CN118514776B - Triangular crawler travelling mechanism, leveling-adjustable vehicle and leveling method - Google Patents
Triangular crawler travelling mechanism, leveling-adjustable vehicle and leveling method Download PDFInfo
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Abstract
The invention discloses a triangular crawler travelling mechanism, an adjustable vehicle and a leveling method, wherein the travelling mechanism comprises a travelling crawler surrounding the outer sides of three travelling wheels; the three travelling wheels are arranged in a triangle, wherein two of the three travelling wheels are respectively used as a driving wheel and a follower wheel below, and the other travelling wheel is used as a supporting wheel above; the driving wheel is connected with a driving device and is used for driving the walking crawler belt to circularly rotate so as to enable the triangular crawler belt walking mechanism to walk; each traveling wheel is connected with an independently telescopic hydraulic cylinder, and the tail ends of the three hydraulic cylinders are hinged to the center of the triangular crawler mechanism and are used for adjusting the positions of the three traveling wheels. The invention can lower the self gravity center of the vehicle and has the capability of automatically leveling the vehicle body at all angles; therefore, the risk of overturning the vehicle working in hilly and mountainous areas is reduced, the safety is improved, and the method is suitable for actual popularization and use in hilly and mountainous areas.
Description
Technical Field
The invention belongs to the technical field of four-wheel vehicles, relates to the technical field of hilly agricultural machinery, and particularly relates to a triangular crawler travelling mechanism, a leveling-adjustable vehicle and a leveling method.
Background
The hilly and mountainous areas have wide areas and are important production bases for various cash crops. Because the hilly and mountainous areas have complex terrains and large gradients, the traditional agricultural machinery is difficult to spread out, and especially the harvesting equipment is difficult to spread out. The conventional combine chassis is a rigid chassis, and when the ground surface is inclined, the combine will incline with the ground surface. When harvesting, along with the increase of the weight of the grain storage bin, the gravity center of the vehicle body can deviate to one side of the grain storage bin, so that the vehicle body is inclined, the operation efficiency of the harvester is reduced, the driving comfort is poor, and even side-turning accidents can occur. Therefore, an efficient and reliable leveling system design is critical to harvester efficiency, operational safety, and ability to cope with complex terrain in hilly and mountainous areas.
In the prior art, a fully-leveled vehicle, for example, a four-wheel upright post sliding type electric cylinder leveling vehicle body and a leveling method, are disclosed in patent publication No. CN 116394695A. The problem of the device is that the height of the leveling mechanism is higher, so that the gravity center of the vehicle body is higher; the working devices of the vehicle itself, such as the grain storage bin, the cab, etc. of the harvester, need to be mounted on the upper body of the patent. However, in order to avoid tilting or tipping of the vehicle body in a hilly working environment, it is necessary to lower the center of gravity of the vehicle; therefore, the leveling mechanism with higher self-height is applied to hilly vehicles, and still has higher vehicle overturning risk, so that the leveling mechanism is difficult to popularize and apply practically, and reliable and effective leveling work machines are still lacking in hilly and mountain areas in practice.
Disclosure of Invention
In order to overcome the defects in the background art, a triangular crawler travelling mechanism, an adjustable leveling vehicle and a leveling method are provided, and the purpose is to develop a leveling mechanism with lower gravity center, and the leveling mechanism has the capability of leveling a vehicle body under the condition of meeting the condition that the gravity center of the whole vehicle is lower; therefore, the risk of overturning the vehicle in the hilly and mountain land operation is reduced, the safety is improved, and a novel leveling device, system and method which are convenient to apply and popularize are provided for the hilly and mountain land operation.
In order to achieve the above purpose, the present invention provides the following technical solutions.
A triangular crawler travelling mechanism comprises a travelling crawler surrounding the outer sides of three travelling wheels; the three travelling wheels are arranged in a triangle, wherein two of the three travelling wheels are respectively used as a driving wheel and a follower wheel below, and the other travelling wheel is used as a supporting wheel above; the driving wheel is connected with a driving device and is used for driving the walking crawler belt to circularly rotate so as to enable the triangular crawler belt walking mechanism to walk; each traveling wheel center is connected with an independently telescopic hydraulic cylinder, the tail ends of the three hydraulic cylinders are hinged to the center of the triangular crawler mechanism, the positions of the three traveling wheels are adjustable, and when the three hydraulic cylinders are telescopic, the height positions of the supporting wheels are adjusted.
Therefore, the length of the walking crawler belt can be kept unchanged through the position change of the three walking wheels, namely the walking crawler belt can still be in a tensioned state, and the walking requirement is met. The position of the supporting wheel and the ground are changed through the position change of the three travelling wheels, so that the height adjusting function is realized.
