CN218229125U

CN218229125U - Running gear for agricultural vehicle

Info

Publication number: CN218229125U
Application number: CN202221515715.7U
Authority: CN
Inventors: 李鑫; 张余岭; 王王; 王智慧
Original assignee: Xinjiang Bosheran Intelligent Agricultural Machinery Co ltd
Current assignee: Xinjiang Bosheran Intelligent Agricultural Machinery Co ltd
Priority date: 2022-06-16
Filing date: 2022-06-16
Publication date: 2023-01-06
Anticipated expiration: 2032-06-16

Abstract

The utility model discloses a running gear for agricultural vehicle has been demonstrated, running gear installs the chassis below at agricultural vehicle, running gear includes two sets of walking modules, the walking module includes driver, transaxle and walking wheel, be equipped with on the chassis and be used for control the walking controller of driver, be equipped with drive module in the transaxle, the driver passes through drive module control the walking wheel, the transaxle with the junction of walking wheel is equipped with the knuckle, be equipped with on the transaxle and be used for control knuckle pivoted steering module, be equipped with on the knuckle and be used for the control turn to street corner sensing module of turned angle, be equipped with on the transaxle and be used for the fast wheel speed sensor of control wheel, the turning radius that this running gear can have the less.

Description

Running gear for agricultural vehicle

[ technical field ] A method for producing a semiconductor device

The utility model relates to a running gear for agricultural vehicle belongs to vehicle chassis technical field.

[ background of the invention ]

With the walking system in agricultural machinery mainly using a tractor, and with the development of light-weight field operation and management equipment, the walking system moves towards the direction of the intelligent chassis, and the turning radius of the existing agricultural intelligent chassis is larger, so that the intelligent chassis cannot be suitable for operation scenes with limited ground space and small line spacing.

[ Utility model ] A method for manufacturing a semiconductor device

The utility model aims to solve the technical problem that a running gear for agricultural vehicle is provided, this running gear can have less turning radius.

Solve the technical problem, the utility model discloses a following technical scheme:

the utility model provides a running gear for agricultural vehicle, running gear installs the chassis below at agricultural vehicle, running gear includes two sets of walking modules, the walking module includes driver, transaxle and walking wheel, be equipped with on the chassis and be used for control the walking controller of driver, be equipped with drive module in the transaxle, the driver passes through drive module controls the walking wheel, the transaxle with the junction of walking wheel is equipped with the knuckle, be equipped with on the transaxle and be used for control knuckle pivoted steering module, be equipped with the corner sensing module who is used for monitoring turned angle on the knuckle, be equipped with the fast sensor of wheel that is used for monitoring the wheel on the transaxle.

Adopt the beneficial effects of the utility model are that:

the utility model discloses in the chassis below is equipped with two sets of walking modules, two sets of walking modules all are equipped with and turn to the module, turn to the module and can control the knuckle rotates, realizes turning to of walking wheel, has the deviation when finding apart from the position of next target operation point, and can not realize when the lateral displacement volume of next operating point through turning to of single transaxle, two below the chassis turn to the module and start, two walking wheels turn to simultaneously, make the utility model discloses can acquire bigger lateral displacement on the same displacement that advances to solve the problem of operating point skew, two sets of walking wheels of simultaneous control turn to in addition, also can make the utility model discloses have less turning radius, it is convenient the utility model discloses carry out the operation under little ground head or narrow road environment, make the utility model discloses can adapt to more operation environment.

Preferably, the two ends of the drive axle are provided with steering knuckles, the steering module comprises a steering motor, a steering pull rod, a steering connecting rod, a first steering arm and a second steering arm, the steering motor is mounted on the chassis, the first steering arm and the second steering arm are respectively connected with the steering knuckles at the two ends of the transmission module, the two ends of the steering pull rod are respectively connected with the steering motor and the first steering arm, and the two ends of the steering connecting rod are respectively connected with the first steering arm and the second steering arm.

