CN207697419U - Full pose adjustment wheeled tractor - Google Patents
Full pose adjustment wheeled tractor Download PDFInfo
- Publication number
- CN207697419U CN207697419U CN201721694181.8U CN201721694181U CN207697419U CN 207697419 U CN207697419 U CN 207697419U CN 201721694181 U CN201721694181 U CN 201721694181U CN 207697419 U CN207697419 U CN 207697419U
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- Prior art keywords
- driving axle
- pose adjustment
- axle
- front driving
- driving
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- 230000007246 mechanism Effects 0.000 claims abstract description 36
- 230000009467 reduction Effects 0.000 claims abstract description 19
- 238000009434 installation Methods 0.000 claims description 3
- 230000005540 biological transmission Effects 0.000 claims 2
- 238000001514 detection method Methods 0.000 claims 1
- 239000003921 oil Substances 0.000 description 11
- 238000010586 diagram Methods 0.000 description 8
- 239000010720 hydraulic oil Substances 0.000 description 5
- 210000000515 tooth Anatomy 0.000 description 5
- 230000008859 change Effects 0.000 description 3
- 238000000034 method Methods 0.000 description 3
- 239000000725 suspension Substances 0.000 description 3
- 230000005611 electricity Effects 0.000 description 2
- 238000011217 control strategy Methods 0.000 description 1
- 238000013461 design Methods 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 230000010354 integration Effects 0.000 description 1
- 239000007788 liquid Substances 0.000 description 1
- 238000011160 research Methods 0.000 description 1
- 230000001360 synchronised effect Effects 0.000 description 1
- 238000012546 transfer Methods 0.000 description 1
- 230000009466 transformation Effects 0.000 description 1
Abstract
The utility model discloses a kind of full pose adjustment wheeled tractors, including pose adjustment front driving axle, pose adjustment rear driving axle and electrohydraulic control system；Pose adjustment front driving axle includes front driving axle, and front driving axle is connected by swinging shaft with bracket, and front driving axle can surround swinging shaft and relative swing occurs with bracket；Hydraulic regulation driving mechanism is provided between bracket and front driving axle；Pose adjustment rear driving axle includes rear axle box, left hub reduction swing mechanism assembly and right wheel rim decelerating mechanism assembly.The utility model is based on traditional tractor entirety vehicle-bridge type structure and is improved, and scheme is implemented fairly simple first, and cost is relatively low, inherits the high feature of traditional tractor integral axle intensity, is more suitable for the operation of hilly and mountainous land bad working environments.Secondly, the executive component for controlling vehicle pose adjustment is less, at low cost, and reliability is high, and control algolithm is more simple.
Description
Technical field
The utility model belongs to hilly and mountainous land tractor body leveling technology field, and in particular to a kind of preceding bridge, rear axle are complete
The wheeled tractor that portion's posture can adjust simultaneously.
Background technology
China hills, mountainous region account for the 10% and 33% of the gross area respectively, and hilly and mountainous land tractor is China hills mountain instantly
The main tool of ground cultivation.But the security risks such as generally existing operation quality is poor in operation, hillside fields adaptability is weak, easily tumbles.
The hilly and mountainous land Work machine that active demand operation quality in market is good, hillside fields is adaptable, reliability is high, research are adapted to mound
The tractor that the operation of mound mountainous region possesses body gesture adjustment function has become the one of current hilly land agriculture mechanized equipment development
Item urgent task.
Body gesture adjustment technology has more answer in the suspension, special type engineering machinery product of high-grade car at present
With.But by under the influence of the reasons such as cost, product structure difference is big, be applied to working environment is severe, product price is cheap,
Also have on hilly and mountainous land tractor simple in structure many difficult.
Patent CN 106938597 discloses " a kind of hilly and mountainous land tractor body device for adjusting posture and method of adjustment ".