As further optimization, the triangular crawler mechanism is provided with three displacement sensors which are respectively used for detecting the expansion and contraction amounts of the three hydraulic cylinders. So as to provide reference data for automatically controlling the expansion and contraction amount of each hydraulic cylinder. When the expansion and contraction amount obtained by the displacement sensor reaches a preset value, the control system controls the hydraulic cylinder to stop expanding and contracting.
The invention also provides a leveling-adjustable vehicle, which comprises the triangular crawler travelling mechanism. The three hydraulic cylinders are respectively a first hydraulic cylinder, a second hydraulic cylinder and a third hydraulic cylinder, and are respectively and correspondingly connected with the supporting wheel, the driving wheel and the follower wheel.
Preferably, if one of the four wheels of a vehicle is replaced with the triangular crawler travelling mechanism, the travelling mechanism has the function of height adjustment, so that the travelling mechanism can be used as a common spare wheel for vehicles of different models.
Preferably, if two of the four wheels of one vehicle are replaced with the triangular crawler travel mechanism, the travel mechanism has the function of adjusting the height, so that the vehicle side has the function of adjusting the height and can be used for vehicles working on unidirectional ramps.
As further optimization, the four triangular crawler travelling mechanisms are respectively positioned at four corners of the chassis frame of the vehicle; the supporting wheels of each triangular crawler travelling mechanism are connected with the chassis frame; the four corners of the chassis frame are respectively provided with an attitude sensor; the attitude sensor is connected with a control system preset on the chassis frame; the control system is connected with the displacement sensor; each hydraulic cylinder is connected with the control system and used for controlling the expansion and contraction amount of each hydraulic cylinder according to the data acquired by the attitude sensor and the displacement sensor. Therefore, the four fulcrums of the vehicle have the height adjusting function, can be suitable for hilly and mountain areas, have autonomous detection and control, can be automatically leveled, and ensure the operation safety.
The invention also provides a leveling method of the leveling vehicle with the adjustable height of the four wheels, which is characterized by comprising the following steps:
S1: setting the positions of four travelling mechanisms; the vehicle is positioned on any ramp, a, b, c, d is four triangular crawler travelling mechanisms, a is the highest point on the ramp, and travelling mechanism a is used as a datum point; a. the connecting line direction b is the axial direction of the vehicle body, namely the length direction of the vehicle body, and the connecting line direction a and c is the radial direction of the vehicle body, namely the vehicle width direction;
s2: acquiring attitude parameters; acquiring the inclination angle gamma of the connecting line of the positions of a and c and the horizontal plane by using an attitude sensor, and acquiring the inclination angle delta of the connecting line of the positions of a and b and the horizontal plane by using the attitude sensor;
S3: selecting a leveling mode; when the inclination delta is equal to 0 and the inclination gamma is greater than 0, the transverse single side of the car body is inclined, and radial leveling is performed; when the inclination delta is larger than 0 and the inclination gamma is equal to 0, the longitudinal single side of the car body is inclined, and the axial leveling is performed; when the inclination delta and the inclination gamma are both larger than 0, performing omnidirectional leveling, wherein the leveling process is divided into two stages, namely, the first stage is firstly performing radial leveling, and then the second stage is further performing axial leveling;
Wherein, the radial leveling is to take travelling mechanisms a and b on one side of the longitudinal direction of the vehicle body as fulcrums, keep the postures of the travelling mechanisms a and b unchanged, and raise travelling mechanisms c and d on the other side so as to ensure the radial level of the vehicle body; the control system calculates the expansion and contraction amount of the internal hydraulic cylinders of the travelling mechanisms c and d according to the inclination angle gamma and controls the expansion and contraction of the internal hydraulic cylinders so that the lifting amounts of the travelling mechanisms c and d are H c; when the travelling mechanism c rises to H c, the supporting wheels of the travelling mechanism c are at the same height as the supporting wheels of the travelling mechanism a;
The axial leveling is to take travelling mechanisms a and c at one side of the transverse direction of the vehicle body as fulcrums, keep the postures of the travelling mechanisms a and c unchanged, and raise the travelling mechanisms b and d to ensure the axial leveling of the vehicle body; the control system calculates the expansion and contraction amount of the internal hydraulic cylinders of the travelling mechanisms b and d according to the inclination angle delta and controls the expansion and contraction of the internal hydraulic cylinders so that the lifting amounts of the travelling mechanisms b and d are H b, and when the travelling mechanism b is lifted to H b, the supporting wheels of the travelling mechanism b are at the same height as the supporting wheels of the travelling mechanism a;
Wherein the lifting amount is the distance between the initial position of the supporting wheel and the end position after lifting.
