CN103818212B - A kind of road clearance is adjustable implement porter and control method steadily - Google Patents
A kind of road clearance is adjustable implement porter and control method steadily Download PDFInfo
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- CN103818212B CN103818212B CN201310740241.5A CN201310740241A CN103818212B CN 103818212 B CN103818212 B CN 103818212B CN 201310740241 A CN201310740241 A CN 201310740241A CN 103818212 B CN103818212 B CN 103818212B
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Abstract
The invention discloses steadily adjustable high-clearance self-propelled chassis and balance and stability control method thereof of a kind of road clearance. Implement porter comprise vehicle frame, propons, back axle, dynamical system, gap regulating system, steady regulator control system etc. Dynamical system comprises engine, clutch, pumping plant, hydraulic motor, proportioning valve, front vehicle wheel, rear wheel etc.; Ground gap regulating system comprise controller, servo valve, gap regulator solution cylinder pressure etc., controller regulates four ground gap regulator solution cylinder pressure synchronization liftings to change the chassis road clearance by servo valve; Steadily regulator control system comprises gyroscope, and the propons that controller gathers according to gyroscope, the not stationary signal of back axle by the flow of four ground gap regulator solution cylinder pressures of servo valve control, and then are adjusted the balance and stability on chassis automatically; Engine connects pumping plant by clutch, and pumping plant drives hydraulic motor to drive forward and backward vehicle wheel rotation.
Description
Technical field:
The present invention relates to adjustable high-clearance self-propelled chassis of a kind of road clearance, particularly topSpiral shell instrument detects the implement porter of steady information and then hydraulic cylinder adjusting road clearance.
Technical background:
In order to be suitable for the field management requirement of farmland long-stalked crop, often need the high-clearance walking endDish, and existing high-clearance walking chassis adopts machine driving more, transmission stability is low, deadweightGreatly, the road clearance is fixed, and the scope of application is little, thereby in order to be suitable for the multiple of Different Crop heightThe farm work requirement of road clearance, the high-clearance walking chassis that development ground gap is adjustable has importantMeaning.
Publication number is the Chinese patent " highland that a kind of road clearance is adjustable of CN103158480AGap implement porter ", be provided with ground gap regulating system, by controller, servo valve, four groundGap regulator solution cylinder pressure composition, in the time that chassis need to change ground gap operation, can pass through controller, controlServo valve processed regulates the synchronization lifting of four ground gap regulator solution cylinder pressures to change the chassis road clearance.But the lifting action of four ground gap regulator solution cylinder pressures acts in agreement all the time, adjustable height is consistent, because ofThis, the smooth running on chassis is poor. In the time that ground, field is not steady, will cause chassis to inclineTiltedly, reduce efficiency and the quality of spraying machine spraying, even damage spray boom.
Summary of the invention:
The object of the invention, for being suitable for multiple road clearance and field smooth running job requirements, is establishedCount steadily adjustable high-clearance self-propelled chassis of a kind of road clearance.
For achieving the above object, the technical scheme that the present invention takes: a kind of road clearance steadily canThe high-clearance self-propelled chassis of adjusting, comprises vehicle frame, front axle, rear vehicle bridge, and driver's cabin, can riseLadder falls, lifting hydraulic cylinder, dynamical system, ground gap regulating system, steady regulator control system. MovingPower system comprises: engine, clutch, pumping plant, hydraulic steering gear, hydraulic motor, ratioValve, wheel. Driver's cabin is connected on vehicle frame, engine, and pumping plant is bolted at vehicle frameUpper, engine connects pumping plant by clutch, and pumping plant is by driving four fluid motor-driven fourIndividual vehicle wheel rotation.
Four proportioning valves are connected to four hydraulic motors by bolt, and hydraulic motor cuts with scissors respectivelyBe connected to motor contiguous block, motor contiguous block by bolt be connected to front axle vertical axes, afterVehicle bridge vertical axes. Hydraulic steering gear closure dish, regulates fluid-link steering by steering wheel rotationDevice and control four proportioning valve openings, thus the discharge capacity of four hydraulic motors regulated, regulate fourThe rotating speed of individual wheel, realizes four-wheel differentia and turns to.
Front axle comprises: left and right swing arm, front axle vertical axes, front axle contiguous block, front truckThe left and right anticollison block of bridge, front axle damping spring. Left and right swing arm is by the front axle that is articulated and connectedContiguous block, front axle damping spring is enclosed within on the left and right anticollison block of front axle, and front axle is left and rightAnticollison block connects respectively in left and right swing arm by welding. Front axle cuts with scissors by front axle contiguous blockBe connected on described vehicle frame. Left and right swing arm can be rotated around front axle contiguous block, and front axle is connectedThe left and right wheel connecing is beated separately, thereby reduces the vibrations of vehicle body.
