CN217649555U - Control device for realizing large-load reversible movement by using small control force - Google Patents
Control device for realizing large-load reversible movement by using small control force Download PDFInfo
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- CN217649555U CN217649555U CN202220510612.5U CN202220510612U CN217649555U CN 217649555 U CN217649555 U CN 217649555U CN 202220510612 U CN202220510612 U CN 202220510612U CN 217649555 U CN217649555 U CN 217649555U
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Abstract
The utility model relates to the technical field of vehicles, in particular to a control device for realizing large-load reversible motion by using small control force, which comprises a basic force auxiliary device and a control force output device, wherein the basic force auxiliary device can store and release potential energy, and when the stored potential energy is the maximum, a load is at the lowest position of the potential energy and can output a force which is large enough but not enough to cause the load to generate displacement; the control force output device provides a controllable force or displacement output, enabling the position adjustment of the load with a smaller force on the basis of the force provided by the basic force assisting device.
Description
Technical Field
The utility model relates to the technical field of vehicles, especially, relate to a control device who uses little control force to realize reversible motion of heavy load.
Background
At present, for occasions needing reversible lifting or descending of a large load, most of adopted control devices directly control devices with corresponding force output capacity, such as an electric control system with force output devices such as electric cylinders or hydraulic cylinders, and the like.
SUMMERY OF THE UTILITY MODEL
An object of the utility model is to overcome the not enough of above-mentioned technique, and provide a control device who uses little control force to realize the reversible motion of heavy load.
The utility model discloses a realize above-mentioned purpose, adopt following technical scheme: a control device for realizing reversible movement of a large load with a small control force, comprising a basic force assisting device and a control force outputting device, wherein the basic force assisting device can store and release potential energy, and when the potential energy is maximum, the large load is at the lowest potential energy position and can output a force which is large enough but not large enough to enable the load to generate displacement; the control force output device provides a controllable force or displacement output, enabling the position adjustment of the load with a smaller force on the basis of the force provided by the basic force assisting device.
Preferably, during the lifting process of the load, the basic force assisting device releases potential energy, during the descending process of the load, the basic force assisting device stores the potential energy, and the force output device is controlled to control the output of force or displacement to realize the position adjustment of the load.
Preferably, the base force assisting device is a hydraulic system with an energy storage element, or a pneumatic system, or an electrical system, or a mechanical mechanism with an elastic element, or a combination of the above systems.
Preferably, the control force output device is a hydraulic system, or a pneumatic system, or an electrical system, or a mechanical device, or a combination thereof, capable of outputting a controllable force or displacement.
Preferably, the basic force auxiliary device consists of an energy accumulator and a hydraulic cylinder, the control force output device consists of a cylinder connected with the central inflation and deflation system, and the output force or displacement of the cylinder is controlled by controlling the output pressure of the central inflation and deflation system.
Preferably, the hydraulic cylinder of the basic force assisting device is arranged between any two of the support frame assembly, the cooperative mechanism assembly, the multiple loading wheel chain assemblies and the driving wheel adjusting mechanism, or arranged between internal components of the cooperative mechanism assembly, or arranged between internal components of the driving wheel adjusting mechanism; the cylinder of the control force output device is arranged between any two of the support frame assembly, the cooperative mechanism assembly, the multiple loading wheel chain assemblies and the driving wheel adjusting mechanism, or between internal components of the cooperative mechanism assembly, or between internal components of the driving wheel adjusting mechanism.
Preferably, the energy accumulator is fixed on the support frame assembly and is connected with the hydraulic cylinder through an oil pipe and a ball valve.
Preferably, both ends of the hydraulic cylinder are respectively hinged with the support frame assembly and the loading wheel chain assembly.
Preferably, the two ends of the cylinder are respectively hinged with the cooperative mechanism assembly and the support frame assembly.
Preferably, the number of the hydraulic cylinders is two.
Preferably, the number of the cylinders is two.
The utility model has the advantages that the basic force auxiliary device stores and releases the potential energy of the load movement and provides most lifting force required by the load movement, so that the control force output device can realize the position adjustment of the load with smaller force, and the energy consumption required by the position adjustment of the load is greatly reduced. Typically, through this patent, it is possible to achieve form reconfiguration using a central inflation and deflation system to control a reconfigurable rubber track walking system.