Preferably, the first steering arm is Y-shaped, the first steering arm is provided with a first connecting end, a second connecting end and a third connecting end, the third connecting end is connected with the knuckle, two ends of the steering pull rod are respectively connected with the steering motor and the first connecting end, and two ends of the steering connecting rod are respectively connected with the second connecting end and the second steering arm.

Preferably, the corner sensing module comprises a corner encoder and an encoder bracket, the encoder bracket is fixed at the joint of the drive axle and the steering knuckle, and the corner encoder is installed on the encoder bracket.

Preferably, a transmission gear is arranged in the transmission module, the wheel speed sensor comprises a wheel speed encoder and an outer gear, an intermediate gear is arranged between the outer gear and the transmission gear, the intermediate gear is in transmission connection with the outer gear and the transmission gear respectively, an outer gear shaft is arranged in the middle of the outer gear, the wheel speed encoder is provided with an installation shaft, the installation shaft is fixedly connected with the outer gear shaft, an encoder fixing seat is arranged on the installation shaft, and the wheel speed encoder is fixed on the encoder fixing seat.

Preferably, a differential is connected to the drive axle.

Preferably, the walking wheel includes the tire, the tire inboard is equipped with the drum that is used for the braking and stops, the knuckle is located between drum and the drive module of stopping, be equipped with brake motor on the transaxle, brake motor control the drum is stopped and is realized the braking to the tire.

Other features and advantages of the present invention will be disclosed in more detail in the following detailed description and the accompanying drawings.

[ description of the drawings ]

The invention will be further explained with reference to the drawings:

fig. 1 is a top view of an embodiment of the present invention;

FIG. 2 is a partial view of an embodiment of the present invention;

fig. 3 is a cross-sectional view of the wheel speed sensor according to an embodiment of the present invention.

Reference numerals: 1 chassis, 2 walking modules, 21 walking wheels, 211 tires, 212 drum brakes, 213 steering knuckles, 214 transmission modules, 215 drive axles, 22 drivers, 231 steering motors, 232 steering rods, 233 first steering arms, 234 second steering arms, 235 steering connecting rods, 24 braking motors, 25 rotation angle sensing modules, 251 rotation angle encoders, 252 encoder brackets, 27 wheel speed sensors, 271 transmission gears, 272 intermediate gears, 273 external gears, 274 external gear shafts, 275 wheel speed encoders, 276 encoder fixing seats and 277 and 28 differentials.

[ detailed description ] embodiments

The technical solutions of the embodiments of the present invention are explained and explained below with reference to the drawings of the embodiments of the present invention, but the embodiments described below are only preferred embodiments of the present invention, and not all embodiments. Based on the embodiments in the embodiment, those skilled in the art can obtain other embodiments without making creative efforts, which all belong to the protection scope of the present invention.

In the description of the present invention, it is to be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "clockwise", "counterclockwise" and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, and are only for convenience of description 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 "first" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of the present invention, "a plurality" means two or more unless explicitly defined otherwise.

In the present invention, unless otherwise expressly specified or limited, the terms "mounted," "connected," and "fixed" are to be construed broadly and may, for example, be 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 present invention can be understood according to specific situations by those skilled in the art.

Example 1:

as shown in fig. 1 to 3, this embodiment shows a traveling device for an agricultural vehicle, the traveling device is installed below a chassis 1 of the agricultural vehicle, the traveling device includes two sets of traveling modules 2, each traveling module 2 includes a driver 22, a drive axle 215 and a traveling wheel 21, the drive axle 215 is provided with a through hole penetrating along a length direction thereof, a transmission module 214 is arranged in the drive axle 215, in this embodiment, the transmission module 214 is a transmission shaft, an output end of the driver 22 is in transmission connection with the transmission shaft, an end of the transmission shaft is connected with the traveling wheel 21, the chassis 1 is provided with a traveling controller for controlling the driver 22, in this embodiment, the driving mode of this embodiment can be changed by controlling the drivers 22 on front and rear sides of the chassis 1 through the traveling controller, the driving mode of this embodiment includes a forward driving mode, and only the driver 22 on the front side of the chassis 1 is started; a rear drive mode, in which only the drive 22 on the rear side of the chassis 1 is activated; and a double-drive mode, wherein the drivers 22 on the front side and the rear side of the chassis 1 are simultaneously started; by changing the driving mode of the embodiment, the embodiment can adapt to different working environments, and meanwhile, the walking and obstacle crossing capability of the embodiment can also be improved.