Its adjusting apparatus by vehicle body, be symmetrically mounted on body bottom vehicle bridge adjustment component constitute.It includes vehicle bridge, appearance that vehicle bridge, which adjusts component,
State adjusts hydraulic cylinder, stable bar, variable connection rod set.Pose adjustment hydraulic cylinder and variable connection rod set are symmetrically hinged on vehicle body and vehicle
It is parallel above and below the variable connecting rod that variable connection rod set is hinged on by two between vehicle body and vehicle bridge to form between bridge, stabilize bar installation
Between vehicle body and vehicle bridge.The vehicle-posture information that sensor detects is sent to attitude controller by information acquisition unit, electricity
Control the adjustment that hydraulic system completes body gesture by controlling pose adjustment hydraulic cylinder again.
The levelling function of vehicle body may be implemented in above-mentioned patent, in the posture levelling device structure partly with the forward and backward bridge of car
Independent suspension is similar, but is very difficult to apply in the structure of forward and backward bridge whole suspension of traditional tractor.And control vehicle body appearance
The executive component quantity of state is more, and control strategy is complicated, of high cost.
Utility model content
In view of the above shortcomings of the prior art, the technical problem to be solved by the utility model is to provide one kind based on tradition
Structure tractor, the full pose adjustment wheeled tractor that Qi Qianqiao, rear axle whole posture can be separately adjustable and simple in structure.
In order to solve the above technical problems, the technical solution of the utility model is：Full pose adjustment wheeled tractor, including appearance
It is driven after state adjustment front driving axle, pose adjustment rear driving axle and the control pose adjustment front driving axle and pose adjustment
The electrohydraulic control system of the attitude angle of bridge；
The pose adjustment front driving axle includes the front driving axle for driving forwards wheel passing power, and the front driving axle passes through
Swinging shaft is connected with the bracket being fixed on vehicle body, and the front driving axle can surround swinging shaft and opposite pendulum occurs with bracket
It is dynamic；The hydraulic regulation driving machine of the swing angle for controlling front driving axle is provided between the bracket and the front driving axle
Structure；
The pose adjustment rear driving axle includes back-driving the rear axle box of wheel passing power and being symmetrically disposed on described
The left hub reduction swing mechanism assembly and right wheel rim decelerating mechanism assembly of rear axle box both sides；The left hub reduction swing mechanism
Assembly or right hub reduction swing mechanism assembly include the semiaxis shell being mounted on rear axle box body, are set in the axle shaft housing body
It is equipped with semiaxis, the semiaxis is sequentially connected rear drive sprocket by end driving mechanism；Driving institute is installed on the semiaxis shell
State the hydraulic rotating driving mechanism that end driving mechanism surrounds semiaxis rotation.
The end driving mechanism includes final drive shell as a preferred technical solution, the final drive shell
Inside be provided with the reduction pinion teeth mounted on half shaft end and the deceleration gear wheel that is engaged with reduction pinion teeth, it is described slow down it is big
Gear is installed on the driving shaft, and rear drive sprocket is installed in the drive shaft.
The hydraulic rotating driving mechanism includes being rotatablely installed on the semiaxis shell as a preferred technical solution,
The hydraulic motor of worm screw and driving worm screw rotation is integrated with the worm gear matched with worm screw on the final drive shell.
The electrohydraulic control system includes the preceding bridge for detecting front driving axle swing angle as a preferred technical solution,
Swing angle sensor, the left rear wheel angular sensor for detecting left rear wheel rotation angle are revolved for detecting off hind wheel
The off hind wheel angular sensor of gyration and the gyroscope for detecting vehicle body slip angle in real time；The preceding bridge swing angle
Sensor, left rear wheel angular sensor, off hind wheel angular sensor and gyroscope are connected with ECU controllers respectively
It connects, the ECU controllers connect the adjusting oil cylinder and hydraulic motor by the control of electric-hydraulic proportion valve group.
By adopting the above-described technical solution, the utility model has the advantages that：Based on traditional tractor entirety
Vehicle-bridge type structure is improved, and scheme is implemented fairly simple first, can upgrade to wheeled tractor common on the market
Transformation, cost are relatively low；The high feature of traditional tractor integral axle intensity is inherited, hilly and mountainous land bad working environments are more suitable for
Operation.Secondly, the executive component for controlling vehicle pose adjustment is less, at low cost, and reliability is high, and control algolithm is more simple.
