CN107628136A - A kind of crawler tractor side leveling device based on parallel four-bar suspension fork mechanism - Google Patents
A kind of crawler tractor side leveling device based on parallel four-bar suspension fork mechanism Download PDFInfo
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- CN107628136A CN107628136A CN201610596215.3A CN201610596215A CN107628136A CN 107628136 A CN107628136 A CN 107628136A CN 201610596215 A CN201610596215 A CN 201610596215A CN 107628136 A CN107628136 A CN 107628136A
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Abstract
The present invention relates to a kind of crawler tractor side leveling device based on parallel four-bar suspension fork mechanism, including vehicle body, In Crawler Tractor Undercarriages, parallel four-bar suspension fork mechanism and leveling cylinder.In Crawler Tractor Undercarriages include crawler tension wheel, support roller, crawler belt, thrust wheel, balancing pole and crawler driving whell, and crawler tension wheel and thrust wheel are hinged with balancing pole respectively, and support roller and crawler driving whell are on vehicle body；Parallel four-bar suspension fork mechanism includes active swing arm, driven swing arm, upper suspension bar and lower suspension bar, and upper suspension bar is connected with automobile body welding, and the balancing pole of lower suspension bar and In Crawler Tractor Undercarriages is hinged；The cylinder body of leveling cylinder is hinged with lower suspension bar, and piston rod is hinged with active swing arm.Tractor passes through the rotation of active swing arm in bottom of slope contour operation so that the body of tractor downside is raised, and keeps vehicle body transverse horizontal, simple and reliable for structure, practical, improves the lateral stability, resistant to tipping ability and passing through property of tractor.
Description
Technical field
The invention belongs to agricultural machinery technological field, more particularly to a kind of crawler belt based on parallel four-bar suspension fork mechanism to draw
Machine side leveling device.
Background technology
At present, mostly in engineering truck is to make vehicle attitude control using omnidirectional mechanism, and does not possess vehicle body tune in agri-vehicle
Engagement positions.At Hills hillside fields and rugged Ground Operation, vehicle can not keep the level of vehicle body according to actual conditions, be expert at
Sail with operation, vehicle easily slides, tumbled.
The omnidirectional mechanism of leveling vehicle body, mechanism is complicated, size is larger, less stable, and can not be in small farm vehicle
Middle use.In hilly and mountainous land operating environment, it is desirable to vehicle have it is stronger climb, anti-tipping and the ability across tunnel, i.e.,
Power chassis will have good mobility and obstacle performance；It is required that vehicle have overcome the walking mechanism as caused by ground height by
The uneven ability of power, the sliding during cross running of power chassis ramp, and component caused by unbalance stress can be effectively avoided to grind
Damage and crimp.
The content of the invention
The invention provides a kind of crawler tractor side leveling device based on parallel four-bar suspension fork mechanism, tractor leads to
The rotation of the active swing arm of vehicle body downside parallel four-bar suspension fork mechanism is crossed, drives the dilatory locomotive welded together with upper suspension bar
The unilateral rise of body, realizes that vehicle body transverse horizontal adjusts.
The technical solution adopted in the present invention is：A kind of described crawler tractor based on parallel four-bar suspension fork mechanism is horizontal
To levelling device, including vehicle body, In Crawler Tractor Undercarriages, parallel four-bar suspension fork mechanism and leveling cylinder.
The In Crawler Tractor Undercarriages include crawler tension wheel, support roller, crawler belt, thrust wheel, balancing pole and crawler belt and driven
Driving wheel；In the In Crawler Tractor Undercarriages, crawler tension wheel is hinged with balancing pole, and support roller is arranged on the vehicle body of tractor
On, thrust wheel is hinged with balancing pole, and crawler driving whell is arranged on the vehicle body of tractor；The crawler belt is deformable crawler belt.
The parallel four-bar suspension fork mechanism of the tractor includes active swing arm, driven swing arm, upper suspension bar and lower suspension bar；
In the parallel four-bar suspension fork mechanism, upper suspension bar is connected with automobile body welding, lower suspension bar and In Crawler Tractor Undercarriages
Balancing pole is hinged, and adjacent two bar is hinged two-by-two；In the parallel four-bar suspension fork mechanism, active swing arm and lower suspension bar are at an angle of 90
When, tractor body is unilateral to lift the position that reaches capacity, and unilateral lift-off value is Δ.
