothness of the whole vehicle, the front and rear suspensions need to reach a vibration point at the same time in the shortest time after vibrating in one period, namely:
T(front)＝T(rear)+T(lag) (2)
In the above formula (2), T (front) and T (rear) are one vibration cycle of the front suspension and the rear suspension, respectively.
Therefore, when the front suspension offset frequency f is set to 1.2 in this embodiment, the rear suspension offset frequency is set to 1.4.
The calculation formula of the suspension offset frequency is as follows:
the vertical rigidity of the suspension at the wheel center can be obtained by deforming the formula (3) as follows:
Kw＝(2πf)2P (4)
Kw＝Kb+Ksiws (5)
K b in the above formula (5) is the bushing stiffness of the suspension, K b in this example is set to 100N/mm according to the simple viscoelastic Kelvin-Voigt model; k s is the spring rate; i ws is the suspension leverage ratio, i.e., the ratio of wheel vertical displacement to spring length change, which is dynamically variable for this embodiment.
When a plurality of springs are arranged in parallel in the same suspension, the total stiffness of the springs is as follows:
and (3) the stiffness relation between the springs can be obtained when a plurality of springs are arranged in parallel in the same suspension in the same position by combining the springs (4), the springs (5) and the springs (6).
When the agricultural four-wheel drive chassis is idle and static, in the suspension system, the spiral spring and the air spring of the spring damping shock absorber are arranged in parallel, so that the included angles between the central axes of the two springs and the vertical direction are respectively theta 1 and theta 2. The corresponding lever ratio of the coil spring of the spring-damper shock absorber is:
iws1＝cos2θ1 (7)
the lever ratio corresponding to the air spring is as follows:
iws2＝cos2θ2 (8)
namely, the vertical rigidity of the suspension rigidity at the wheel center is:
Kw＝Kb+Ks1iws1+Ks2iws2 (9)
Where K s1 is the coil spring rate of the spring-damper shock absorber and K s2 is the air spring rate.
When the agricultural four-wheel drive chassis is fully loaded and is stationary, in the suspension system, the spiral spring of the spring damping shock absorber, the air spring and the spiral spring in the buffer device are arranged in parallel, and the included angles between the central axes of the three springs and the vertical direction are respectively theta 1、θ2 and 0 degrees.
The lever ratio corresponding to the coil spring in the buffer device is as follows:
iws3＝1 (10)
then the vertical rigidity of the suspension rigidity at the wheel center is
Kw＝Kb+Ks1iws1+Ks2iws2+Ks3 (11)
Where K s1 is the coil spring rate of the spring-damper shock absorber, K s2 is the air spring rate, and K s3 is the coil spring rate in the cushioning device.
The design rule of the air spring pressure is as follows:
the setting of the gas pressure inside the air spring is typically related to the stiffness, deflection, load of the air spring and the design of the suspension system. The relationship between gas pressure and volume is described by an ideal gas state equation:
PV＝nRT (12)
Wherein: p is the pressure of the gas, V is the volume of the gas, n is the mass of the gas, R is the gas constant, and T is the absolute temperature of the gas.
The air chamber of the air spring can be made a variable volume system to establish a formula taking into account the relationship between the air chamber volume and the air pressure. Assuming that the volume V of the air chamber is in direct proportion to the deformation delta of the air spring, namely
V＝V0+δ (13)
Where V 0 is the volume of the chamber when not loaded. Combining these considerations we can get the relationship between the change in air chamber volume δ and the air pressure P:
P(V0+δ)＝nRT (14)
by combining the Hooks law and properly transforming and simplifying the equation, the relation between the stiffness of the air spring and the volume change delta of the air chamber, the gas constant R and the temperature T can be obtained:
Wherein A is the effective cross-sectional area of the air spring, and the above formula shows that the stiffness K s2 of the air spring has a relation with the temperature, the volume and the gas constant of the gas in the gas chamber. When the agricultural four-wheel drive chassis is empty and fully loaded and static, the internal pressure of the air chamber can be set according to the static stiffness requirement that the main air chamber of the air spring is positioned at the working height position.
The foregoing is illustrative of the present invention and is not to be construed as limiting thereof, but rather as various changes, modifications, substitutions, combinations, and simplifications which may be made therein without departing from the spirit and principles of the invention are intended to be included within the scope of the invention.