Rear vehicle bridge comprises: rear vehicle bridge jackshaft, and rear vehicle bridge vertical axes, rear car bridge contiguous block, afterVehicle bridge shock-absorbing spring steel plate. Rear car bridging connects vehicle bridge jackshaft after block welding. After rear vehicle bridge is passed throughVehicle bridge contiguous block is articulated with on vehicle frame. Shock-absorbing spring steel plate is bolted in rear car bridging and connectsOn piece and vehicle frame.
Liftable ladder is articulated with on vehicle frame, and lifting hydraulic cylinder is by the hinged liftable that connects respectivelyLadder and front axle.
Ground gap regulating system is made up of controller, servo valve, four ground gap regulator solution cylinder pressures. FourGap regulator solution cylinder pressure one end, individual ground connects respectively front axle vertical axes, rear vehicle bridge by screw shellVertical axes, the other end respectively with the jackshaft of the left swing arm of front axle, right swing arm and rear vehicle bridgeBe weldingly connected. In the time that chassis need to change ground gap operation, can come by controller control servo valveRegulate the synchronization lifting of four ground gap regulator solution cylinder pressures and change the chassis road clearance.
Steadily regulator control system comprises gyroscope, in the operation process of chassis, can adopt according to gyroscopeSteadily information of the front axle of collection and angle, the gradient etc. of rear vehicle bridge, controller control servo valveCome to regulate in real time respectively the lifting of four ground gap regulator solution cylinder pressures to change the appearance of forward and backward vehicle bridgeState, thus the stationarity of walking in chassis ensured.
The present invention has following technology beneficial effect: the front truck that the present invention can gather by gyroscopeThe steady information of bridge and rear vehicle bridge, controller control servo valve regulates respectively four ground gaps to adjust in real timeJoint hydraulic cylinder lifting and change the attitude of forward and backward vehicle bridge, steadily adjusts the chassis road clearance, gramTake the not steady of ground, field, guarantee chassis farm work is steadily advanced, thereby can be suitable for multipleRoad clearance, the farm work requirement stably of advancing. As when the spraying operation, can prevent liquidSpill and the damage of pollution, spray boom, keep the uniformity of medicine liquid spray, improve dispenser quality and prolongThe long spraying machine life-span etc.
Brief description of the drawings:
Fig. 1 is axonometric drawing of the present invention
Fig. 2 is top view of the present invention
Fig. 3 is the front view of propons
Fig. 4 is the axonometric drawing of Fig. 3
Fig. 5 is the axonometric drawing of back axle
Fig. 6 is working-flow figure
In figure: 1-driver's cabin; 2-handrail; 3-propons left wheel; 4-lifting hydraulic cylinder;5-lifting ladder; 6-front axle; The right wheel of 7-propons; 8-wheel; 9-front axle subtractsSpring shakes; 10-rear vehicle bridge; 11-rear vehicle bridge shock-absorbing spring steel plate; 12-gyroscope; 13-vehicle frame; 14-clutch; 15-engine; 16-controller; 17-servo valve; 18-steering wheel; 19-hydraulic steering gear; 20-pumping plant; 21-hydraulic oil container; 22-left swing arm;23-front axle contiguous block; 24-right swing arm; The left and right anticollison block of 25-front axle; 26-groundGap regulator solution cylinder pressure; 27-screw shell; 28-front axle vertical axes; 29-motor contiguous block;30-proportioning valve; 31-hydraulic motor; 32-lifting hydraulic cylinder hinged block; The bridging of 33-rear carConnect piece; 34-rear vehicle bridge jackshaft; 35-rear vehicle bridge vertical axes.
Detailed description of the invention:
Below in conjunction with accompanying drawing, the present invention is described further.
Driver's cabin 1 is connected on vehicle frame 13, and front axle 6 is hinged by front axle contiguous block 23On vehicle frame 13, rear vehicle bridge 10 is articulated with on vehicle frame 13 by rear car bridge contiguous block 33.Liftable ladder 5 is realized the lifting of ladder 5, liftable ladder by the motion of lifting hydraulic cylinder 4Son 5 is by being articulated and connected on vehicle frame 13, and the hinged liftable ladder 5 of lifting hydraulic cylinder 4 is with frontVehicle bridge 6, handrail 2 ensures the safety that driver gets on or off the bus.
Pumping plant 20, engine 15 is bolted on vehicle frame 13, and engine 15 passes throughClutch 14 connects pumping plant 20.