When the present embodiment is running on a flat road, only the driver 22 on the front side of the chassis 1 may be activated, or only the driver 22 on the rear side of the chassis 1 may be activated, and the other driver 22 is not activated, and it is in neutral with the corresponding differential 28 on the transaxle 215 to run in a forward drive mode or a backward drive mode; when the embodiment walks on uneven road or needs to cross obstacles, the embodiment can simultaneously start the drivers 22 on the front side and the rear side of the chassis 1 to travel in a double-drive mode.

A steering knuckle 213 is arranged at the connection position of the drive axle 215 and the traveling wheel 21, a steering module is arranged on the chassis 1, the steering module comprises a steering motor 231, a steering pull rod 232, a steering connecting rod 235, a first steering arm 233 and a second steering arm 234, the steering motor 231 is arranged on the chassis 1, the first steering arm 233 and the second steering arm 234 are respectively connected with the steering knuckle 213 at the two ends of the transmission module 214, wherein the first steering arm 233 is Y-shaped, the first steering arm 233 is provided with a first connecting end, a second connecting end and a third connecting end, the third connecting end of the first steering arm 233 is connected with the steering knuckle 213, the two ends of the steering pull rod 232 are respectively connected with the steering motor 231 and the first connecting end of the first steering arm 233, the two ends of the steering link 235 are respectively connected to the second connecting end of the first steering arm 233 and the second steering arm 234, the steering knuckle 213 is provided with a corner sensing module 25, the corner sensing module 25 includes a corner encoder 251 and an encoder bracket 252, the encoder bracket 252 is fixed at the connection position of the drive axle 215 and the steering knuckle 213 through a connecting bolt, the corner encoder 251 is installed on the encoder bracket 252, when the steering is required in this embodiment, the steering motors 231 on the front and rear sides of the chassis 1 start to work, the steering motor 231 controls the steering rod 232 to drive the first steering arm 233 to rotate, while the first steering arm 233 rotates, the steering connection drives the second steering arm 234 to rotate, the steering knuckle 213 drives the traveling wheel 21 to rotate to realize steering, when the required steering angle is matched with the value of the corner encoder 251, the rotation is stopped.

In this embodiment, a steering controller for controlling the steering motor 231 is arranged on the chassis 1, and in the walking process, when a position away from a next target operation point is found to have deviation and a transverse displacement at the next operation point cannot be realized through the steering of a single drive axle 215, the steering controller simultaneously controls the steering motors 231 on the front and rear sides of the chassis 1 to start, and the traveling wheels 21 on the front and rear sides of the chassis 1 simultaneously steer, so that a larger transverse displacement can be obtained on the same forward displacement in this mode, thereby solving the problem of operation point deviation, and in addition, two groups of traveling wheels 21 are simultaneously controlled to steer, so that the embodiment can have a smaller turning radius, and is convenient for the embodiment to operate in a small-heading or narrow-road environment, so that the embodiment can adapt to more operation environments;

in this embodiment, a wheel speed sensor 27 is disposed on the drive axle 215, a transmission gear is disposed in the transmission module 214, the wheel speed sensor 27 includes a wheel speed encoder 275 and an outer gear 273, an intermediate gear 272 is disposed between the outer gear 273 and the transmission gear 271, the intermediate gear 272 is respectively in transmission connection with the outer gear 273 and the transmission gear 271, an outer gear shaft 274 is disposed in the middle of the outer gear 273, the wheel speed encoder 275 is disposed with an installation shaft 277, the installation shaft 277 is fixedly connected to the outer gear shaft 274, an encoder fixing seat 276 is disposed on the installation shaft 277, the wheel speed encoder 275 is fixed to the encoder fixing seat 276 through bolts, a differential 28 is connected to the drive axle 215, the wheel speed sensor 27 is configured to monitor the wheel speed of the road wheel 21 in real time, the differential 28 is configured to ensure that the wheel speed of the road wheels 21 on both sides of the transmission module 214 keeps matching, the road wheel 21 includes a tire 211, a drum brake 212 for braking is disposed on the inner side of the tire 211, a steering knuckle 213 is disposed between the drum brake 212 and the transmission module 214, a brake motor 24 is disposed on the chassis 1, and the brake motor 24 controls the drum brake 212 to realize braking of the tire 211.