Drawings
FIG. 1 is a block diagram of a reconfigurable rubber track running system to which the present invention is applied;
FIG. 2 is a view showing a structure of a wheel train in a traveling system to which the present invention is applied;
FIG. 3 is a schematic view of the installation of the foundation force assisting device and the control force output device according to the present invention;
FIG. 4 is a schematic view of the traveling system in the extreme state of the track wheel configuration;
fig. 5 is a schematic view of a driving wheel adjusting mechanism in a traveling system to which the present invention is applied;
fig. 6 is a schematic structural view of the foundation force assisting device of the present invention;
fig. 7 is a schematic structural view of a control force output device according to the present invention;
FIG. 8 is a front view of FIG. 1;
FIG. 9 is a non-limiting diagram of the track wheel configuration of the traveling system of the present invention;
FIG. 10 is a diagram of another non-limiting state of the track wheel configuration of the travel system in which the present invention is used;
fig. 11 is a front view of a travel system to which the present invention is applied in a state of the extreme form of a crawler wheel;
fig. 12 is a perspective view of a travel system in which the present invention is applied in a state of the extreme form of the track wheel;
in the figure: 1. a rubber track; 2. a wheel train; 3. a support frame assembly; 31. an inner support frame; 32. an outer support frame; 33. a support frame connecting piece; 4. a load wheel chain assembly; 5. a central shaft assembly; 51. a central shaft; 6. a cooperating mechanism assembly; 61. a coordination mechanism; 62. a synchronization component; 7. an accumulator; 8. a ball valve; 9. a hydraulic cylinder; 10. a hydraulic cylinder mounting frame; 11. an oil pipe; 12. the middle part of the loading wheel chain assembly body; 13. a cylinder; 14. a mounting frame at the top of the cylinder; 15. a mounting frame at the bottom of the cylinder; 16. an air pipe; 17. a rotary joint; 18. an airway; 19. a drive wheel adjusting mechanism; 190. a drive wheel assembly; 191. swinging arms; 192. the driving wheel is provided with a shaft.
Detailed Description
It should be noted that, in case of conflict, the embodiments and features of the embodiments of the present invention may be combined with each other.
In the description of the present invention, it should be understood that the terms "center", "longitudinal", "lateral", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", etc. indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, and are only for convenience of description of the present invention and to simplify the description, but do not indicate or imply that the device or element referred to must have a particular orientation, be constructed and operated in a particular orientation, and therefore should not be construed as limiting the present invention. Furthermore, the terms "first," "second," and the like are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or to implicitly indicate a number of the indicated technical features. Thus, a feature defined as "first," "second," etc. may explicitly or implicitly include one or more of that feature. In the description of the invention, unless otherwise specified, "a plurality" means two or more.
In the description of the present invention, it should be noted that, unless explicitly stated or limited otherwise, the terms "mounted," "connected," "fixedly connected," and "fixedly connected" are to be understood in a broad sense, and may be, for example, fixedly connected, detachably connected, or integrally connected; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meaning of the above terms in the creation of the present invention can be understood by those of ordinary skill in the art through specific situations.
A control device for realizing large-load reversible motion by using small control force comprises a basic force auxiliary device and a control force output device, wherein the basic force auxiliary device can store and release potential energy (such as elastic potential energy, magnetic field potential energy and the like), when the potential energy of the basic force auxiliary device is the largest, a large load is at the lowest potential energy position and can output force which is large enough but not enough to enable the load to generate displacement, the basic force auxiliary device releases the potential energy in the load lifting process, and the basic force auxiliary device stores the potential energy in the load descending process; the control force output device provides a controllable force or displacement output, enabling the position adjustment of the load with a smaller force on the basis of the force provided by the basic force assisting device.
The device is installed on a reconfigurable rubber crawler traveling system as an example for explanation. The running system can be used for replacing tires of a wheeled vehicle, and the form of the running system can be controllably converted between the tire form and the crawler wheel form. When the tire is in a shape, the whole traveling system rotates and is applied to paving or other hard pavements, and the vehicle can have the same traveling speed and oil consumption as the wheeled vehicle. When the crawler wheel is in a form, the ground contact area is large, the traveling system drives the crawler belt to advance through the driving wheel, and the cross-country crawler wheel is applied to cross-country terrains which are soft or have low adhesion coefficients, so that the cross-country maneuvering capability of the vehicle can be improved.
The walking system is mainly composed of a rubber crawler 1, a wheel train 2 and the like as shown in figures 1-5. The wheel train 2 mainly comprises a support frame assembly 3, a loading wheel chain assembly 4, a central shaft assembly 5, a cooperative mechanism assembly 6, a driving wheel adjusting mechanism 19 and the like. Wherein:
the support frame assembly 3 provides main basic support for each component of the walking system, and comprises an inner side support frame 31, an outer side support frame 32, a support frame connecting piece 33 and the like. And a plurality of support frame connecting pieces 33 are fixedly connected with the support frames at the two sides.