The cylinder body of the leveling cylinder is hinged with lower suspension bar, and piston rod is hinged with active swing arm.
The invention has the advantages that tractor passes through the master of parallel four-bar suspension fork mechanism in bottom of slope contour operation
The rotation of dynamic swing arm so that the body of tractor downside is raised, and keeps vehicle body transverse horizontal, simple and reliable for structure, practical,
Improve the lateral stability, resistant to tipping ability and passing through property of tractor.
Brief description of the drawings
Fig. 1 is a kind of the whole of crawler tractor side leveling device based on parallel four-bar suspension fork mechanism provided by the invention
Body structural representation.
Fig. 2 is a kind of car of crawler tractor side leveling device based on parallel four-bar suspension fork mechanism provided by the invention
The unilateral lifting operating diagram of body.
Fig. 3 is a kind of car of crawler tractor side leveling device based on parallel four-bar suspension fork mechanism provided by the invention
Body is unilateral to decline operating diagram.
In figure：1. fuselage, 2. crawler tension wheels, 3. support rollers, 4. crawler belts, 5. thrust wheels, 6. parallel four-bar suspension fork mechanisms,
61. active swing arm, suspension bar on 62., 63. lower suspension bars, 64. driven swing arms, 7. leveling cylinders, 8. balancing poles, 9. track drives
Wheel, L. wheelbases, L0Crawler belt ground connection length, Δ one side lift-off value.
Embodiment
A kind of crawler tractor side leveling device based on parallel four-bar suspension fork mechanism provided by the invention, presently in connection with
The present invention is described in more detail accompanying drawing.
As shown in Figure 1, Figure 2 and Figure 3, the crawler tractor side leveling device based on parallel four-bar suspension fork mechanism, including
Vehicle body (1), In Crawler Tractor Undercarriages, parallel four-bar suspension fork mechanism (6) and leveling cylinder (7).
The walking mechanism of the crawler tractor includes crawler tension wheel (2), support roller (3), crawler belt (4), thrust wheel (5), flat
Weigh bar (8) and crawler driving whell (9)；In In Crawler Tractor Undercarriages, crawler tension wheel (2) is be hinged with balancing pole (8), support roller
(3) on the vehicle body (1) of tractor, thrust wheel (5) is be hinged with balancing pole (8), and crawler driving whell (9) is arranged on tractor
Vehicle body (1) on；The crawler belt (4) is deformable crawler belt.
The parallel four-bar suspension fork mechanism (6) of tractor includes active swing arm (61), driven swing arm (64), upper suspension bar
And lower suspension bar (63) (62)；Upper suspension bar (62) is with tractor body (1) by being welded to connect, and lower suspension bar (63) is with dragging
The balancing pole (8) of machine drawing walking mechanism is be hinged, and adjacent two bar is hinged two-by-two；In parallel four-bar suspension fork mechanism (6), active swing arm
(61) with lower suspension bar (63) at an angle of 90 when, the unilateral lifting of tractor body (1) reaches capacity position, and unilateral lift-off value is Δ.
The cylinder body of leveling cylinder (7) is be hinged with lower suspension bar (63), and piston rod is be hinged with active swing arm (61).
Active swing arm (61) around the bearing pin being hinged with lower suspension bar (63) rotate when, support roller (3) and crawler driving whell (8) with
Tractor body (1) to move together, crawler tension wheel (2), thrust wheel (5) and balancing pole (7) are not sent out with lower suspension bar (63)
Raw change in displacement；Thrust wheel (5) can rotate around the bearing pin being hinged with tractor balancing pole (7), to adapt to scraggly road
Face, carry cross-country traveling ability.
During parallel four-bar suspension fork mechanism (6) action of tractor side, the relative ground run-off the straight of tractor body (1),
There is certain angle, crawler tension wheel (2) and support roller with support roller (3) crawler belt (4) contacted and the crawler belt (4) contacted with ground
(3) crawler belt (2) and between thrust wheel (5) and crawler driving whell (8) deforms.
