CN108791547A - A kind of intelligent walking chassis of tractor transport and operation compatibility - Google Patents
A kind of intelligent walking chassis of tractor transport and operation compatibility Download PDFInfo
- Publication number
- CN108791547A CN108791547A CN201710298724.2A CN201710298724A CN108791547A CN 108791547 A CN108791547 A CN 108791547A CN 201710298724 A CN201710298724 A CN 201710298724A CN 108791547 A CN108791547 A CN 108791547A
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- wheel
- tractor
- steering
- vehicle frame
- control system
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Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D55/00—Endless track vehicles
- B62D55/04—Endless track vehicles with tracks and alternative ground wheels, e.g. changeable from endless track vehicle into wheeled vehicle and vice versa
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D6/00—Arrangements for automatically controlling steering depending on driving conditions sensed and responded to, e.g. control circuits
- B62D6/001—Arrangements for automatically controlling steering depending on driving conditions sensed and responded to, e.g. control circuits the torque NOT being among the input parameters
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D6/00—Arrangements for automatically controlling steering depending on driving conditions sensed and responded to, e.g. control circuits
- B62D6/008—Control of feed-back to the steering input member, e.g. simulating road feel in steer-by-wire applications
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- Engineering & Computer Science (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Guiding Agricultural Machines (AREA)
Abstract
The present invention provides a kind of intelligent walking chassis of tractor transport and operation compatibility, the walking chassis includes vehicle frame, endless track installation, running gear system and intelligence control system, endless track installation is fixedly connected on the middle part of vehicle frame longitudinal direction, running gear system is connected on vehicle frame, running gear system includes front-wheel walking mechanism and trailing wheel walking mechanism, on vehicle frame longitudinal direction, front-wheel walking mechanism and trailing wheel walking mechanism are located at the front and back of endless track installation；Wheel steering device includes knuckle arm block, steering rack machine and power cylinder, wheel steering mechanism connects flexible axle by steering wheel and is connect with steering wheel, direction angle transducer is provided in the shaft of steering wheel, the steering wheel angle information measured is sent to intelligence control system by direction angle transducer.The tractor chassis is driven to turn to by intelligence control system and hydraulic motor travel motor, turning radius smaller is more suitable for farm work and country's limited road, more adaptable.
Description
Technical field
The present invention relates to a kind of walking chassis of tractor, and in particular to the intelligent walking chassis of transport and operation compatibility.
Background technology
Traditional tractor is wheeled tractor mostly, caterpillar tractor it is less, in farmland operation, wheeled tractor
Road pavement is more demanding, is difficult operation after rain, and that there is energy saving, road pavement to require in farmland operation is low for caterpillar tractor,
The advantages that terrain adaptability is strong is very suitable for farmland operation, can caterpillar tractor forward speed it is slow, transition generally requires to transport
Vehicle pulls away, and is inconvenient.It is a kind of can be applicable in farmland operation and road walking tractor be the required of existing market, it is existing
In technology, such as patent CN205311726 U patents propose similar solution, although its scheme is using wheeled and shoe
With the walking manner combined, but since its chassis has the differential mechanism and bridge structure of track drive structure and in-wheel driving so that
Chassis is complicated, and the type chassis is easy to generate damage to differential mechanism and bridge structure when field is advanced, the another aspect structure
Chassis turns to difficult realization, is unsuitable for needing the working environment in the frequent J-turn of a small range, therefore patent
CN205311726U chassis structures are undesirable for tractor.
In view of this, the present invention puts forth effort on the chassis structure for improving tractor, it is made to have both farm work and road walking
Function, and turn to flexible, simple in structure, failure rate is low, is more suitable for farm work environment.
Invention content
The present invention provides a kind of intelligent walking chassis of tractor transport and operation compatibility, can be in two kinds of rows of crawler belt and wheel
Walking modes switch, and with low speed, adaptable crawler travel pattern when realizing farmland operation, and can be switched to high speed in transition
Wheel walking mode walking, it is no longer necessary to transfer car(buggy), greatly facilitate agricultural production.