As further optimization, in the radial leveling, the method for determining the expansion and contraction amount of the internal hydraulic cylinders of the traveling mechanisms c and d is as follows:
When one side of the vehicle body in the radial direction is positioned at the position of the gradient theta, the height of the front and rear travelling mechanisms c and d at the lower end side is adjusted to level the vehicle body; in the height adjustment process, the telescopic distance of the first hydraulic oil cylinder can be changed by controlling the three hydraulic oil cylinders connected with the travelling wheels and shortening or extending the second and third hydraulic oil cylinders on the premise of ensuring the tensioning of the crawler belt, so that the height of the whole travelling mechanism is changed; a calculation model can be established to obtain a correlation function of the lifting distance H 1 of the travelling mechanism and the contraction amount s 1 of the hydraulic cylinder;
When the vehicle body moves on the flat ground, the centers of all wheels of the travelling mechanism form an equilateral triangle, the center distance is l, the height of the triangle is h, and the distance from the center point O of the travelling mechanism to the center of each wheel is s 0; when one side of the vehicle body moves on a slope with the inclination angle theta, the right side travelling mechanism wheel adjusts the height to form an isosceles triangle, the height of the isosceles triangle is h 1, and the telescopic distance of the second hydraulic oil cylinder and the third hydraulic oil cylinder is s 1;
The correlation function of the lifting distance H 1 of the travelling mechanism is that
Wherein s max is the maximum elongation of the hydraulic cylinder, and is related to the length l 0 of the crawler belt, and can be obtained according to the structural parameters of the travelling mechanism; determining the change characteristics of the height of the travelling mechanism, such as lifting or lowering and the like, according to the telescopic range of the independent variable s 1;
Acquiring an inclination angle theta in the running process of the vehicle body by using an attitude sensor, and obtaining a height difference H 10 of the travelling mechanisms on the left side and the right side according to the wheel track D of the vehicle body; through the mode, the heights of the traveling mechanisms at the left side and the right side are adjusted, so that the height difference is reduced to 0 as much as possible, and the vehicle body can be ensured to be in a leveling state.
As further optimization, when the axial leveling is performed, the method for determining the expansion and contraction amount of the internal hydraulic cylinders of the traveling mechanisms b and d is as follows:
When one side of the axial direction of the vehicle body is positioned at the position of the gradient alpha, the vehicle body can be leveled by only adjusting and lifting the two travelling mechanisms b and d at the rear end of the vehicle body at the lower end side; in the process of lifting the height, the second hydraulic oil cylinder is shortened on the premise of ensuring the tensioning of the crawler belt by controlling the three hydraulic oil cylinders connected with the travelling wheels, so that the first hydraulic oil cylinder is lengthened; a calculation model can be established to obtain a correlation function of the lifting distance H 2 of the running mechanism and the gradient angle alpha;
The expansion and contraction amount of the second hydraulic cylinder is related to the gradient angle alpha, and an expansion and contraction amount related function s (alpha) can be constructed as shown in a formula (3); in the gradient change process, the lifting height of the travelling mechanism can be dynamically adjusted according to the actual angle change;
After the expansion and contraction amount is obtained by the gradient angle, the lifting distance of the upper travelling wheel can be calculated by combining the center position of each travelling wheel after deformation, namely delta O 10O20O3;
Taking the gradient angle alpha as an example, OO 10 is s 10,OO20, s 20,OO3, s 30,O10O20, l 10,O20O3 and l 20,O3O10 are l 30;
Wherein l 20、s30 is a known quantity, which can be solved according to the gradient angle and the formula (3); in Δo 2O20O3, its high O 20 H is H 0;
can be obtained by the formula (5)
The lifting distance of the upper end supporting wheel is H 2＝s10-s30; obtaining a correlation function H 2 (alpha) of the lifting distance and the gradient angle from the formula (4); then, according to the gradient angle alpha and the wheelbase L of the vehicle body front-rear travelling mechanism, the lifting height H 20 of the rear travelling mechanism can be obtained, and the vehicle body leveling quality is determined by judging the sizes of H 2 and H 20.
As further optimization, when the omni-directional leveling is performed, the method for determining the expansion and contraction amount of the internal hydraulic cylinder of the traveling mechanism d is as follows:
the total lifting amount H d of the walking mechanism d is H d＝Hc+Hb;
The first stage is to radially level first, after the leveling is finished, the lifting amount of the travelling mechanism d is H c; the expansion and contraction amount of the internal hydraulic cylinder of the first-stage traveling mechanism d is the same as that of the traveling mechanism c;
Then the second stage is axially leveled, and after the leveling is finished, the secondary lifting amount of the travelling mechanism d is H b; namely, the expansion and contraction amount of the internal hydraulic cylinder of the second-stage traveling mechanism d is the same as that of the traveling mechanism b.
The advantages of the invention are shown below.
(1) The triangular crawler traveling mechanism comprises three hydraulic oil cylinders, integrates the height adjusting function on wheels of a vehicle, is compact in structure, does not occupy the height space of a chassis frame, and can lower the gravity center of the vehicle, has the slope leveling function, reduces the overturning risk of the vehicle and meets the actual requirements of mountain hilly machinery.