Claims (9)
1. The agricultural four-wheel-drive self-adaptive chassis is characterized by comprising a vehicle body and independent suspension systems arranged on the left side and the right side of the vehicle body, wherein the vehicle body comprises the vehicle body and racks positioned on the left side and the right side of the vehicle body, connecting shafts are arranged between the racks on the two sides, and two ends of each connecting shaft are respectively connected with the racks on the two sides; the bottom of the automobile body is contacted with the connecting shaft; the independent suspension system comprises suspension damping devices arranged on the front side and the rear side of the vehicle body; the suspension damping device comprises a suspension device and a damping device, wherein the suspension device comprises a parallel four-bar profiling mechanism; the parallel four-bar profiling mechanism comprises a first connecting rod, a second connecting rod and a third connecting rod, wherein the first connecting rod and the second connecting rod are arranged in parallel, one end of each of the first connecting rod and the second connecting rod is hinged with the frame, and the other end of each of the first connecting rod and the second connecting rod is connected with two ends of the third connecting rod respectively; the damping device comprises a spring damping shock absorber and an air spring system, wherein the air spring system comprises an air spring, an additional air chamber, an inflator, a height adjusting valve and a connecting pipeline; the upper end of the air spring is connected with the first connecting rod, and the lower end of the air spring is connected with the second connecting rod; the air outlet of the air spring is communicated with an additional air chamber arranged on the frame through a connecting pipeline; the height adjusting valve is arranged at the gas outlet of the inflator; the upper end of the spring damping shock absorber is hinged with the vehicle body, and the lower end of the spring damping shock absorber is hinged with the first connecting rod; one side of the third connecting rod is provided with a mounting seat, one side of the mounting seat is rotationally connected to the third connecting rod through a rotating shaft, the other side of the mounting seat is connected with a wheel shaft of a wheel, and the wheel shaft of the wheel is rotationally connected to the mounting seat.
2. The agricultural four-wheel drive adaptive chassis with the rigidity-adjustable vibration reduction mechanism according to claim 1, further comprising power driving devices for driving wheels on the left side and the right side of the vehicle body to rotate, wherein the two groups of power driving devices are respectively used for driving the wheels on the left side and the right side of the vehicle body to rotate.
3. The agricultural four-wheel drive adaptive chassis with the rigidity-adjustable vibration reduction mechanism according to claim 2, wherein the power driving devices are arranged on the outer side of the vehicle body, each group of power driving devices comprises two groups of power transmission mechanisms and one group of power driving mechanisms, wherein the two groups of power transmission mechanisms are respectively positioned on the front side and the rear side of the same side of the vehicle body, one group of power transmission mechanisms is used for transmitting the output power of the power driving mechanisms to the front side wheels on the same side of the vehicle body, and the other group of power transmission mechanisms is used for transmitting the output power of the power driving mechanisms to the rear side wheels on the same side of the vehicle body.
4. An agricultural four-wheel drive adaptive chassis with an adjustable stiffness vibration reduction mechanism according to claim 3, wherein the power transmission mechanism comprises a ball cage type transmission shaft, one end of the ball cage type transmission shaft is connected with the output end of the power driving mechanism, and the other end of the ball cage type transmission shaft is rotatably connected to the mounting seat and is connected with the wheel shaft of the wheel through a bevel gear transmission mechanism.
5. The agricultural four-wheel-drive self-adaptive chassis with the rigidity-adjustable vibration reduction mechanism according to claim 4, wherein the power driving mechanism comprises a three-way box and a power mechanism for driving an input shaft of the three-way box to rotate, wherein the three-way box is installed on the frame, two groups of output shafts are symmetrically arranged on the three-way box and are respectively connected with one ends of two groups of ball cage type transmission shafts.
6. The agricultural four-wheel drive adaptive chassis with the adjustable stiffness vibration reduction mechanism according to claim 5, wherein the power mechanism comprises a driving motor mounted on the frame, and a main shaft of the driving motor is connected with an input shaft of the three-way box through a chain transmission mechanism.
7. The agricultural four-wheel drive adaptive chassis with an adjustable stiffness vibration reduction mechanism of claim 1, wherein the connecting axle is disposed on a front or rear side of the vehicle body.
8. The agricultural four-wheel-drive self-adaptive chassis with the rigidity-adjustable vibration reduction mechanism according to claim 7, wherein a buffer device is arranged between two ends of the connecting shaft and the frame, the buffer device comprises a fixed seat and a spring damper, the fixed seat is provided with a limit groove, and the spring damper is vertically arranged in the limit groove; the end part of the connecting shaft stretches into the limiting groove and is pressed at the upper end of the spring damper.
9. The agricultural four-wheel drive adaptive chassis having an adjustable stiffness vibration reduction mechanism of claim 8, wherein the spring damper is comprised of a coil spring and a damper.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202410073244.6A CN117922690A (en) | 2024-01-18 | 2024-01-18 | Agricultural four-wheel-drive self-adaptive chassis with rigidity-adjustable vibration reduction mechanism |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202410073244.6A CN117922690A (en) | 2024-01-18 | 2024-01-18 | Agricultural four-wheel-drive self-adaptive chassis with rigidity-adjustable vibration reduction mechanism |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN117922690A true CN117922690A (en) | 2024-04-26 |
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ID=90760440
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202410073244.6A Pending CN117922690A (en) | 2024-01-18 | 2024-01-18 | Agricultural four-wheel-drive self-adaptive chassis with rigidity-adjustable vibration reduction mechanism |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN117922690A (en) |
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2024
- 2024-01-18 CN CN202410073244.6A patent/CN117922690A/en active Pending
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