In order to achieve the above object, the present invention is realized using following technical scheme：
A kind of intelligent walking chassis of tractor transport and operation compatibility, which includes vehicle frame, crawler travel system
System, running gear system, wheel steering device and intelligence control system,
Wherein, endless track installation is fixedly connected on the middle part of vehicle frame longitudinal direction, the endless track installation include crawler belt,
Crawler belt low speed hydraulic motor travel motor, crawler belt rotating speed coder；
Running gear system is connected on vehicle frame, and running gear system includes front-wheel walking mechanism and trailing wheel walking mechanism,
On vehicle frame longitudinal direction, front-wheel walking mechanism and trailing wheel walking mechanism are located at the front and back of endless track installation；
Front-wheel walking mechanism includes two front-wheels, front-wheel support, wheel steering device, preceding lifting hydraulic cylinder and rear rectangle
Bearing,
Trailing wheel walking mechanism include two trailing wheels, rear wheel support, high speed hydraulic motor travel motor, rear lifting hydraulic cylinder and after
Rectangle bearing, wheel speed encoder；
Wheel steering device includes knuckle arm block, steering rack machine and power cylinder, the side of passing through of wheel steering mechanism
It is connect to disk connection flexible axle with steering wheel, direction angle transducer is provided in the shaft of steering wheel, direction angle transducer will measure
Steering wheel angle information be sent to intelligence control system.
Further, the front-wheel support connects front-wheel by lifting support slide-bar, and lifting support slide-bar passes through on vehicle frame
Preceding rectangle bearing, the lifting axis connection with preceding lifting hydraulic cylinder, make before lifting hydraulic cylinder stretch out, meanwhile,
The rear wheel support connects trailing wheel by lifting support slide-bar, and lifting support slide-bar passes through the rear rectangular shaft on vehicle frame
It holds, the lifting axis connection with rear lifting hydraulic cylinder makes lifting hydraulic cylinder stretch out, and vehicle to road surface and is raised in front wheels and rear wheels top
Frame makes crawler belt leave ground, into wheel walking mode；
When current lifting hydraulic cylinder and rear lifting hydraulic cylinder are retracted, front wheels and rear wheels are withdrawn on vehicle frame, crawler belt is made to be grounded,
At this moment it is in crawler travel pattern.
Further, the corner information of the direction angle transducer detection direction disk, and send it to intelligent control system
System controls tractor steering after intelligence control system calculation process.
Further, the crawler belt low speed hydraulic motor travel motor that left and right crawler belt is controlled under crawler travel pattern distinguishes positive and negative rotation
It is dynamic, realize the pivot stud of tractor.
Further, turning radius, control left and right high speed are calculated according to the size of steering angle under wheel walking mode
The different speed of hydraulic motor travel motor, make tractor smoothly turn to.
Further, the intelligence control system includes program setting module and wireless communication components, by being set to program
Presetting for cover half block can run the tractor under unmanned state, or by radio communication component to be remotely controlled
Mode commands the tractor to run.
Further, wherein the control element of the intelligence control system is microcontroller or industrial personal computer.
Further, wherein the preceding rectangle bearing and it is described after each in rectangle bearing pass through 2 and a above
Linear bearing substitutes.
The beneficial effects of the invention are as follows：A can adapt to farmland and road not in the two kinds of walking mode switchings of crawler belt and wheel
Same working condition, b control the rotation of motor using intelligence control system by the way that hydraulic motor travel motor is directly arranged in travel wheel
Posture, it is simpler compared to existing bridge-type driving structure, cost is reduced, and avoid bridge architecture band under field patterns
The damage come or failure, realize that the intelligence of agricultural machinery, c drive the tractor bottom by intelligence control system and hydraulic motor travel motor
Disk turns to, and turning radius smaller is more suitable for farm work and country's limited road, more adaptable.
Description of the drawings
Fig. 1 is the side structure schematic view of the present invention
Fig. 2 is the overlooking structure diagram of the present invention
1. wheel, 2. vehicle frames, 3. lifting support frames, 4. lifting hydraulic cylinders, 5. lifting support slide-bars, 6. rectangle bearings, 7.
Intelligence control system, 8. high speed hydraulic motor travel motors, 9. wheel speed encoders, 10. slide bars, 11. front-wheel supports, 12. crawler belts, 13.