Description of the drawings
The following drawings is only intended in doing schematic illustration and explanation to the utility model, does not limit the model of the utility model
It encloses.Wherein：
Fig. 1 is the complete machine structure schematic diagram of the utility model embodiment；
Fig. 2 is pose adjustment front driving axle horizontality schematic diagram；
Fig. 3 is pose adjustment front driving axle Right deviation status diagram；
Fig. 4 is pose adjustment front driving axle "Left"-deviationist status diagram；
Fig. 5 is pose adjustment rear driving axle horizontality schematic diagram；
Fig. 6 is the partial enlarged view at I in Fig. 5；
Fig. 7 be in Fig. 5 A-A to schematic enlarged-scale view；
Fig. 8 is pose adjustment rear driving axle Right deviation status diagram；
Fig. 9 is pose adjustment rear driving axle "Left"-deviationist status diagram；
Figure 10 is electrohydraulic control system control principle schematic diagram.
In figure：1- pose adjustment front driving axles；2- engines；3- passes a bridge；4- pose adjustment rear driving axles；The right hydraulic pressure horses of 5-
It reaches；The left hydraulic motors of 6-；7- rear drive sprockets；8- adjusts oil cylinder；9- brackets；10- swinging shafts；11- front driving axles；It is driven before 12-
Wheel；13- rear axle box；14- semiaxis shells；15- semiaxis；16- final drive shells；17- reduction pinion teeths；18- deceleration gear wheels；
19- drive shafts；20- worm screws；21- worm gears；22-ECU controllers；Bridge swing angle sensor before 23-；24- left rear wheel rotation angles
Spend sensor；25- off hind wheel angular sensors；26- gyroscopes；27- electric-hydraulic proportion valve groups；First group of electric-hydraulic proportion of 271-
Valve；Second group of electro-hydraulic proportional valve of 272-；273- third group electro-hydraulic proportional valves；28- hydraulic oil containers；29- hydraulic pumps.
Specific implementation mode
With reference to the accompanying drawings and examples, the utility model is expanded on further.In the following detailed description, only pass through
Bright mode describes certain exemplary embodiments of the utility model.Undoubtedly, those skilled in the art can be with
It recognizes, it, can be with a variety of different modes to described without departing from the spirit and scope of the utility model
Embodiment is modified.Therefore, attached drawing and description are regarded as illustrative in nature, rather than the protection for limiting claim
Range.
As shown in Figure 1, full pose adjustment wheeled tractor, including pose adjustment front driving axle 1, engine 2,3, appearance of passing a bridge
State adjusts rear driving axle 4, and control the attitude angle of the pose adjustment front driving axle 1 and pose adjustment rear driving axle 4
Electrohydraulic control system.
With reference to figure 2, the pose adjustment front driving axle 1 includes the front driving axle 11 for driving forwards 12 passing powers of wheel, institute
It states front driving axle 11 by swinging shaft 10 to be connected with bracket 9, and the front driving axle 11 can surround swinging shaft 10 and 9 frame of support
Relative swing occurs；The swing angle for controlling front driving axle 11 is provided between the bracket 9 and the front driving axle 11
Hydraulic regulation driving mechanism, in the present embodiment, hydraulic regulation driving mechanism adjusts 8 both ends of oil cylinder difference using oil cylinder 8 is adjusted
It is hinged with bracket 9, front driving axle 11.
With reference to figure 5, the pose adjustment rear driving axle 4 includes back-driving the wheel rear axle box 13 of 7 passing powers and right
Claim the left hub reduction swing mechanism assembly and right wheel rim decelerating mechanism assembly of setting；The left hub reduction swing mechanism assembly
Or right hub reduction swing mechanism assembly includes the semiaxis shell 14 being mounted on 13 babinet of rear axle box, in the semiaxis shell 14
It is provided with semiaxis 15, the semiaxis 15 passes through end driving mechanism drive connection rear drive sprocket 7；It is installed on the semiaxis shell 14
Have and the end driving mechanism is driven to surround the hydraulic rotating driving mechanism that the semiaxis 15 rotates.