Fig. 2 is the unilateral lifting schematic diagram of tractor body (1), and when initial, tractor body (1) is horizontal, leveling cylinder (7)
Piston rod stretches out leveling cylinder (7) cylinder body.When the piston rod of leveling cylinder (7) shrinks, the active swing arm (61) be hinged with it is driven,
Active swing arm (61) rotates counterclockwise around the bearing pin being hinged with lower suspension bar (63), and driven swing arm (64) is with rotation, tractor
Vehicle body (1) moves with the upper suspension bar (62) welded with it, and support roller (3) and crawler driving whell (9) are with tractor body (1) one
Play motion, the unilateral lateral stability and resistant to tipping ability for raising, improving tractor of tractor body (1).Meanwhile crawler belt
Crawler belt (4) between bearing up pulley (2) and support roller (3) and thrust wheel (5) and crawler driving whell (9) deforms.When active swing arm
(61) with lower suspension bar (63) at an angle of 90 when, the stroke of piston rod retraction leveling cylinder (7) cylinder body of leveling cylinder (7) reaches capacity,
Tractor body (1) is unilateral to lift the position that reaches capacity, and unilateral lift-off value is Δ.
Fig. 3, which is that tractor body (1) is unilateral, declines schematic diagram, and when the piston rod of leveling cylinder (7) stretches out, drive is cut with scissors with it
The active swing arm (61) connect, active swing arm (61) rotate clockwise around the bearing pin being hinged with lower suspension bar (63), driven swing arm
(64) with rotation, for tractor body (1) with being moved together with the upper suspension bar (62) welded with it, tractor body (1) is single
Side declines.When the stroke that the piston rod of leveling cylinder (7) stretches out leveling cylinder (7) cylinder body reaches capacity, tractor body (1) is unilateral
Decline the position that reaches capacity, tractor body (1) recovers horizontality.
The structure ＆ working mechanism of the present invention is explained with specific embodiment above, it is real the invention is not limited in more than
Example is applied, according to above-mentioned description, all any modifications made on spirit of the invention with principle, replaces and improves on an equal basis
Deng should be included in the scope of the protection.
Claims (1)
1. a kind of crawler tractor side leveling device based on parallel four-bar suspension fork mechanism, including vehicle body, crawler tractor row
Walk mechanism, parallel four-bar suspension fork mechanism and leveling cylinder, it is characterised in that：The In Crawler Tractor Undercarriages include crawler tensioning
Wheel, support roller, crawler belt, thrust wheel, balancing pole and crawler driving whell；In the In Crawler Tractor Undercarriages, crawler tension wheel with
Balancing pole is hinged, and support roller is arranged on the vehicle body of tractor, and thrust wheel is hinged with balancing pole, and crawler driving whell is arranged on tractor
Vehicle body on；The crawler belt is deformable crawler belt；
A kind of described crawler tractor side leveling device based on parallel four-bar suspension fork mechanism, it is characterised in that：It is described to drag
The parallel four-bar suspension fork mechanism of machine drawing includes active swing arm, driven swing arm, upper suspension bar and lower suspension bar；The parallel four-bar hangs
In frame mechanism, upper suspension bar is connected with automobile body welding, and the balancing pole of lower suspension bar and In Crawler Tractor Undercarriages is hinged, adjacent
Two bars are hinged two-by-two；In the parallel four-bar suspension fork mechanism, active swing arm and lower suspension bar at an angle of 90 when, tractor body list
Side lifts the position that reaches capacity, and unilateral lift-off value is Δ；
A kind of described crawler tractor side leveling device based on parallel four-bar suspension fork mechanism, it is characterised in that：The tune