Lifting hydraulic cylinder, 14. steering wheels, 15. knuckle arm blocks, 16. steering rack mechanisms, 17. steering wheels connect flexible axle, 18. directions
Angle transducer, 19. power cylinders, 20. crawler belt rotating speed coders, 21. crawler belt low speed hydraulic motor travel motors
Specific implementation mode
The specific implementation mode of the present invention is described further below in conjunction with the accompanying drawings：
Referring to Fig. 1 and Fig. 2, Fig. 1 is the side structure schematic view of the present invention, and Fig. 2 is the overlooking structure diagram of the present invention,
The present invention provides a kind of walking chassis of tractor transport and operation compatibility, which includes vehicle frame 2, crawler travel system
System, running gear system, wheel steering device and intelligence control system 7.Wherein, endless track installation is fixedly connected on vehicle frame
The middle part of longitudinal direction, the endless track installation include crawler belt 12, crawler belt low speed hydraulic motor travel motor 21, crawler belt rotating speed coder
20；Running gear system includes front-wheel walking mechanism and trailing wheel walking mechanism, on vehicle frame longitudinal direction, front-wheel walking mechanism and
Trailing wheel walking mechanism is located at the front and back of endless track installation, and front-wheel walking mechanism includes two front-wheels, front-wheel branch
Frame 11, wheel steering device, lifting hydraulic cylinder, preceding rectangle bearing, trailing wheel walking mechanism include two trailing wheels, rear wheel support, height
Fast hydraulic motor travel motor, lifting hydraulic cylinder, rear rectangle bearing, wheel speed encoder；Wheel steering device include knuckle arm block 15,
Steering rack machine 16 and power cylinder 19, wheel steering mechanism connect flexible axle 17 by steering wheel and are connect with steering wheel 14, side
Direction angle transducer 18 is provided in disk shaft, the steering wheel angle information measured is sent to intelligence by direction angle transducer 18
Control system 7.
Crawler belt 12 and crawler belt low speed hydraulic motor travel motor 21 and lifting hydraulic cylinder 13, steering wheel 14, square are connected on vehicle frame
Shape bearing 6, front-wheel support 11 connect wheel 1 and wheel steering device and lifting support slide-bar 5, and lifting support slide-bar 5 passes through vehicle
Rectangle bearing 6 on frame 2, the lifting axis connection with lifting hydraulic cylinder, when lifting hydraulic cylinder stretches out, simultaneously to road surface by wheel top
Vehicle frame is raised, crawler belt is made to leave ground, at this moment chassis is in wheel walking mode, and tractor can walk at a high speed；When lifting liquid
When cylinder pressure is retracted, by wheel retraction vehicle frame, crawler belt is made to be grounded, is at this moment in crawler travel pattern, tractor can be with low speed row
It walks, is used for farm work；Front-wheel support 11 can be made to be only capable of moving up and down using rectangle bearing 6, whens other direction stress, will not be moved,
It is fixed on vehicle frame for steering wheel 14, it connect with the steering mechanism on mobile front-wheel support can be used the connection of flexible axle 17,
Flexible axle can be also made of multiple universal joints.
It is to match resultant motion using rectangle bearing 6 and lifting support slide-bar 5 in Fig. 1, Fig. 2, in practical application, can also makes
The rectangle bearing 6 is substituted with 2 and a above linear bearing.
The steering of tractor：By the corner information of 18 detection direction disk of direction angle transducer, and send it to intelligence
Control system realizes different control, crawler belt in this way according to different traveling modes after 7 calculation process of intelligence control system
Pattern then controls the crawler belt low speed hydraulic motor travel motor difference positive and negative rotation of left and right crawler belt, realizes the pivot stud of tractor, such as
It is wheel pattern, then according to the size of steering angle, calculates turning radius, control the different of left and right high speed hydraulic motor travel motor
Speed makes tractor smoothly turn to, and eliminates traditional running gear using differential mechanism and bridge structure, it is dilatory to enormously simplify
The structure of machine becomes a kind of intelligent walking chassis.