With reference to figure 6, the end driving mechanism includes final drive shell 16, is provided in the final drive shell 16
Reduction pinion teeth 17 mounted on 15 end of semiaxis and the deceleration gear wheel 18 that is engaged with reduction pinion teeth 17, it is described slow down it is big
Gear 18 is mounted in drive shaft 19, and rear drive sprocket 7 is installed in the drive shaft 19.
With reference to figure 7, the hydraulic rotating driving mechanism include be rotatablely installed in the worm screw 20 on the semiaxis shell 14 with
And the hydraulic motor of the rotation of worm screw 20 is driven, it is integrated with the worm gear matched with worm screw 20 on the final drive shell 16
21.For convenience of description, with reference to figure 1, the hydraulic motor on right side is labeled as right hydraulic motor 5, and the hydraulic motor in left side is labeled as a left side
Hydraulic motor 6.
With reference to figure 10, the electrohydraulic control system includes being passed for detecting the preceding bridge swing angle of front driving axle swing angle
Sensor 23, the left rear wheel angular sensor 24 for detecting left rear wheel rotation angle, for detecting off hind wheel rotation angle
Off hind wheel angular sensor 25 and gyroscope 26 for detecting vehicle body slip angle in real time；The preceding bridge swing angle passes
Sensor 23, left rear wheel angular sensor 24, off hind wheel angular sensor 25 and gyroscope 26 are controlled with ECU respectively
Device 22 is connected, and the ECU controllers 22 connect the adjusting oil cylinder 8, right hydraulic motor 5 by the control of electric-hydraulic proportion valve group 27
With left hydraulic motor 6；The conveying by the hydraulic oil in hydraulic oil container 28 to electric-hydraulic proportion valve group 27 is realized by hydraulic pump 29.
Specific embodiment of the present utility model is further described below in conjunction with the accompanying drawings.
Tractor works in hilly and mountainous land, since ground height rises and falls, tractor body can be made to tilt, gyroscope 26 can be real
When detect vehicle body slip angle, and transfer data to ECU controllers 22, ECU controllers execute internal algorithm and simultaneously calculate separately out this
When need the angle swung, rear bridge driven wheel to need the angle rotated the bridge before when vehicle attitude control.ECU controllers 22 believe control
Number be sent to electric-hydraulic proportion valve group 27 controls corresponding executive component respectively, makes the progress that front driving axle and rear driving axle can be synchronous
The adjustment at left and right angle of inclination, to complete vehicle posture leveling control.
The attitude control method of the pose adjustment front driving axle 1 is as follows：
ECU controllers 22 export corresponding PWM current signals to first group of electro-hydraulic proportional valve 271, different size of electric current
The opening size that value can drive spool different, to the hydraulic oil for adjusting the conveying corresponding discharge of oil cylinder 8, to control to adjust oil cylinder 8
Collapsing length, and then have adjusted the angle between front driving axle 11 and bracket 9.Current bridge swing angle sensor 23 detects forerunner
When dynamic 11 swing angle of bridge has reached the angle of the calculating of ECU controllers 22, ECU controllers 22 will stop to first group of electro-hydraulic ratio
Example valve power supply, spool Hui Zhongwei adjust 8 locking of oil cylinder, complete the gesture stability of front driving axle.8 stroke of oil cylinder is adjusted to be contracted to
Most in short-term, preceding bridge Right deviation swing angle is maximum, as shown in Figure 3.When adjusting 8 stroke longest of oil cylinder, preceding bridge "Left"-deviationist swing angle is most
Greatly, as shown in Figure 4.