The cylinder body of flat cylinder is hinged with lower suspension bar, and piston rod is hinged with active swing arm.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610596215.3A CN107628136A (en) | 2016-07-18 | 2016-07-18 | A kind of crawler tractor side leveling device based on parallel four-bar suspension fork mechanism |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610596215.3A CN107628136A (en) | 2016-07-18 | 2016-07-18 | A kind of crawler tractor side leveling device based on parallel four-bar suspension fork mechanism |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN107628136A true CN107628136A (en) | 2018-01-26 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201610596215.3A Pending CN107628136A (en) | 2016-07-18 | 2016-07-18 | A kind of crawler tractor side leveling device based on parallel four-bar suspension fork mechanism |
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Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108860349A (en) * | 2018-08-17 | 2018-11-23 | 西北农林科技大学 | A kind of lateral attitude adjustment mechanism of mountainous region crawler tractor |
| CN108860348A (en) * | 2018-08-17 | 2018-11-23 | 西北农林科技大学 | A kind of levelling mechanism of the mountainous region crawler tractor based on splined shaft transmission |
| CN110341818A (en) * | 2019-06-18 | 2019-10-18 | 中国农业机械化科学研究院 | A kind of mobile robot and its caterpillar chassis |
| CN111497548A (en) * | 2020-04-27 | 2020-08-07 | 安徽大学 | Active vibration reduction type fire-fighting robot base device and control method |
| CN112301841A (en) * | 2020-10-23 | 2021-02-02 | 广东博智林机器人有限公司 | Leveling device |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH04104724A (en) * | 1990-08-21 | 1992-04-07 | Iseki & Co Ltd | Device of controlling traveling attitude of mobile agricultural machine |
| JPH08150968A (en) * | 1994-11-29 | 1996-06-11 | Kubota Corp | Crawler traveling device |
| CN1511097A (en) * | 2001-02-22 | 2004-07-07 | �������ɭ | Hight adjustable chassis for regulating orientation of chassis part in relation to reference orientation |
| CN202879636U (en) * | 2012-02-22 | 2013-04-17 | 株式会社久保田 | Crawler belt running apparatus for working machine |
| CN205951654U (en) * | 2016-07-18 | 2017-02-15 | 西北农林科技大学 | Horizontal levelling device of crawler tractor based on parallel four bars suspension mechanism |
-
2016
- 2016-07-18 CN CN201610596215.3A patent/CN107628136A/en active Pending
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH04104724A (en) * | 1990-08-21 | 1992-04-07 | Iseki & Co Ltd | Device of controlling traveling attitude of mobile agricultural machine |
| JPH08150968A (en) * | 1994-11-29 | 1996-06-11 | Kubota Corp | Crawler traveling device |
| CN1511097A (en) * | 2001-02-22 | 2004-07-07 | �������ɭ | Hight adjustable chassis for regulating orientation of chassis part in relation to reference orientation |
| CN202879636U (en) * | 2012-02-22 | 2013-04-17 | 株式会社久保田 | Crawler belt running apparatus for working machine |
| CN205951654U (en) * | 2016-07-18 | 2017-02-15 | 西北农林科技大学 | Horizontal levelling device of crawler tractor based on parallel four bars suspension mechanism |
Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108860349A (en) * | 2018-08-17 | 2018-11-23 | 西北农林科技大学 | A kind of lateral attitude adjustment mechanism of mountainous region crawler tractor |
| CN108860348A (en) * | 2018-08-17 | 2018-11-23 | 西北农林科技大学 | A kind of levelling mechanism of the mountainous region crawler tractor based on splined shaft transmission |
| CN110341818A (en) * | 2019-06-18 | 2019-10-18 | 中国农业机械化科学研究院 | A kind of mobile robot and its caterpillar chassis |
| CN110341818B (en) * | 2019-06-18 | 2020-10-20 | 中国农业机械化科学研究院 | Mobile robot and crawler-type chassis thereof |
| CN111497548A (en) * | 2020-04-27 | 2020-08-07 | 安徽大学 | Active vibration reduction type fire-fighting robot base device and control method |
| CN111497548B (en) * | 2020-04-27 | 2023-02-03 | 安徽大学 | Active vibration reduction type fire-fighting robot base device and control method |
| CN112301841A (en) * | 2020-10-23 | 2021-02-02 | 广东博智林机器人有限公司 | Leveling device |
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Application publication date: 20180126 |
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