(2) The three-track traveling mechanism comprising the three hydraulic oil cylinders is characterized in that the three-track traveling mechanism adopts a track as a traveling driving mode, the cross-country performance is good, the contact area of the track and the ground is large, the friction force is large, the three-track traveling mechanism is more stable than a wheel type machine, the power is better, and when the traveling directions of the track traveling mechanisms on two sides of a vehicle are opposite, the three-track traveling mechanism can realize in-situ steering, has good maneuverability and meets the actual needs of mountain hilly machines.
(3) The vehicle with four triangular crawler travelling mechanisms can automatically detect the gesture, automatically calculate the control quantity, automatically perform leveling control, has high degree of automation, and has less operation and less labor capacity for a driver; on the other hand, the automatic leveling reduces the influence of human factors, improves the leveling reliability, and is suitable for practical use in hills and mountains.
(4) The leveling method of the vehicle capable of leveling can realize running at any angle on the slope, namely, the four-wheel vehicle can complete the effect of full-angle leveling by adjusting the heights of four fulcrums of the chassis frame, namely, the method realizes the full-leveling function of the four-wheel vehicle and is suitable for practical use in hills and mountains.
Therefore, the invention can lower the self gravity center of the vehicle and has the capability of automatically leveling the vehicle body at all angles; therefore, the risk of overturning the vehicle working in hilly and mountainous areas is reduced, the safety is improved, and the method is suitable for actual popularization and use in hilly and mountainous areas.
Drawings
Fig. 1 is a schematic diagram of the chassis system of the omni-directional leveling vehicle according to embodiment 1 of the present invention;
FIG. 2 is a top view of FIG. 1;
FIG. 3 is a left side view of FIG. 1;
FIG. 4 is a schematic view of the radial leveling status structure of embodiment 1 of the present invention;
FIG. 5 illustrates a simplified model of the change diagram and geometric principle of the triangular crawler travel mechanism when the embodiment 1 of the invention is from an initial state to a radial leveling state;
FIG. 6 is a schematic view of the structure of the axial leveling system of embodiment 1 of the present invention;
FIG. 7 is a simplified model of the change diagram and geometric principle of the triangular crawler travel mechanism when the embodiment 1 of the invention is from an initial state to an axial leveling state;
fig. 8 is a schematic diagram of an initial state of omni-directional leveling of a vehicle body according to embodiment 1 of the present invention;
Fig. 9 is a change chart of three angle crawler belt running mechanisms b, c and d when the vehicle body of the embodiment 1 is omnidirectionally leveled;
fig. 10 is a simplified model of the geometric principle of the change diagram of the triangular crawler belt running mechanism d when the vehicle body is omnidirectionally leveled in the embodiment 1 of the invention;
fig. 11 is a schematic diagram of the chassis system workflow of the omni-directional leveling vehicle of embodiment 1 of the present invention.
In the figure, 1, a chassis frame; 2. a triangular crawler belt travelling mechanism; 3. leveling driving mechanism; 4. a control system; 5. an attitude sensor; 6. a displacement sensor; 7. a driving wheel; 8. a support wheel; 9. a track; 10. a driving motor; 11. and a hydraulic oil cylinder.
Detailed Description
The technical solutions of the embodiments of the present invention will be clearly and completely described in the following description with reference to the accompanying drawings, and it should be understood by those skilled in the art that these embodiments are merely for explaining the technical principles of the present invention, and are not intended to limit the scope of the present invention.
Example 1: please refer to fig. 1-11;
The chassis system of the omnidirectional leveling vehicle is shown in fig. 1, and mainly comprises a chassis frame 1, a traveling mechanism 2, a leveling driving mechanism 3 and a control system 4. The chassis frame comprises a frame, a posture sensor 5 and a displacement sensor 6; the travelling mechanism comprises a driving wheel 7, a tensioning wheel 8, a crawler belt 9 and a driving motor 10; the leveling driving mechanism 3 comprises three hydraulic cylinders 11 with hinged tail ends, the other ends of the hydraulic cylinders 11 are in one-to-one correspondence and are connected with three travelling wheels of the triangular crawler travelling mechanism, one end of a driving motor 10 is connected with a driving wheel, and the power of the driving motor is derived from an engine arranged on the frame 1; the leveling driving mechanism comprises a hydraulic cylinder 11 and an auxiliary connecting rod; the control system calculates the height of the leveling driving mechanism required to be increased or contracted by combining the structural parameters of the leveling system through the data acquired by the attitude sensor 5 and the displacement sensor 6, and finally drives the hydraulic cylinder through the control electromagnetic valve to keep the chassis horizontal. The specific leveling mode and calculation method are as follows.