Left swing arm 22, right swing arm 24 be by the front axle contiguous block 23 that is articulated and connected, a front axle left side,Right swing arm 22,24 can rotate around front axle contiguous block 23, makes propons left wheel 7a, proponsRight wheel 7b beats separately, and front axle shock-absorbing spring 9 connecting vehicle frames 13 and front axle 6 are frontThe left and right anticollison block of vehicle bridge connects respectively on left swing arm, right swing arm by welding. Rear vehicle bridge vibration dampingSteel spring plate 11 is bolted on rear car bridge contiguous block 33 and vehicle frame. Left and right front-wheelBeat separately, and front axle shock-absorbing spring 9, rear vehicle bridge shock-absorbing spring steel plate 11 can reduceVehicle body is because encouraging the vibration and the impact that produce in ground, the riding stability of improving walking chassis withDriver comfort.
One end of four ground gap regulator solution cylinder pressures 26 connects respectively front axle by screw shell 2735, four ground gap regulator solution cylinder pressure other ends of vertical axes 28 and rear vehicle bridge vertical axes weld respectivelyBe connected to left swing arm 22, right swing arm 24 and back axle jackshaft 34. When walking chassis need to be notDuring with road clearance operation, can control servo valve 17 by controller 16 and regulate four ground gapsRegulator solution cylinder pressure 26 synchronization liftings and change the chassis road clearance.
Four hydraulic motors 31 are articulated with respectively motor contiguous block 29, and motor contiguous block 29 passes throughBolt connects front axle bridge vertical axes 28 and 35, four proportioning valves 30 of back axle vertical axes pass throughBolt is connected to four hydraulic motors 31.
Pumping plant 20 drives hydraulic motor 31, and hydraulic motor 31 drives connected forward and backward wheelRotate. Regulate hydraulic steering gear 19 and control ratio valve 30 openings by steering wheel rotation 18,Thereby the discharge capacity of regulator solution pressure motor 31, changes the rotating speed of four wheels, realizes four-wheel poorSpeed turns to, and effectively reduces radius of turn, turns to more steady.
Gyroscope 12 is installed in front axle 6 and rear vehicle bridge 10, and controller 16 is according to gyroscope12 front axles 6 that gather and the steady information of rear vehicle bridge 10, act on by servo valve 17Before and after ground gap regulator solution cylinder pressure 26 regulates, vehicle bridge and chassis is steady.
Claims (5)
1. a steadily adjustable chassis of road clearance, comprise lifting hydraulic cylinder (4), front axle (6),Wheel (8), rear vehicle bridge (10), vehicle frame (13), gap regulating system, dynamical system, steadily adjustControl system; Front axle (6) be provided with left swing arm (22), right swing arm (24), front axle contiguous block (23),Front axle shock-absorbing spring (9), front axle (6) is by front axle contiguous block (23) and vehicle frame (13) hingeConnect, front axle shock-absorbing spring (9) connects with front axle (6) and vehicle frame (13); Rear vehicle bridge (10) is provided withRear vehicle bridge jackshaft (34), rear car bridge contiguous block (33), rear vehicle bridge vertical axes (35), rear vehicle bridge subtractThe steel spring plate (11) that shakes, rear vehicle bridge (10) is hinged by back axle contiguous block (33) and vehicle frame (13), afterVehicle bridge shock-absorbing spring steel plate (11) connects with rear vehicle bridge (10) and vehicle frame (13); Ground gap regulating systemFormed controller (16) by controller (16), servo valve (17), four ground gap regulator solution cylinder pressures (26)Regulate four ground gap regulator solution cylinder pressure (26) synchronization liftings to change chassis by servo valve (17)Road clearance; It is characterized in that: steadily regulator control system comprises gyroscope (12), before it is installed onVehicle bridge (6) and rear vehicle bridge (10) are upper, the front axle (6) that controller (16) gathers according to gyroscope (12)With the steady information of rear vehicle bridge (10), regulate in real time respectively four ground gaps to adjust by servo valve (17)The lifting of joint hydraulic cylinder (26) regulates the steady of forward and backward vehicle bridge and chassis.
2. steadily adjustable chassis of road clearance according to claim 1, is characterized in that:One end of ground gap regulator solution cylinder pressure (26) connects respectively front axle vertical axes by screw shell (27)(28) and rear vehicle bridge vertical axes (35), the other end respectively with left swing arm (22), right swing arm (24),And rear vehicle bridge jackshaft (34) is fixed.
3. steadily adjustable chassis of road clearance according to claim 1, is characterized in that:Described dynamical system comprise clutch (14), engine (15), pumping plant (20), hydraulic motor (31),Proportioning valve (30); Engine (15) connects with vehicle frame (13); Four hydraulic motors (31) are respectively with fourIndividual motor contiguous block (29) is hinged, four motor contiguous blocks (29) respectively with front axle vertical axes(28), rear vehicle bridge vertical axes (35) connect, four proportioning valves (30) are connected to four hydraulic pressure horsesReach (31).
