CN106427454A - Self-adaptive leveling chassis - Google Patents
Self-adaptive leveling chassis Download PDFInfo
- Publication number
- CN106427454A CN106427454A CN201610975634.8A CN201610975634A CN106427454A CN 106427454 A CN106427454 A CN 106427454A CN 201610975634 A CN201610975634 A CN 201610975634A CN 106427454 A CN106427454 A CN 106427454A
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- chassis
- boom
- self adaptation
- leveling
- wheel
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60G—VEHICLE SUSPENSION ARRANGEMENTS
- B60G17/00—Resilient suspensions having means for adjusting the spring or vibration-damper characteristics, for regulating the distance between a supporting surface and a sprung part of vehicle or for locking suspension during use to meet varying vehicular or surface conditions, e.g. due to speed or load
- B60G17/02—Spring characteristics, e.g. mechanical springs and mechanical adjusting means
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D61/00—Motor vehicles or trailers, characterised by the arrangement or number of wheels, not otherwise provided for, e.g. four wheels in diamond pattern
- B62D61/10—Motor vehicles or trailers, characterised by the arrangement or number of wheels, not otherwise provided for, e.g. four wheels in diamond pattern with more than four wheels
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Transportation (AREA)
- Tires In General (AREA)
- Soil Working Implements (AREA)
Abstract
The invention belongs to the technical field of agricultural machinery, and discloses a self-adaptive leveling chassis. The self-adaptive leveling chassis includes four or six self-adaptive leveling suspension frames which are mounted on the same car frame and arranged symmetrically abouta longitudinal plane of the center of the car frame based on given wheelbase and wheelspan. Each self-adaptive leveling suspension frame is composed of a front cantilever, a rear cantilever, a front connecting rod, a rear connecting rod, a pressure spring, wheels and a support frame, wherein one end of the front cantilever and one end of the rear cantilever are connected and rotate around an A point on the support frame, and the other end of the front cantilever and the other end of the rear cantilever are rotatably connected with the wheels respectively; one end of the front connecting rod is hinged to one end of the rear connecting rod, the other end of the front connecting rod is rotatably connected with the front cantilever, and the other end of the rear connecting rod is rotatably connected with the rear cantilever; one end of the pressure spring is connected with the A point on the support frame, and the other end of the pressure spring is connected with the hinged point between the front connecting rod and the rear connecting rod. When the self-adaptive leveling chassis passes through uneven ground, by the self-adaptive adjustment of height of each suspension frame, the changes, caused by terrain change, of an inclination angle and a pitch angle of the chassis are reduced, dynamic leveling of the chassis is achieved, and operation requirements of an agricultural power chassis used on hilly sloping land are met.
Description
Technical field
The present invention relates to a kind of self adaptation leveling chassis, belong to agricultural machinery technological field, particularly to a kind of hillside
Ground agri-vehicle self adaptation leveling chassis.
Background technology
China Hills account for area 2/3, and grain yield accounts for national total output 1/3, and economy and special crop produce
Amount accounts for total amount more than 50%, occupies very important status in China's agricultural production.Add with Tendency of Agricultural Machinery in China process
Hurry up, peasant is increasingly urgent to the small farm machine demand adapting to hilly upland operation, but Hills are with a varied topography, and ground is concavo-convex
Injustice, the less stable that vehicle chassis travels, thus affecting traveling on hilly upland for the vehicle and operation, study agricultural vehicle
Chassis leveling technology improving the adaptability to hilly upland for the chassis, meet hilly upland farm power chassis complete plant protection,
The job task such as harvest, transport to require.
Compartment is provided with farm power chassis and can realize picking fruit collection operation and cargo transport, chassis is arranged
There is corresponding miscellaneous equipment can realize the job tasks such as plant protection, results, the walking of hilly upland farm power chassis, operation ground
When uneven, larger on overall performance, walking stability, operation quality impact.For meeting hilly upland farm power chassis
Job requirements, have a variety of modes to realize the Level tune to vehicle chassis at present.Chinese patent CN1579121A discloses
A kind of hillside tractor, this machine can realize vehicle bottom according to the difference in height of mountain region operation ground line gradient size adjustment two driving wheel
Disk Level tune, but it is only applicable to 2 wheel tractors, may not apply to 4 wheel agri-vehicles；Chinese patent CN102975787A
With CN102975786A individually disclose a kind of vehicle chassis transverse horizontal self-checking device and vehicle chassis vertical equity from
It is ensured that chassis is in walking, in operation process, laterally or longitudinally level automatically adjusts dynamic adjusting means, but it realizes vehicle bottom
Disk Level tune in a single direction, limits walking, the operating direction on chassis.Therefore, for the special agricultural of hilly upland
Terrain environment explores a kind of self adaptation leveling chassis, and the development for hilly land agriculture mechanization has important function.