The attitude control method of the pose adjustment rear driving axle 4 is as follows：
The PWM current signals that 22 outbound course of ECU controllers is opposite but numerical values recited is identical give second group of electric-hydraulic proportion
Valve 272 and third group electro-hydraulic proportional valve 273, second group with third group electro-hydraulic proportional valve can output flow be identical but direction is opposite
Hydraulic oil to hub reduction swing mechanism right hydraulic motor 5 and left hydraulic motor 6 so that left and right two rear-guards of rear axle
Driving wheel 7 is along vehicle body central horizontal in face of being much of lower swing, different current signal, after left and right hydraulic motor can be made to drive
The different angle of left and right two driving wheel outlet swings of bridge, when left rear wheel angular sensor 24 and off hind wheel rotation angle
When sensor 25 detects the angle for reaching the calculating of ECU controllers 22, ECU controllers 22 will stop to second group, third group electricity
Liquid proportional valve is powered, and spool Hui Zhongwei, the left and right hydraulic motor locking of hub reduction swing mechanism completes the appearance of rear driving axle
State controls.Left back driving wheel is rotated to peak, and when right rear drive sprocket is rotated to minimum point, rear axle Right deviation swing angle is maximum,
As shown in Figure 8.Left back driving wheel is rotated to minimum point, and when right rear drive sprocket is rotated to peak, rear axle "Left"-deviationist swing angle is most
Greatly, as shown in Figure 9.
The complete machine posture leveling control of the full pose adjustment wheeled tractor of the utility model is as follows：
Bracket 9, engine 2,3, rear axle babinet 13 of passing a bridge connect and constitute entire vehicle body.In order to make entire vehicle body begin
It is in horizontality eventually, the state that the preceding bridge and rear axle of tractor must follow ground height to rise and fall adjusts respective posture,
There are following several attitude integrations：
(1) front driving axle and rear driving axle are on level ground, front driving axle shown in Fig. 2 and it is shown in fig. 5 after
Drive axle combination can meet vehicle body and be in horizontality.
(2) front driving axle is on level ground, and rear driving axle is on inclined ground, front driving axle shown in Fig. 2
It can meet vehicle body with the combination of Fig. 8 or shown in Fig. 9 rear driving axles and be in horizontality.
(3) at front driving axle on the sloped ground on, rear driving axle is on horizontal ground, before Fig. 3 or shown in Fig. 4
Drive axle and rear driving axle shown in fig. 5 combination can meet vehicle body and be in horizontality.
(4) front driving axle and rear driving axle are on inclined ground, Fig. 3 or shown in Fig. 4 front driving axles and Fig. 8 or
Rear driving axle combination shown in Fig. 9 can meet vehicle body and be in horizontality.
The body gesture signal that ECU controllers are fed back according to gyroscope judges the front driving axle and rear driving axle of tractor
Assembled state.Then it accurately calculates under corresponding assembled state, the specific drift angle value of front driving axle and rear driving axle, then
The hydraulic motor for adjusting oil cylinder, rear axle for sending out the preceding bridge of control signal control completes the posture leveling control of complete machine.
The utility model is based on traditional tractor entirety vehicle-bridge type structure, and first, scheme implementation is fairly simple, can be to city
Common wheeled tractor carries out upgrading on face, and cost is relatively low；It is high to inherit traditional tractor integral axle intensity
Feature is more suitable for the operation of hilly and mountainous land bad working environments.Secondly, the executive component for controlling vehicle pose adjustment is less, at low cost,
Reliability is high, and control algolithm is more simple.
The above descriptions are merely exemplary embodiments of the present utility model, is not limited to the model of the utility model
It encloses.Any those skilled in the art, made equivalent change under the premise of not departing from the design and principle of the utility model
Change and change, the range of the utility model protection should all be belonged to.