1. Slope car body radial leveling calculation model
In the leveling process, the connecting line included angle between the central point O of the travelling mechanism and the central point O 1、O2、O3 of each travelling wheel is kept to be 120 degrees, and the distance between the central point and each travelling wheel is adjusted through the hydraulic cylinder 11 to change the travelling height of a certain side. According to the situation in fig. 4, the specific implementation is as follows:
When one side of the vehicle body in the radial direction is positioned at the position of the gradient theta, the vehicle body can be leveled by only adjusting the heights of the front travelling mechanism and the rear travelling mechanism (the right travelling mechanism in fig. 4) at the lower end side. In the height adjustment process, the telescopic distance of the first hydraulic oil cylinder can be changed by controlling the three hydraulic oil cylinders connected with the travelling wheels and shortening or extending the second and third hydraulic oil cylinders on the premise of guaranteeing the tensioning of the crawler belt, so that the height of the whole travelling mechanism is changed. According to the leveling model of fig. 5, a calculation model can be established to obtain a correlation function of the lifting amount H 1 of the running mechanism and the contraction amount s 1 of the hydraulic cylinder. The lifting amount is the distance between the initial position of the supporting wheel and the end position after lifting.
Let the total track length be l 0, when the automobile body moves on flat ground, each wheel center of running gear forms equilateral triangle, and center distance is l, and triangle's height is h, and running gear central point O is s 0 to each wheel center distance. When one side of the vehicle body moves on the slope with the inclination angle theta, the right side travelling mechanism wheel adjusts the height to form an isosceles triangle, the height of the isosceles triangle is h 1, and the telescopic distance of the second hydraulic oil cylinder and the third hydraulic oil cylinder is s 1.
The correlation function of the lifting distance H 1 of the travelling mechanism is that
Wherein s max is the maximum elongation of the hydraulic cylinder, and is related to the length l 0 of the crawler belt, and can be obtained according to the structural parameters of the travelling mechanism. The change characteristics of the height of the travelling mechanism, such as raising or lowering, etc., are determined according to the telescopic range of the independent variable s 1.
The attitude sensor 5 is used for acquiring the inclination angle theta in the running process of the vehicle body, and the height difference H 10 of the running mechanisms on the left side and the right side can be obtained according to the tread D of the vehicle body. Through the mode, the heights of the traveling mechanisms at the left side and the right side are adjusted, so that the height difference is reduced to 0 as much as possible, and the vehicle body can be ensured to be in a leveling state.
2. Slope car body axial leveling calculation model
When the vehicle body is ascending slope in axial form, the traveling mechanism at the rear end of the vehicle body needs to be lifted by a certain height to ensure the horizontal chassis frame 1, as shown in fig. 6, the specific implementation mode is as follows:
When one side of the vehicle body in the axial direction is positioned at the position of the gradient alpha, the vehicle body can be leveled by only adjusting and lifting the two traveling mechanisms (the traveling mechanism on the right side in fig. 6) at the rear end of the vehicle body at the lower end side. In the lifting process, the second hydraulic oil cylinder is shortened on the premise of ensuring the tensioning of the crawler belt by controlling the three hydraulic oil cylinders connected with the travelling wheels, so that the first hydraulic oil cylinder is lengthened. According to the leveling model of fig. 7, a calculation model may be built to obtain a correlation function of the running gear lifting distance H 2 and the gradient angle α.
From the model diagram, it can be known that the expansion and contraction amount of the second hydraulic cylinder is related to the gradient angle α, and an expansion and contraction amount correlation function s (α) can be constructed as shown in formula (3). In the gradient change process, the lifting height of the travelling mechanism can be dynamically adjusted according to the actual angle change.
After the expansion and contraction amount is obtained by the gradient angle, the lifting distance of the upper travelling wheel can be calculated by combining the center position of each travelling wheel after deformation, namely delta O 10O20O3.
Taking the gradient angle α as an example, OO 10 is s 10,OO20 s 20,OO3 s 30,O10O20 l 10,O20O3 l 20,O3O10 l 30.
Where l 20、s30 is a known quantity, which can be solved according to the slope angle and equation (3). In Δo 2O20O3, its high O 20 H is H 0.
Can be obtained by the formula (5)
According to the geometry of the walking mechanism in fig. 7, the upper support wheel is raised by a distance H 2＝s10-s30. From equation (4), a correlation function H 2 (α) of the lift distance and the gradient angle can be obtained. Then, according to the gradient angle alpha and the wheelbase L of the vehicle body front-rear travelling mechanism, the lifting height H 20 of the rear travelling mechanism can be obtained, and the vehicle body leveling quality is determined by judging the sizes of H 2 and H 20.
Similarly, when the gradient angle α changes during the running of the vehicle body, as shown in fig. 7, the leveling mechanism of each road wheel can be adjusted in real time according to the formula (3) in combination with the vehicle body inclination angle monitored by the vehicle body posture sensor. Under the condition of changing continuous gradient, on the premise of ensuring that the gravity center of the vehicle body is as low as possible, when the vehicle body has a fluctuating road condition in the climbing process, the front-end travelling mechanism may be lower than the rear end, the leveling strategy is to lower the rear-end travelling mechanism according to the change of the gradient angle, and if the vehicle body cannot be leveled, the front-end travelling mechanism is controlled to rise through real-time gradient angle calculation so as to level the two sides.