Content of the invention
The invention aims to providing a kind of self adaptation leveling chassis, will for the chassis operation of hilly upland farm power
Ask, when uneven ground is passed through on chassis, wheel Level Change, cause cantilever variable angle, lead to suspension height to change, reduce
Caused angle of heel and the angle of pitch variable quantity on chassis by topography variation, realize the dynamic leveling on chassis, meet hilly upland agricultural
Power chassis job requirements.
As follows in order to reach the technical scheme that the purpose of the present invention taken：
Self adaptation leveling chassis includes：Four or six self adaptation leveling suspensions are arranged on same vehicle frame, according to given
Wheelbase and wheelspan with vehicle frame central authorities longitudinal direction plane symmetry arrangement；
Above-mentioned self adaptation leveling suspension by front boom 1, back boom 2, front rod 3, back link 4, stage clip 5, wheel 6,
Frame 7 forms, and front boom 1, one end of back boom 2 rotate together about A point on support 7 and connect, pivot center a, front boom 1 and rear overhang
The other end of arm 2 is rotated with wheel 6 respectively and is connected, and the pivot center of each wheel is parallel with axis a, and front boom 1 and back boom 2 are long
B is equal for degree, and one end of front rod 3 and back link 4 is hinged, the other end of front rod 3 and back link 4 respectively with front boom 1, rear overhang
Arm 2 rotates and connects, and pivot center is parallel with axis a, front rod 3 and back link 4 equal length, and front rod 3 and front boom 1 connect
Point is equal to the distance of axis a with back link 4 and back boom 2 tie point, and one end of stage clip 5 is connected with the A point on support 7, separately
One end is connected with the pin joint of front rod 3 and back link 4, front boom 1, back boom 2, front rod 3, back link 4, stage clip 5, wheel
6 in the plane perpendicular to axis a opposite brackets 7 move, self adaptation leveling suspension is arranged on self adaptation leveling bottom by support 7
On the vehicle frame of disk.
When self adaptation leveling suspension is in running order, stage clip 5 is deformed by equilibrant force effect, front boom 1 and back boom 2 phase
A point on support 7 is rotated and forms cantilever angle g, two wheel centers link to A point distance for suspension height h=b*cos (g/2).
During self adaptation leveling suspension work, when wheel passes through raised ground rising, stage clip compression, deflection increase, and cantilever presss from both sides
Angle g increases, and suspension height h reduces, and support diminishes relative to the rise of ground level；When wheel passes through recessed ground decline,
Stage clip release, deflection reduce, and cantilever angle g reduces, and suspension height h increases, and support diminishes relative to the slippage of ground level；
When wheel passes through uneven ground, wheel opposite brackets Level Change, cause cantilever angle g to change, lead to suspension height h to become
Change, reduce and support is caused relative to ground high variable quantity by ground level change.
In walking, operation process, when wheel passes through uneven ground, wheel is relative to chassis on self adaptation leveling chassis
Height of chassis above ground change, cause cantilever angle g change, lead to suspension height h change, in four or six self adaptation leveling suspensions
Collective effect under reduce angle of heel and the angle of pitch variable quantity being caused chassis by topography variation, adaptive by each suspension height h
Should adjust, realize the dynamic leveling on chassis, meet hilly upland farm power chassis job requirements.
The beneficial effects of the present invention is, a kind of self adaptation leveling chassis is proposed, in walking, operation process, chassis is by recessed
During convex uneven ground, suspension height self-adaptative adjustment, reduce angle of heel and the angle of pitch variable quantity being caused chassis by topography variation,
Realize the self adaptation dynamic leveling on chassis, meet hilly upland farm power chassis job requirements, this chassis can be realized simultaneously
Profiling to ground, improves the adaptability to Different Ground for the chassis.