Claims (4)
1. full pose adjustment wheeled tractor, it is characterised in that：Including pose adjustment front driving axle, pose adjustment rear driving axle,
And the electrohydraulic control system of the attitude angle of the control pose adjustment front driving axle and pose adjustment rear driving axle；
The pose adjustment front driving axle includes the front driving axle for driving forwards wheel passing power, and the front driving axle is by waving
Axis is connected with the bracket being fixed on vehicle body, and the front driving axle can surround swinging shaft and relative swing occurs with bracket；
The hydraulic regulation driving mechanism of the swing angle for controlling front driving axle is provided between the bracket and the front driving axle；
The pose adjustment rear driving axle includes back-driving the rear axle box of wheel passing power and being symmetrically disposed on the rear axle
The left hub reduction swing mechanism assembly and right wheel rim decelerating mechanism assembly of case both sides；The left hub reduction swing mechanism assembly
Or right hub reduction swing mechanism assembly includes the semiaxis shell being mounted on rear axle box body, is provided in the axle shaft housing body
Semiaxis, the semiaxis are sequentially connected rear drive sprocket by end driving mechanism；The driving end is installed on the semiaxis shell
Transmission mechanism is held to surround the hydraulic rotating driving mechanism of semiaxis rotation.
2. full pose adjustment wheeled tractor as described in claim 1, it is characterised in that：The end driving mechanism includes end
Transmission housing is held, reduction pinion teeth and and reduction pinion teeth mounted on half shaft end are provided in the final drive shell
The deceleration gear wheel of engagement, the deceleration gear wheel installation on the driving shaft, rear drive sprocket are installed in the drive shaft.
3. full pose adjustment wheeled tractor as claimed in claim 2, it is characterised in that：The hydraulic rotating driving mechanism packet
Rotational installation is included in the hydraulic motor of worm screw and the driving worm screw rotation on the semiaxis shell, the final drive shell
The worm gear matched with worm screw is integrated on body.
4. full pose adjustment wheeled tractor as claimed in claim 3, it is characterised in that：The electrohydraulic control system includes using
It is rotated in the preceding bridge swing angle sensor of detection front driving axle swing angle, for detecting the left rear wheel of left rear wheel rotation angle
Angular transducer, the off hind wheel angular sensor for detecting off hind wheel rotation angle and in real time detect vehicle body it is inclined
The gyroscope at angle；The preceding bridge swing angle sensor, left rear wheel angular sensor, off hind wheel angular sensor with
And gyroscope is connected with ECU controllers respectively, the ECU controllers connect the hydraulic pressure tune by the control of electric-hydraulic proportion valve group
Save driving mechanism and hydraulic motor.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201721694181.8U CN207697419U (en) | 2017-12-07 | 2017-12-07 | Full pose adjustment wheeled tractor |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201721694181.8U CN207697419U (en) | 2017-12-07 | 2017-12-07 | Full pose adjustment wheeled tractor |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN207697419U true CN207697419U (en) | 2018-08-07 |
Family
ID=63025314
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201721694181.8U Expired - Fee Related CN207697419U (en) | 2017-12-07 | 2017-12-07 | Full pose adjustment wheeled tractor |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN207697419U (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107856489A (en) * | 2017-12-07 | 2018-03-30 | 山东五征集团有限公司 | Full pose adjustment wheeled tractor |
| CN109292019A (en) * | 2018-09-13 | 2019-02-01 | 吉林大学 | All-terrain vehicle active body gesture control method based on coaxial-type wheel leg structure |
| CN111716958A (en) * | 2020-05-08 | 2020-09-29 | 山东省农业机械科学研究院 | Suspension type steering drive axle, vehicle and control method thereof |
-
2017
- 2017-12-07 CN CN201721694181.8U patent/CN207697419U/en not_active Expired - Fee Related
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107856489A (en) * | 2017-12-07 | 2018-03-30 | 山东五征集团有限公司 | Full pose adjustment wheeled tractor |
| CN109292019A (en) * | 2018-09-13 | 2019-02-01 | 吉林大学 | All-terrain vehicle active body gesture control method based on coaxial-type wheel leg structure |
| CN109292019B (en) * | 2018-09-13 | 2021-05-28 | 吉林大学 | All-terrain vehicle active body attitude control method based on coaxial wheel leg structure |
| CN111716958A (en) * | 2020-05-08 | 2020-09-29 | 山东省农业机械科学研究院 | Suspension type steering drive axle, vehicle and control method thereof |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20180807 |