The main body of the central shaft assembly body 5 is a central shaft 51, the central shaft 51 is hinged on the inner side support frame 31 and the outer side support frame 32 through bearings, one end of the central shaft is fixedly connected on a vehicle half shaft or other power output shafts, and can rotate around a fixed axis on the support frame assembly, so that the central shaft is a power source of a walking system. The axis of rotation of the central shaft relative to the support frame assembly is briefly described as the axis of the central shaft.
The cooperating mechanism assembly 6 mainly comprises cooperating mechanisms 61 respectively mounted on the two side supporting frames, and a synchronizing component 62 connecting the two side cooperating mechanisms to ensure the movement synchronization thereof.
As shown in fig. 5, the driving wheel adjusting mechanism 19 is mounted on the two-side cooperating mechanism, and mainly includes a driving wheel assembly 190, a swing arm 191, a driving wheel mounting shaft 192, and the like. The drive wheel assembly is mounted on the drive wheel mounting shaft. When the cooperative mechanism moves, the swing arm can move along with the cooperative mechanism, so that the driving wheel assembly can translate along a fixed straight line on the support frame assembly 3, and the straight line is perpendicular to the axis of the central shaft.
Six loading wheel chain assemblies are oppositely arranged at two sides of the wheel train and are respectively arranged on the two side cooperative mechanisms 61. The loading wheel chain assembly is formed by sequentially connecting a plurality of components for mounting loading wheels in series in a hinged mode. Under the coordination of the cooperative mechanism assembly 6, each load wheel chain assembly 4 is synchronously and gradually bent or gradually straightened, and the shape of the outer periphery of the gear train is changed. In the above process, the middle position 12 of each loading wheel chain assembly always translates along a fixed straight line on the support frame assembly 3, and the straight lines are all perpendicular to the axis of the central shaft and intersect with the axis. When the weight wheel chain assembly 4 is completely straightened and the upper weight wheels are arranged in a straight line, the traveling system is in a limit state of a track wheel shape, and the central shaft 51 is closest to the ground, that is, the axial height of the central shaft 51 is the lowest. When the load wheel chain assembly 4 is gradually bent, two ends of the load wheel chain assembly are gradually close to the central shaft assembly 5, the middle part of the load wheel chain assembly is gradually far away from the central shaft assembly 5, the walking system is still in a track wheel shape in the process, but the grounding area is gradually reduced, and the ground clearance of the central shaft 51 is gradually increased; when the load wheel chain assembly 4 is curved in an arc shape, the traveling system is in a tire shape, and the center shaft 51 is highest from the ground. The wheel trains are connected with each other to form a single-freedom-degree controllable device. The configuration of the traveling system is reconstructed into conversion between the track wheel configuration and the tire configuration and adjustment of the ground contact area in the track wheel configuration.
During the form reconstruction process of the walking system, the middle position of the weight-bearing wheel chain assembly is translated along the linear direction (a, b, c) perpendicular to the axis of the central shaft, and is far away from or close to the central shaft assembly 5, so that the central shaft assembly 5 is gradually lifted or lowered, and the gravity center of the vehicle is lifted or lowered accordingly, as shown in fig. 9 to 12.
The existing off-road vehicle generally adopts a central inflation and deflation system, and in order to reduce the refitting of the vehicle as much as possible, the existing central inflation and deflation system of the vehicle is required to be utilized to realize the control of the form reconstruction of the running system, so that the running system is convenient to replace tires. However, the output pressure of the central inflation/deflation system is very low, which is less than 1Mpa, and because the internal space of the walking system is limited, cylinders with sufficient volume cannot be arranged, and the like, it is difficult to realize the control of the form reconstruction of the walking system by using the central inflation/deflation system. The control device which is designed by the patent and uses small control force to realize reversible motion of a large load can solve the problem.
The control device for realizing the reversible motion of the heavy load by using the small control force is realized on the walking system as follows. In the process of reconstructing the track wheel form to the tire form, if a lifting force is applied to the central shaft mounting body 5 through the middle position of the loading wheel chain assembly body, the lifting force is basically stable and unchanged due to the unchanged vehicle weight, and the lifting force can be expressed as a total lifting force. Since the wheel is a single degree of freedom controllable device, the present control device is not limited to be installed between the central position of the load-bearing wheel chain assembly and the central shaft assembly 5, and may be installed on a moving component related to the position change of the central shaft assembly, but the effect of the output force may be equivalent to the effect of the lifting force.