Intelligence control system 7 includes program setting module and wireless communication components, by the advance of program setting module
Setting can run the tractor under unmanned state, can also command this in a manner of being remotely controlled by component by radio communication
Tractor is run.The control element of the intelligence control system is microcontroller or industrial personal computer.
The product form and style of above-described embodiment and schema and the non-limiting present invention, any technical field it is common
The appropriate changes or modifications that technical staff does it all should be regarded as the patent category for not departing from the present invention, protection of the invention
Range should be subject to the protection scope in claims.
Claims (8)
1. the intelligent walking chassis of a kind of transport of tractor and operation compatibility, the walking chassis include vehicle frame, endless track installation,
Running gear system, wheel steering device and intelligence control system,
Wherein, endless track installation is fixedly connected on the middle part of vehicle frame longitudinal direction, which includes crawler belt, crawler belt
Low speed hydraulic motor travel motor, crawler belt rotating speed coder；
Running gear system is connected on vehicle frame, and running gear system includes front-wheel walking mechanism and trailing wheel walking mechanism, in vehicle
On frame longitudinal direction, front-wheel walking mechanism and trailing wheel walking mechanism are located at the front and back of endless track installation；
Front-wheel walking mechanism includes two front-wheels, front-wheel support, wheel steering device, preceding lifting hydraulic cylinder and rear rectangular shaft
It holds,
Trailing wheel walking mechanism includes two trailing wheels, rear wheel support, high speed hydraulic motor travel motor, rear lifting hydraulic cylinder and rear rectangle
Bearing, wheel speed encoder；
Wheel steering device includes knuckle arm block, steering rack machine and power cylinder, and wheel steering mechanism passes through steering wheel
Connection flexible axle is connect with steering wheel, and direction angle transducer, the side that direction angle transducer will measure are provided in the shaft of steering wheel
It is sent to intelligence control system to disk corner information.
2. the intelligent walking chassis of tractor transport and operation compatibility as described in claim 1, the front-wheel support pass through liter
Descending branch frame slide-bar connects front-wheel, and lifting support slide-bar passes through the preceding rectangle bearing on vehicle frame, the lifting shaft with preceding lifting hydraulic cylinder
Connection, lifting hydraulic cylinder stretches out before making, meanwhile,
The rear wheel support connects trailing wheel by lifting support slide-bar, and lifting support slide-bar passes through the rear rectangle bearing on vehicle frame,
With the lifting axis connection of rear lifting hydraulic cylinder, lifting hydraulic cylinder is made to stretch out, vehicle frame to road surface and is raised into front wheels and rear wheels top, is made
Crawler belt leaves ground, into wheel walking mode；
When current lifting hydraulic cylinder and rear lifting hydraulic cylinder are retracted, front wheels and rear wheels are withdrawn on vehicle frame, so that crawler belt is grounded, at this moment
In crawler travel pattern.
3. the intelligent walking chassis of tractor transport and operation compatibility as claimed in claim 2, the direction angle transducer inspection
The corner information of steering wheel is surveyed, and sends it to intelligence control system, after intelligence control system calculation process, control is dilatory
Machine turns to.
4. the intelligent walking chassis of tractor transport and operation compatibility as claimed in claim 3, is controlled under crawler travel pattern
The crawler belt low speed hydraulic motor travel motor of left and right crawler belt processed distinguishes positive and negative rotation, realizes the pivot stud of tractor.
5. the intelligent walking chassis of tractor transport and operation compatibility as claimed in claim 3, the root under wheel walking mode
According to the size of steering angle, turning radius is calculated, the different speed of left and right high speed hydraulic motor travel motor is controlled, keeps tractor suitable
Profit turns to.
6. the intelligent walking chassis of the tractor transport and operation compatibility as described in claim 1-5 any one, the intelligence
Control system includes program setting module and wireless communication components, by can draw this to presetting for program setting module
Machine is run under unmanned state, or component commands the tractor to run in a manner of being remotely controlled by radio communication.
7. the intelligent walking chassis of the tractor transport and operation compatibility as described in claim 1-5 any one, the intelligence
The control element of control system is microcontroller or industrial personal computer.