Brief description
Fig. 1 is self adaptation leveling chassis theory of constitution figure；
Fig. 2 is self adaptation leveling suspension theory of constitution figure；
Fig. 3 is the self adaptation leveling chassis fundamental diagram with four suspensions；
Fig. 4 is the self adaptation leveling chassis fundamental diagram with six suspensions；
In figure, 1：Front boom；2：Back boom；3：Front rod；4：Back link；5：Stage clip；6：Wheel；7：Support.
Specific embodiment
With reference to the accompanying drawings and examples, the specific embodiment of the present invention is described in further detail.
Self adaptation leveling chassis theory of constitution figure shown in Fig. 1, self adaptation leveling chassis includes：Four self adaptation leveling are hanged
Frame is arranged on same vehicle frame by support 7, according to given wheelbase A1A2With wheelspan with vehicle frame central authorities longitudinal direction plane symmetry cloth
Put, form eight wheel self adaptation leveling chassis.
Self adaptation leveling suspension theory of constitution figure shown in Fig. 2, self adaptation leveling suspension is by front boom 1, back boom 2, front
Connecting rod 3, back link 4, stage clip 5, wheel 6, support 7 form, and front boom 1, one end of back boom 2 rotate together about A point on support 7
Connect, pivot center a, the other end of front boom 1 and back boom 2 is rotated with wheel 6 respectively and is connected, the pivot center of each wheel and
Axis a is parallel, and front boom 1 and back boom 2 length b are equal, and one end of front rod 3 and back link 4 is hinged, front rod 3 and rear company
The other end of bar 4 is rotated with front boom 1, back boom 2 respectively and is connected, and pivot center is parallel with axis a, front rod 3 and back link 4
Equal length, the length taking front rod and back link is b/2, front rod 3 and front boom 1 tie point and back link 4 and back boom 2
The distance of tie point to axis a is equal, takes this distance for b/2, and one end of stage clip 5 is connected with the A point on support 7, the other end with
The pin joint of front rod 3 and back link 4 connects, and front boom 1, back boom 2, front rod 3, back link 4, stage clip 5, wheel 6 are hanging down
Directly in the plane of axis a, opposite brackets 7 move.
When self adaptation leveling suspension is in running order, stage clip 5 is deformed by equilibrant force effect, front boom 1 and back boom 2 phase
A point on support 7 is rotated and forms cantilever angle g, two wheel centers link to A point distance for suspension height h=b*cos (g/2),
Two wheel centers are more than wheel diameter apart from 2*b*sin (g/2).During self adaptation leveling suspension work, when wheel is by convex
When playing ground rising, stage clip compression, deflection increase, and cantilever angle g increases, and suspension height h reduces, and support is relative to ground level
Rise diminish；When wheel passes through recessed ground decline, stage clip release, deflection reduce, and cantilever angle g reduces, suspension
Height h increases, and support diminishes relative to the slippage of ground level；When wheel passes through uneven ground, wheel opposite brackets are high
Degree changes, and causes cantilever angle g to change, and leads to suspension height h to change, and reduces and causes support relatively by ground level change
Face high variable quantity.
Eight wheel self adaptation leveling chassis as shown in Figure 1, load w, operating speed v are born in chassis, and front boom angle is g1、
Back boom angle is g2；When in walking, operation process, sustained height relatively flat ground is passed through on chassis, g1≈g2, four self adaptations
The cantilever angle of leveling suspension is approximately the same, the suspension height approximately equal of each self adaptation leveling suspension, the angle of heel on chassis
Meet farm power chassis job requirements with the angle of pitch；In walking, operation process, the uneven ground of differing heights is passed through on chassis
When, as shown in figure 3, analyzing the same side two self adaptation leveling suspension, each suspension height self-adaptative adjustment principle is：Front suspension
Wheel passes through raised ground and raises, front boom angle g1Increase, front suspension highly reduces, the wheel of rear suspension passes through recessed ground
Reduce, back boom angle g2Reduce, rear suspension highly increases, reduce under the collective effect of four self adaptation leveling suspensions by
Topography variation causes the angle of heel on chassis and the variable quantity of the angle of pitch, realizes the self adaptation dynamic leveling on chassis, meets hillside
Ground farm power chassis function demand.