The control device consists of a basic force auxiliary device and a control force output device, and is arranged in or between the relative motion assemblies of the gear train.
(1) The basic force auxiliary device provides basic force required by form reconstruction by using elements with elastic potential energy such as springs, energy accumulators and the like, the basic force is equivalent to the lifting force, and the equivalent size of the basic force is as close as possible to the size of the overall lifting force.
(2) The control force output device can adjust the output magnitude of the control force, and devices such as a central inflation and deflation system and the like can be adopted, and the sum of the output control force and the basic force is not less than the total lifting force.
For convenience of description, the relationships such as the magnitude between the basic force, the control force and the overall lifting force are all equivalent effect relationships.
Because the foundation force auxiliary device adopts the elastic potential energy element to provide the foundation force, the output of the force can also change along with the change of the stroke in the form reconstruction process, generally, the foundation force can be gradually reduced along with the increase of the stroke, and the installation position, the size parameter and the like of each component of the foundation force auxiliary device are optimized, so that the most of the total lifting force can be still realized by the output foundation force. And the control force output device can realize the control of the form reconstruction by outputting relatively small force.
The concrete structure is as follows: as shown in fig. 3 and 6, the basic force assisting device is a hydraulic system composed of an accumulator 7, a ball valve 8, a hydraulic cylinder 9, a cylinder mounting bracket 10, an oil pipe 11 and the like. The energy accumulator 7 is fixed on the support frame connecting piece 33 and is connected with the hydraulic cylinder 9 through the oil pipe 11 and the ball valve 8. The pneumatic cylinder is installed between support frame assembly and heavy burden wheel chain assembly body, and the cylinder that specifically is the pneumatic cylinder articulates on the pneumatic cylinder mounting bracket 10 that links firmly with support frame connecting piece 33, and the piston rod of pneumatic cylinder articulates on heavy burden wheel chain assembly body 4, and articulated position is close to heavy burden wheel chain assembly body middle part position 12, and the pneumatic cylinder has two, is in the train both sides respectively, is the staggered arrangement in the space.
The accumulator 7 provides a constant output force to the hydraulic cylinder 9, and the center position 12 of the weight wheel chain assembly tends to be away from the center axis in the radial direction (a, b, c) of the center axis. According to actual requirements, parameters such as the volume of the energy accumulator 7, initial pressure and the diameter of a piston of the hydraulic cylinder are reasonably selected through optimization design, and the hydraulic cylinder 9 can output basic force. By reasonably setting the installation positions of all components, the extension amount of the piston rod of the hydraulic cylinder and the lifting height of the central shaft are kept in a stable and good linear relation, and the output basic force is stably close to and smaller than the total lifting force.
Normally, the ball valve 8 is in an open state, so that the accumulator 7 is communicated with the hydraulic cylinder 9 to normally work. When the walking system is in fault or needs maintenance, the ball valve 8 can be closed, and the oil liquid is stopped from flowing between the energy accumulator 7 and the hydraulic cylinder 9, so that the form of the walking system is fixed.
As shown in fig. 3 and 7, the control force output means is composed of a central inflation/deflation system, a cylinder 13, a cylinder top mounting bracket 14, a cylinder bottom mounting bracket 15, an air pipe 16, a rotary joint 17, and the like. The cylinder top mounting frame 14 is hinged with the synchronizing component 62 of the cooperative mechanism assembly 6, and the cylinder bottom mounting frame is hinged with the support frame connecting piece 33. The two ends of the cylinder 13 are fixed on a cylinder top mounting frame 14 and a cylinder bottom mounting frame 15 respectively. An air passage 18 is processed in the middle of the central shaft 51; the rotary joint 17 is fixedly connected at the shaft end of the central shaft and is communicated with the air passage 18, and the other end of the rotary joint is fixed on the support frame assembly; the cylinder 13 communicates with a rotary joint 17 through an air pipe 16. The control force output device uses two cylinders, which are respectively arranged on two sides of the central shaft.
By controlling the output pressure of the central inflation and deflation system, the gas enters the air passage 18 of the central shaft 51 through the central inflation and deflation system and is distributed to the two air cylinders 13 through the rotary joint 17 at the top end of the central shaft. The output force of the cylinder 13 is positively correlated with the central charging and discharging output pressure, thereby providing a control force.