8. the intelligent walking chassis of tractor transport and operation compatibility as claimed in claim 6, the preceding rectangle bearing and institute
Each stated in rear rectangle bearing is substituted by 2 and a above linear bearing.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710298724.2A CN108791547A (en) | 2017-04-28 | 2017-04-28 | A kind of intelligent walking chassis of tractor transport and operation compatibility |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710298724.2A CN108791547A (en) | 2017-04-28 | 2017-04-28 | A kind of intelligent walking chassis of tractor transport and operation compatibility |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN108791547A true CN108791547A (en) | 2018-11-13 |
Family
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710298724.2A Pending CN108791547A (en) | 2017-04-28 | 2017-04-28 | A kind of intelligent walking chassis of tractor transport and operation compatibility |
Country Status (1)
| Country | Link |
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| CN (1) | CN108791547A (en) |
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109795580A (en) * | 2019-03-01 | 2019-05-24 | 厦门大学 | A kind of mobile robot with shockproof function |
| CN110904810A (en) * | 2019-06-27 | 2020-03-24 | 李新亚 | Rapid erecting system for high-speed railway box girder |
| CN112357779A (en) * | 2020-10-30 | 2021-02-12 | 吴彦霖 | Steel pipe transport collection vehicle for building site |
| CN112849283A (en) * | 2021-03-01 | 2021-05-28 | 中煤科工集团西安研究院有限公司 | Coal mine underground autonomous mobile platform and method capable of realizing remote interaction |
| CN113728797A (en) * | 2021-07-27 | 2021-12-03 | 广西壮族自治区农业科学院 | Sugarcane harvester harvesting auxiliary device for slowing down harvesting and rolling of harvester |
| CN114320331A (en) * | 2021-12-08 | 2022-04-12 | 江西鑫通机械制造有限公司 | Mining trolley |
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| JP2000211560A (en) * | 1999-01-20 | 2000-08-02 | Tcm Corp | Industrial vehicle |
| CN201062050Y (en) * | 2007-03-22 | 2008-05-21 | 刘子颀 | Electromagnet direction controlling system for electric automobile |
| RU2401759C2 (en) * | 2009-01-11 | 2010-10-20 | Феликс Аронович Черняков | Tractor |
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2017
- 2017-04-28 CN CN201710298724.2A patent/CN108791547A/en active Pending
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS61120677U (en) * | 1985-01-17 | 1986-07-30 | ||
| JP2000211560A (en) * | 1999-01-20 | 2000-08-02 | Tcm Corp | Industrial vehicle |
| CN201062050Y (en) * | 2007-03-22 | 2008-05-21 | 刘子颀 | Electromagnet direction controlling system for electric automobile |
| RU2401759C2 (en) * | 2009-01-11 | 2010-10-20 | Феликс Аронович Черняков | Tractor |
Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109795580A (en) * | 2019-03-01 | 2019-05-24 | 厦门大学 | A kind of mobile robot with shockproof function |
| CN110904810A (en) * | 2019-06-27 | 2020-03-24 | 李新亚 | Rapid erecting system for high-speed railway box girder |
| CN110904810B (en) * | 2019-06-27 | 2021-08-06 | 李新亚 | Rapid erecting system for high-speed railway box girder |
| CN112357779A (en) * | 2020-10-30 | 2021-02-12 | 吴彦霖 | Steel pipe transport collection vehicle for building site |
| CN112849283A (en) * | 2021-03-01 | 2021-05-28 | 中煤科工集团西安研究院有限公司 | Coal mine underground autonomous mobile platform and method capable of realizing remote interaction |
| CN112849283B (en) * | 2021-03-01 | 2022-05-10 | 中煤科工集团西安研究院有限公司 | Coal mine underground autonomous mobile platform and method capable of realizing remote interaction |
| CN113728797A (en) * | 2021-07-27 | 2021-12-03 | 广西壮族自治区农业科学院 | Sugarcane harvester harvesting auxiliary device for slowing down harvesting and rolling of harvester |
| CN114320331A (en) * | 2021-12-08 | 2022-04-12 | 江西鑫通机械制造有限公司 | Mining trolley |
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| WD01 | Invention patent application deemed withdrawn after publication |
Application publication date: 20181113 |
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