The self adaptation leveling chassis fundamental diagram with six suspensions shown in Fig. 4, six self adaptation leveling suspensions lead to
Cross support to be arranged on same vehicle frame, according to given wheelbase A1A2、A2A3With wheelspan with vehicle frame central authorities longitudinal direction plane symmetry cloth
Put, form 12 wheel self adaptation leveling chassis.Load w, operating speed v are born in chassis, and front boom angle is g1, middle cantilever angle
g2, back boom angle be g3；When differing heights uneven ground is passed through on chassis in walking, operation process, analyze the same side three
Self adaptation leveling suspension, each suspension height self-adaptative adjustment principle is：The wheel of front suspension passes through raised ground and raises, front boom
Angle g1Increase, front suspension highly reduces, by concavo-convex fluctuation height above average terrain, middle cantilever angle keeps the wheel of middle suspension
g2, middle suspension holding corresponding height, the wheel of rear suspension is reduced by recessed ground, back boom angle g3Reduce, rear suspension height
Increase, due to topography variation in Fig. 4, the cantilever angle of each self adaptation leveling suspension is different, g1>g2>g3, the height of each suspension
Self-adaptative adjustment, reduce under the collective effect of six self adaptation leveling suspensions by topography variation cause chassis angle of heel and
The variable quantity of the angle of pitch, realizes the self adaptation dynamic leveling on chassis, meets hilly upland farm power chassis function demand.
Claims (1)
1. a kind of self adaptation leveling chassis is it is characterised in that include：Four or six self adaptation leveling suspensions are arranged on same car
On frame, according to given wheelbase and wheelspan with vehicle frame central authorities longitudinal direction plane symmetry arrangement；
Described self adaptation leveling suspension is made up of front boom, back boom, front rod, back link, stage clip, wheel, support, front overhang
Arm, one end of back boom rotate together about A point on support and connect, pivot center a, the other end of front boom and back boom respectively with
Vehicle wheel rotation connects, and the pivot center of each wheel is parallel with axis a, and front boom and rear overhang arm lengths b are equal, front rod and rear company
One end of bar is hinged, and the other end of front rod and back link is rotated with front boom, back boom respectively and is connected, pivot center and axis
A is parallel, front rod and back link equal length, and front rod and front boom tie point are with back link and back boom tie point to axis
The distance of a is equal, and one end of stage clip is connected with the A point on support, and the other end is connected with the pin joint of front rod and back link, front
The opposite brackets motion in the plane perpendicular to axis a of cantilever, back boom, front rod, back link, stage clip, wheel, self adaptation is adjusted
Flat suspension is arranged on the vehicle frame on self adaptation leveling chassis by support；
When self adaptation leveling suspension is in running order, stage clip is deformed by equilibrant force effect, front boom and back boom opposite brackets
Upper A point rotates and forms cantilever angle g, and two wheel centers link to A point distance for suspension height h=b*cos (g/2)；Self adaptation
During leveling suspension work, when wheel passes through uneven ground, wheel opposite brackets Level Change, cause cantilever angle g
Change, leads to suspension height h to change, and reduces and causes support relative to ground high variable quantity by ground level change；
In walking, operation process, when wheel passes through uneven ground, wheel is relative to the car on chassis on self adaptation leveling chassis
Frame Level Change, causes cantilever angle g to change, and leads to suspension height h to change, in being total to of four or six self adaptation leveling suspensions
Reduce angle of heel and the angle of pitch variable quantity being caused chassis by topography variation under same-action, adjusted by each suspension height h self adaptation