The basic force provided by the basic force auxiliary device is combined with the control force provided by the control force output device, so that the form reconstruction of the walking system can be realized. By using the basic force assisting device, the control force required to be provided by the control force output device is greatly reduced, for example, when the load is 2t, the maximum output force required by the control force output device is only 1200N, and is less than 10% of the basic force provided by the basic force assisting device.
In the process of reconstructing the tire form to the crawler wheel form, the walking system reduces the output force of the cylinder by reducing the output air pressure of the central inflation and deflation system, and under the actions of the self weight, the load and the like of the walking system, the piston rod of the hydraulic cylinder 9 retracts into the cylinder barrel, the cylinder 13 retracts, and the energy accumulator 7 accumulates energy until the tire form is reconstructed to the crawler wheel form.
When the track wheel form is reconstructed to the tire form, the air cylinder 13 is inflated by increasing the output air pressure of the central inflation and deflation system, so that the output force is increased; the energy accumulator 7 releases energy, and a piston rod of the hydraulic cylinder 9 extends out of the cylinder barrel until the tire shape is reconstructed.
By using the device, the central inflation and deflation system can control the form reconstruction of the walking system. As the output pressure of the central inflation/deflation system decreases, the travel system is converted from the tire configuration to the crawler wheel configuration, and gradually changes to the limit state of the crawler wheel configuration, as shown in fig. 9 to 12. And vice versa.
The device stores and releases potential energy of load motion through the basic force auxiliary device, provides most lifting force required by the load motion, enables the control force output device to realize position adjustment of the load with smaller force, greatly reduces energy consumption required by the position adjustment of the load, and realizes the reversible motion of small force controlled large load.
The foregoing is only a preferred embodiment of the present invention, and it should be noted that, for those skilled in the art, a plurality of modifications and decorations can be made without departing from the principle of the present invention, and these modifications and decorations should also be regarded as the protection scope of the present invention.
Claims (7)
1. A control device for effecting reversible movement of a heavy load using a small control force, characterized by: the device comprises a basic force auxiliary device and a control force output device, wherein the basic force auxiliary device can store and release potential energy, when the potential energy of the basic force auxiliary device is maximum, a large load is at the lowest potential energy position, and the basic force auxiliary device can output a force which is large enough but not enough to enable the load to generate displacement; the control force output device provides controllable force or displacement output, can realize position adjustment of a load with smaller force on the basis of the force provided by the basic force auxiliary device, the basic force auxiliary device consists of an energy accumulator and a hydraulic cylinder, the control force output device consists of a cylinder connected with the central inflation and deflation system, and the output force or displacement of the cylinder is controlled by controlling the output pressure of the central inflation and deflation system.
2. The control device for achieving reversible motion of a large load with a small control force according to claim 1, wherein: the hydraulic cylinder of the basic force assisting device is arranged between any two of the support frame assembly, the cooperation mechanism assembly, the multiple loading wheel chain assemblies and the driving wheel adjusting mechanism, or arranged between internal components of the cooperation mechanism assembly, or arranged between internal components of the driving wheel adjusting mechanism; and the cylinder of the control force output device is arranged between any two of the support frame assembly, the cooperative mechanism assembly, the multiple loading wheel chain assemblies and the driving wheel adjusting mechanism, or arranged between internal components of the cooperative mechanism assembly, or arranged between internal components of the driving wheel adjusting mechanism.
3. The control device for achieving reversible motion of a large load with a small control force according to claim 2, characterized in that: the energy accumulator is fixed on the support frame assembly and is connected with the hydraulic cylinder through an oil pipe and a ball valve.
4. The control device for achieving reversible motion of a large load using a small control force according to claim 2, wherein: and two ends of the hydraulic cylinder are respectively hinged with the support frame assembly and the loading wheel chain assembly.
5. The control device for achieving reversible motion of a large load using a small control force according to claim 2, wherein: and two ends of the cylinder are respectively hinged with the cooperating mechanism assembly and the support frame assembly.
6. The control device for achieving reversible motion of a large load using a small control force according to claim 2, wherein: the number of the hydraulic cylinders is two.
7. The control device for achieving reversible motion of a large load with a small control force according to claim 2, characterized in that: the number of the cylinders is two.
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114435499A (en) * | 2022-03-08 | 2022-05-06 | 中国人民解放军陆军军事交通学院军事交通运输研究所 | Control device for realizing reversible movement of heavy load by using small control force |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114435499A (en) * | 2022-03-08 | 2022-05-06 | 中国人民解放军陆军军事交通学院军事交通运输研究所 | Control device for realizing reversible movement of heavy load by using small control force |
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