3. Omnidirectional leveling calculation model for vehicle body with arbitrary gradient
As shown in fig. 8, the vehicle body is on any gradient, a, b, c, d is four travelling mechanisms, a is the highest point, the travelling mechanism a is used as a reference point, and three travelling mechanisms b, c and d are required to be adjusted to ensure that the vehicle body keeps horizontal in the climbing process. The leveling process is divided into two stages as follows.
One-stage leveling (radial leveling of the vehicle body).
The walking mechanisms a and b are used as fulcrums, the lifting mechanisms c and d are used for guaranteeing radial level of the car body, and the posture sensors are used for obtaining the inclination angle gamma between the positions of the walking mechanisms a and b and the horizontal plane. According to the formula (2) of the lifting association model of the travelling mechanism, the telescopic distance s c2、sc3 of each hydraulic cylinder in the travelling mechanism is adjusted by combining the lifting distances H c required by the travelling mechanisms c and d, namely, H c =Dsin gamma.
Two-stage leveling (body axial leveling).
When one-stage leveling is finished, the travelling mechanisms a and c are taken as fulcrums, the travelling mechanisms b and d are continuously lifted to ensure the axial level of the vehicle body, and the inclination delta between the positions of the travelling mechanisms a and b and the horizontal plane is obtained by using the attitude sensor. According to the vehicle body axial leveling strategy, a hydraulic cylinder expansion amount correlation function taking the inclination angle delta as a variable is obtained, and the hydraulic cylinder expansion amount s b2 which is most suitable is matched by combining the actual lifting distance H b of the travelling mechanism b, namely H b = Lsin delta, so as to ensure the vehicle body level.
For travelling mechanism d, it still needs to be raised by H b in the two-stage leveling stage, i.e. the total height of the mechanism H d is H d＝Hc+Hb =dsin γ+ Lsin δ. Because the leveling process of the travelling mechanism d is performed in stages, the expansion and contraction amount of the hydraulic cylinder is the sum of two stages, namely s d2＝sc2+sb2,sd3＝sc3.
In order to realize the omnidirectional leveling function of the vehicle body when the vehicle runs in hilly areas, four travelling mechanisms are independent devices, and a driving motor, an attitude sensor, a displacement sensor and a control system are respectively arranged, so that each travelling mechanism can be independently controlled, and the leveling function under complex terrains is realized.
The advantages of this embodiment are as follows.
(1) The triangular crawler traveling mechanism comprises three hydraulic oil cylinders, integrates the height adjusting function on wheels of a vehicle, is compact in structure, does not occupy the height space of a chassis frame, and can lower the gravity center of the vehicle, has the slope leveling function, reduces the overturning risk of the vehicle and meets the actual requirements of mountain hilly machinery.
(2) The three-track traveling mechanism comprising the three hydraulic oil cylinders is characterized in that the three-track traveling mechanism adopts a track as a traveling driving mode, the cross-country performance is good, the contact area of the track and the ground is large, the friction force is large, the three-track traveling mechanism is more stable than a wheel type machine, the power is better, and when the traveling directions of the track traveling mechanisms on two sides of a vehicle are opposite, the three-track traveling mechanism can realize in-situ steering, has good maneuverability and meets the actual needs of mountain hilly machines.
(3) The vehicle with four triangular crawler travelling mechanisms can automatically detect the gesture, automatically calculate the control quantity, automatically perform leveling control, has high degree of automation, and has less operation and less labor capacity for a driver; on the other hand, the automatic leveling reduces the influence of human factors, improves the leveling reliability, and is suitable for practical use in hills and mountains.
(4) The leveling method of the vehicle capable of leveling can realize running at any angle on the slope, namely, the four-wheel vehicle can complete the effect of full-angle leveling by adjusting the heights of four fulcrums of the chassis frame, namely, the method realizes the full-leveling function of the four-wheel vehicle and is suitable for practical use in hills and mountains.
Therefore, the embodiment can lower the self gravity center of the vehicle and has the capability of automatically and fully leveling the vehicle body; therefore, the risk of overturning the vehicle working in hilly and mountainous areas is reduced, the safety is improved, and the method is suitable for actual popularization and use in hilly and mountainous areas.
Embodiment 2, which is based on the triangular crawler belt running mechanism of embodiment 1, can be applied to a four-wheeled vehicle and used as a spare tire. If one of the four wheels of a vehicle is replaced by the triangular crawler travelling mechanism, the travelling mechanism has the function of height adjustment, so that the travelling mechanism can be used as a universal spare wheel for vehicles of different models.
Embodiment 3, which is based on the two triangular crawler belt traveling mechanisms of embodiment 1, can be applied to a four-wheeled vehicle. If two of the four wheels of one vehicle are replaced with the triangular crawler travel mechanism, the travel mechanism has the function of height adjustment, so that the vehicle side has the function of height adjustment and can be used for vehicles working on unidirectional ramps.