Whole, realize the dynamic leveling on chassis, meet hilly upland farm power chassis job requirements.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610975634.8A CN106427454B (en) | 2016-11-07 | 2016-11-07 | Adaptive leveling chassis |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610975634.8A CN106427454B (en) | 2016-11-07 | 2016-11-07 | Adaptive leveling chassis |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN106427454A true CN106427454A (en) | 2017-02-22 |
| CN106427454B CN106427454B (en) | 2019-04-30 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201610975634.8A Active CN106427454B (en) | 2016-11-07 | 2016-11-07 | Adaptive leveling chassis |
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Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108098733A (en) * | 2017-12-11 | 2018-06-01 | 浙江捷尚人工智能研究发展有限公司 | A kind of robot balanced structure being hinged |
| CN108568779A (en) * | 2018-07-26 | 2018-09-25 | 厉鼎 | Plate body installation support apparatus for correcting |
| CN109177676A (en) * | 2018-10-31 | 2019-01-11 | 湖南农业大学 | A kind of levelling vehicle frame of high-clearance fog machine |
| CN109383663A (en) * | 2017-08-09 | 2019-02-26 | 杭州海康机器人技术有限公司 | A kind of automated guided vehicle |
| CN114851797A (en) * | 2022-03-10 | 2022-08-05 | 广东天凛高新科技有限公司 | Adaptive flat base adaptive to variable ground |
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| DE2434556A1 (en) * | 1974-07-18 | 1976-03-04 | Krone Bernhard Gmbh Maschf | Articulated earth mover - with removable tracks on pneumatic tyres and with forward control cab |
| DE10052790A1 (en) * | 2000-10-25 | 2002-05-16 | Bernd Mudersbach | Chassis for vehicle trailer has four wheel mountings with each two connected together through force transmission means to transfer forces acting on mounting |
| DE10253060A1 (en) * | 2002-11-11 | 2004-05-27 | Max Weiland | Double axle suspension system for road vehicle has swinging links, training from frame to leading axle and leading from frame to trailing axle and connected via lateral guide with vertical actuator |
| CN201046656Y (en) * | 2007-06-21 | 2008-04-16 | 北京阳光之路特种车辆技术有限公司 | Liftable automobile resilient suspension apparatus |
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| CN105059422A (en) * | 2015-09-25 | 2015-11-18 | 北京理工大学 | All-terrain vehicle based on four-connecting-rod deformable principle |
| CN105377677A (en) * | 2013-06-03 | 2016-03-02 | 蓬塞有限公司 | Arrangement and method for enabling rotation movement between tandem or caterpillar axle and body of vehicle |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| GB608592A (en) * | 1945-04-04 | 1948-09-17 | Henry Carl Harbers | Improved motor vehicle chassis particularly for armoured vehicles |
| US3653455A (en) * | 1969-08-01 | 1972-04-04 | Allan E Hetteen | Off-road vehicle wheel suspension |
| US3752498A (en) * | 1971-10-07 | 1973-08-14 | Gen Motors Corp | Oleo-pneumatic suspension assembly |
| DE2434556A1 (en) * | 1974-07-18 | 1976-03-04 | Krone Bernhard Gmbh Maschf | Articulated earth mover - with removable tracks on pneumatic tyres and with forward control cab |
| DE10052790A1 (en) * | 2000-10-25 | 2002-05-16 | Bernd Mudersbach | Chassis for vehicle trailer has four wheel mountings with each two connected together through force transmission means to transfer forces acting on mounting |
| DE10253060A1 (en) * | 2002-11-11 | 2004-05-27 | Max Weiland | Double axle suspension system for road vehicle has swinging links, training from frame to leading axle and leading from frame to trailing axle and connected via lateral guide with vertical actuator |
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Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109383663A (en) * | 2017-08-09 | 2019-02-26 | 杭州海康机器人技术有限公司 | A kind of automated guided vehicle |
| CN108098733A (en) * | 2017-12-11 | 2018-06-01 | 浙江捷尚人工智能研究发展有限公司 | A kind of robot balanced structure being hinged |
| CN108568779A (en) * | 2018-07-26 | 2018-09-25 | 厉鼎 | Plate body installation support apparatus for correcting |
| CN109177676A (en) * | 2018-10-31 | 2019-01-11 | 湖南农业大学 | A kind of levelling vehicle frame of high-clearance fog machine |
| CN109177676B (en) * | 2018-10-31 | 2024-03-22 | 湖南农业大学 | But high ground clearance plant protection machine's leveling frame |
| CN114851797A (en) * | 2022-03-10 | 2022-08-05 | 广东天凛高新科技有限公司 | Adaptive flat base adaptive to variable ground |
| CN114851797B (en) * | 2022-03-10 | 2024-08-27 | 广东天凛高新科技有限公司 | Self-adaptive leveling chassis adapting to changeable ground |
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|---|---|
| CN106427454B (en) | 2019-04-30 |
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