In this embodiment, the chassis 1 may obtain the wheel speed and the rotation angle information of the road wheel 21 more accurately through the wheel speed sensor 27 and the rotation angle sensing module 25, and may better match the theoretical path with the actual path.

The above description is only for the specific embodiments of the present invention, but the protection scope of the present invention is not limited thereto, and those skilled in the art should understand that the present invention includes but is not limited to the contents described in the drawings and the above specific embodiments. Any modification which does not depart from the functional and structural principles of the present invention is intended to be included within the scope of the claims.

Claims

1. A running gear for an agricultural vehicle, the running gear being mounted below a chassis of the agricultural vehicle, characterized in that: running gear includes two sets of walking modules, the walking module includes driver, transaxle and walking wheel, be equipped with on the chassis and be used for control the walking controller of driver, be equipped with drive module in the transaxle, the driver passes through drive module control the walking wheel, the transaxle with the junction of walking wheel is equipped with the knuckle, be equipped with on the transaxle and be used for control knuckle pivoted turns to the module, be equipped with the corner sensing module that is used for monitoring turned angle on the knuckle, be equipped with the fast sensor of wheel that is used for monitoring wheel on the transaxle.

2. A running gear for an agricultural vehicle according to claim 1, wherein: the two ends of the drive axle are respectively provided with a steering knuckle, the steering module comprises a steering motor, a steering pull rod, a steering connecting rod, a first steering arm and a second steering arm, the steering motor is installed on the chassis, the first steering arm and the second steering arm are respectively connected with the steering knuckles at the two ends of the transmission module, the two ends of the steering pull rod are respectively connected with the steering motor and the first steering arm, and the two ends of the steering connecting rod are respectively connected with the first steering arm and the second steering arm.

3. A running gear for an agricultural vehicle according to claim 2, wherein: the first steering arm is Y-shaped, the first steering arm is provided with a first connecting end, a second connecting end and a third connecting end, the third connecting end is connected with the steering knuckle, two ends of the steering pull rod are respectively connected with the steering motor and the first connecting end, and two ends of the steering connecting rod are respectively connected with the second connecting end and the second steering arm.

4. A running gear for an agricultural vehicle according to claim 1, wherein: the corner sensing module comprises a corner encoder and an encoder support, the encoder support is fixed at the joint of the drive axle and the steering knuckle, and the corner encoder is installed on the encoder support.

5. A running gear for an agricultural vehicle according to claim 1, wherein: the utility model discloses a wheel speed sensor, including transmission module, external gear, intermediate gear, outer gear and transmission gear, be equipped with the wheel speed sensor in the transmission module, be equipped with drive gear in the wheel speed sensor including wheel speed encoder and external gear, the external gear with be equipped with intermediate gear between the drive gear, intermediate gear respectively with the external gear with drive gear transmission is connected, be equipped with the external gear axle in the middle of the external gear, wheel speed encoder is equipped with the installation axle, the installation axle with external gear axle fixed connection, install the epaxial encoder fixing base that is equipped with of installation, wheel speed encoder fixes on the encoder fixing base.

6. A running gear for an agricultural vehicle according to claim 1, wherein: and a differential is connected to the drive axle.

7. A running gear for an agricultural vehicle according to claim 1, wherein: the walking wheel includes the tire, the tire inboard is equipped with the drum that is used for the braking and stops, the knuckle is located between drum and the transmission module of stopping, be equipped with brake motor on the transaxle, brake motor control the drum is stopped and is realized the braking to the tire.