The invention has not been described in detail in the prior art; it should be understood by those skilled in the art that any combination of the features of the foregoing embodiments may be adopted, and that all possible combinations of the features of the foregoing embodiments are not described for brevity of description, however, such combinations are not to be considered as a contradiction between the features. The scope of the invention is defined by the appended claims and equivalents thereof.
Claims (3)
1. A leveling method for a leveleable vehicle, comprising the steps of:
S1: setting the positions of four travelling mechanisms; the vehicle is positioned on any ramp, a, b, c, d is four triangular crawler travelling mechanisms, a is the highest point on the ramp, and the travelling mechanism a is used as a datum point; a. the connecting line direction b is the axial direction of the vehicle body, namely the length direction of the vehicle body, and the connecting line direction a and c is the radial direction of the vehicle body, namely the vehicle width direction;
s2: acquiring attitude parameters; acquiring the inclination angle gamma of the connecting line of the positions of a and c and the horizontal plane by using an attitude sensor, and acquiring the inclination angle delta of the connecting line of the positions of a and b and the horizontal plane by using the attitude sensor;
S3: selecting a leveling mode; when the inclination delta is equal to 0 and the inclination gamma is greater than 0, the transverse single side of the car body is inclined, and radial leveling is performed; when the inclination delta is larger than 0 and the inclination gamma is equal to 0, the longitudinal single side of the car body is inclined, and the axial leveling is performed; when the inclination delta and the inclination gamma are both larger than 0, performing omnidirectional leveling, wherein the leveling process is divided into two stages, namely, the first stage is firstly performing radial leveling, and then the second stage is further performing axial leveling;
The radial leveling is to take travelling mechanisms a and b on one side of the longitudinal direction of the vehicle body as fulcrums, keep the postures of the travelling mechanisms a and b unchanged, and lift travelling mechanisms c and d on the other side so as to ensure the radial leveling of the vehicle body; the control system calculates the expansion and contraction amount of the internal hydraulic cylinders of the travelling mechanisms c and d according to the inclination angle gamma and controls the expansion and contraction of the internal hydraulic cylinders so that the lifting amounts of the travelling mechanisms c and d are H c; when the travelling mechanism c rises to H c, the supporting wheels of the travelling mechanism c are at the same height as the supporting wheels of the travelling mechanism a;
The axial leveling is to take travelling mechanisms a and c at one side of the transverse direction of the vehicle body as fulcrums, keep the postures of the travelling mechanisms a and c unchanged, and raise the travelling mechanisms b and d to ensure the axial leveling of the vehicle body; the control system calculates the expansion and contraction amount of the internal hydraulic cylinders of the travelling mechanisms b and d according to the inclination angle delta and controls the expansion and contraction of the internal hydraulic cylinders so that the lifting amounts of the travelling mechanisms b and d are H b, and when the travelling mechanism b is lifted to H b, the supporting wheels of the travelling mechanism b are at the same height as the supporting wheels of the travelling mechanism a;
Wherein the lifting amount is the distance from the initial position of the supporting wheel to the lifted end position;
In the radial leveling, the method for determining the expansion and contraction amount of the internal hydraulic cylinders of the travelling mechanisms c and d is as follows:
When one side of the vehicle body in the radial direction is positioned at the position of the gradient theta, the height of the front and rear travelling mechanisms c and d at the lower end side is adjusted to level the vehicle body; in the height adjustment process, the telescopic distance of the first hydraulic oil cylinder can be changed by controlling the three hydraulic oil cylinders connected with the travelling wheels and shortening or extending the second and third hydraulic oil cylinders on the premise of ensuring the tensioning of the crawler belt, so that the height of the whole travelling mechanism is changed; a calculation model can be established to obtain a correlation function of the lifting distance H 1 of the travelling mechanism and the contraction amount s 1 of the hydraulic cylinder;
When the vehicle body moves on the flat ground, the centers of all wheels of the travelling mechanism form an equilateral triangle, the center distance is l, the height of the triangle is h, and the distance from the center point O of the travelling mechanism to the center of each wheel is s 0; when one side of the vehicle body moves on a slope with the inclination angle theta, the right side travelling mechanism wheel adjusts the height to form an isosceles triangle, the height of the isosceles triangle is h 1, and the telescopic distance of the second hydraulic oil cylinder and the third hydraulic oil cylinder is s 1;
（1）
the correlation function of the travel mechanism elevation distance H 1 is:
-s0＜s1＜smax （2）
Wherein s max is the maximum elongation of the hydraulic cylinder, is related to the length l 0 of the crawler belt, and is obtained according to the structural parameters of the travelling mechanism; determining the change characteristics of the height of the travelling mechanism according to the expansion and contraction range of the independent variable s 1;