4. according to steadily adjustable chassis of the road clearance one of claim 1-3 Suo Shu, its featureBe: described hydraulic cylinder is replaced by pneumatic cylinder.
5. a kind of steady control method of steady adjustable base of road clearance according to claim 1,It is characterized in that comprising the following steps:
Step 1, according to required chassis road clearance requirement, ground gap regulating system is by controller (16)Flow to servo valve (17) is controlled, and regulates four ground gap regulator solution cylinder pressures (26) synchronously to riseFall and change the chassis road clearance to meet necessary requirement;
Step 2, gyroscope (12) in the traveling process of chassis, to front axle (6), rear vehicle bridge (10),And Real-time Collection is carried out at the angle of inclination of vehicle frame (13);
Step 3, front axle (6), rear vehicle bridge (10) that controller (16) gathers according to gyroscope (12), withAnd the angle of inclination information of vehicle frame (13), it is each that real-time estimate goes out four ground gap regulator solution cylinder pressures (26)From required regulated quantity;
Step 4, according to four ground gap regulator solution cylinder pressures (26) required real-time regulated quantity separately, servoValve (17) by hydraulic flow control action in ground gap regulator solution cylinder pressure (26), to front and back vehicle bridge andThe inclination on chassis regulates, to meet the stationarity requirement on chassis.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201310740241.5A CN103818212B (en) | 2013-12-27 | 2013-12-27 | A kind of road clearance is adjustable implement porter and control method steadily |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201310740241.5A CN103818212B (en) | 2013-12-27 | 2013-12-27 | A kind of road clearance is adjustable implement porter and control method steadily |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN103818212A CN103818212A (en) | 2014-05-28 |
| CN103818212B true CN103818212B (en) | 2016-05-11 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201310740241.5A Expired - Fee Related CN103818212B (en) | 2013-12-27 | 2013-12-27 | A kind of road clearance is adjustable implement porter and control method steadily |
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| Country | Link |
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Families Citing this family (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106184094A (en) * | 2016-09-21 | 2016-12-07 | 西安培华学院 | The self-help apparatus of a kind of motor-vehicle wading and method |
| CN112622553A (en) * | 2020-12-25 | 2021-04-09 | 宁波凯明机器制造有限公司 | Tractor chassis |
Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US4619340A (en) * | 1985-01-14 | 1986-10-28 | Elmer Willard O | High clearance self-propelled vehicle with variable clearance and variable wheel spacing |
| US5039129A (en) * | 1989-11-15 | 1991-08-13 | Charles Balmer | Vehicle for agricultural use |
| US5058017A (en) * | 1987-11-05 | 1991-10-15 | Hitachi, Ltd. | System for control of vehicle suspension |
| CN201559499U (en) * | 2009-08-07 | 2010-08-25 | 张扬 | Automobile active hanging balancing system |
| CN102019831A (en) * | 2009-11-23 | 2011-04-20 | 胡云 | Active vibration isolator for vehicle |
| CN203293849U (en) * | 2013-03-25 | 2013-11-20 | 江苏大学 | High-ground-clearance self-propelled chassis with adjustable ground clearance |
-
2013
- 2013-12-27 CN CN201310740241.5A patent/CN103818212B/en not_active Expired - Fee Related
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US4619340A (en) * | 1985-01-14 | 1986-10-28 | Elmer Willard O | High clearance self-propelled vehicle with variable clearance and variable wheel spacing |
| US5058017A (en) * | 1987-11-05 | 1991-10-15 | Hitachi, Ltd. | System for control of vehicle suspension |
| US5039129A (en) * | 1989-11-15 | 1991-08-13 | Charles Balmer | Vehicle for agricultural use |
| CN201559499U (en) * | 2009-08-07 | 2010-08-25 | 张扬 | Automobile active hanging balancing system |
| CN102019831A (en) * | 2009-11-23 | 2011-04-20 | 胡云 | Active vibration isolator for vehicle |
| CN203293849U (en) * | 2013-03-25 | 2013-11-20 | 江苏大学 | High-ground-clearance self-propelled chassis with adjustable ground clearance |
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| Publication number | Publication date |
|---|---|
| CN103818212A (en) | 2014-05-28 |
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Inventor after: Dong Lili Inventor after: Qiu Baijing Inventor after: Dong Siqing Inventor after: Guan Xianping Inventor after: Ou Mingxiong Inventor after: Chu Qi Inventor after: Deng Wuqing Inventor before: Dong Lili Inventor before: Qiu Baijing Inventor before: Dong Siqing Inventor before: Guan Xianping Inventor before: Ou Mingxiong Inventor before: Chu Qi Inventor before: Deng Wuqing |
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Granted publication date: 20160511 Termination date: 20201227 |
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| CF01 | Termination of patent right due to non-payment of annual fee |