Acquiring an inclination angle theta in the running process of the vehicle body by using an attitude sensor, and obtaining a height difference H 10 of the travelling mechanisms on the left side and the right side according to the wheel track D of the vehicle body; the height of the travelling mechanisms at the left side and the right side is adjusted in the mode, so that the height difference is reduced to 0 as far as possible, and the vehicle body can be ensured to be in a leveling state;
the method for determining the expansion and contraction amount of the internal hydraulic cylinders of the travelling mechanisms b and d during axial leveling is as follows:
When one side of the axial direction of the vehicle body is positioned at the position of the gradient alpha, the vehicle body can be leveled by only adjusting and lifting the two travelling mechanisms b and d at the rear end of the vehicle body at the lower end side; in the process of lifting the height, the second hydraulic oil cylinder is shortened on the premise of ensuring the tensioning of the crawler belt by controlling the three hydraulic oil cylinders connected with the travelling wheels, so that the first hydraulic oil cylinder is lengthened; a calculation model can be established to obtain a correlation function of the lifting distance H 2 of the running mechanism and the gradient angle alpha;
The expansion and contraction amount of the second hydraulic cylinder is related to the gradient angle alpha, and an expansion and contraction amount related function s (alpha) can be constructed as shown in a formula (3); in the gradient change process, the lifting height of the travelling mechanism can be dynamically adjusted according to the actual angle change;
（0≤α＜30°） （3）
After the expansion and contraction amount is obtained by the gradient angle, the lifting distance of the upper travelling wheel can be calculated by combining the center position of each travelling wheel after deformation, namely delta O 10O20O3;
Taking the gradient angle alpha as an example, OO 10 is s 10,OO20, s 20,OO3, s 30,O10O20, l 10,O20O3 and l 20,O3O10 are l 30;
（4）
wherein l 20 、s30 is a known quantity, which can be solved according to the gradient angle and the formula (3); in Δo 2O20O3, its high O 20 H is H 0;
（5）
Can be obtained by the formula (5) ；
The lifting distance of the upper end supporting wheel is；
Obtaining a correlation function H 2 (alpha) of the lifting distance and the gradient angle from the formula (4); then, according to the gradient angle alpha and the wheel base L of the front and rear travelling mechanism of the vehicle body, the lifting height H 20 of the rear travelling mechanism can be obtained, and the leveling quality of the vehicle body is determined by judging the sizes of H 2 and H 20;
The method for determining the expansion and contraction amount of the internal hydraulic cylinder of the travelling mechanism d during the omni-directional leveling is as follows:
The total lifting amount H d of the travelling mechanism d is ；
The first stage is to radially level first, after the leveling is finished, the lifting amount of the travelling mechanism d is H c; the expansion and contraction amount of the internal hydraulic cylinder of the first-stage traveling mechanism d is the same as that of the traveling mechanism c;
Then the second stage is axially leveled, and after the leveling is finished, the secondary lifting amount of the travelling mechanism d is H b; the expansion and contraction amount of the internal hydraulic oil cylinder of the second-stage traveling mechanism d is the same as that of the traveling mechanism b;
Wherein, the steps S1 to S3 are realized based on a vehicle with adjustable level, and the four corners of the chassis frame of the vehicle are respectively connected with a triangular crawler travelling mechanism; the triangular crawler belt travelling mechanism comprises a travelling crawler belt which surrounds the outer sides of the three travelling wheels; the three travelling wheels are arranged in a triangle, wherein two of the three travelling wheels are respectively used as a driving wheel and a follower wheel below, and the other travelling wheel is used as a supporting wheel above; the driving wheel is connected with a driving device and is used for driving the walking crawler belt to circularly rotate so as to enable the triangular crawler belt walking mechanism to walk; the center of each travelling wheel is connected with an independently telescopic hydraulic oil cylinder, the tail ends of the three hydraulic oil cylinders are hinged to the center of the triangular crawler mechanism, and the positions of the three travelling wheels can be adjusted; the three hydraulic cylinders are respectively a first hydraulic cylinder, a second hydraulic cylinder and a third hydraulic cylinder, and are respectively and correspondingly connected with the supporting wheel, the driving wheel and the follower wheel.
2. The leveling method of a leveleable vehicle according to claim 1, wherein: the triangular crawler mechanism is provided with three displacement sensors which are respectively used for detecting the expansion and contraction amounts of the three hydraulic cylinders.
3. The leveling method of a leveleable vehicle according to claim 2, wherein: the supporting wheels of each triangular crawler travelling mechanism are connected with the chassis frame; the four corners of the chassis frame are respectively provided with an attitude sensor; the attitude sensor is connected with a control system preset on the chassis frame; the control system is connected with the displacement sensor; each hydraulic cylinder is connected with the control system and used for controlling the expansion and contraction amount of each hydraulic cylinder according to the data acquired by the attitude sensor and the displacement sensor.
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