CN110654470A

CN110654470A - Hydraulic motor driven omnidirectional leveling mountain crawler tractor

Info

Publication number: CN110654470A
Application number: CN201911091486.3A
Authority: CN
Inventors: 杨福增; 孙景彬; 刘琪; 许博; 张国强; 张亚洲; 刘志杰; 孟宠
Original assignee: Northwest A&F University
Current assignee: Northwest A&F University
Priority date: 2019-11-10
Filing date: 2019-11-10
Publication date: 2020-01-07

Abstract

The invention discloses an omnidirectional leveling mountain crawler tractor driven by a hydraulic motor, which mainly comprises a transverse vehicle body leveling device, a longitudinal vehicle body leveling device and a full hydraulic driving system. The transverse leveling device of the tractor body adopts a parallel four-bar structure, changes an included angle between a connecting rod and a trolley frame by controlling a transverse leveling oil cylinder on one side of the trolley frame, and adjusts the supporting height of a main rocker on the side, so that the tractor body is always kept horizontal, and the transverse stability of the tractor body is improved; the longitudinal leveling device of the vehicle body adopts a 'double-frame' structure, and realizes the change of an included angle between a lower-layer vehicle frame and an upper-layer vehicle frame by controlling a longitudinal leveling oil cylinder, so as to realize the longitudinal leveling of the vehicle body. Two hydraulic motors are symmetrically arranged on the left and right of a tractor frame to provide power for driving wheels, hydraulic pumps are arranged on the frame to finish the transmission of hydraulic oil from an oil tank to a hydraulic valve, and the hydraulic valve is controlled to finish walking, steering, speed and leveling instructions of the tractor. The system can effectively improve the slope adaptability, stability and operation convenience of the mountain tractor, and has good popularization and application values.

Description

Hydraulic motor driven omnidirectional leveling mountain crawler tractor

Technical Field

The invention relates to the field of agricultural machinery, in particular to the field of agricultural machinery in hilly and mountainous areas, and particularly relates to an omnidirectional leveling mountain crawler tractor driven by a hydraulic motor.

Background

The mountainous and hilly areas in China are large in area, large in population and rich in natural resources, but the agricultural mechanization level in the areas is relatively low, so that the economic development of the areas is severely restricted. Agricultural machinery suitable for mountainous and hilly areas is vigorously developed, and the comprehensive agricultural production capacity in the hilly and mountainous areas is improved, so that the method has important significance for promoting the agricultural and social development of the areas.

The existing mountain tractor does not usually level the vehicle body along with the change of the terrain when working on the slope, so the stability of the tractor cannot be ensured.

At present, a walking system of the mountain crawler tractor generally adopts a mechanical gearbox and a steering mechanism, but the mechanical gearbox is complex and laborious to operate, and the traditional mechanical walking system cannot meet the operation requirement due to high gear shifting and steering frequency during slope operation of the mountain crawler tractor.

In view of the above problems and practical needs, there is a need to develop a hydraulically driven omni-directional leveling mountain crawler tractor suitable for hilly and mountainous areas.

Disclosure of Invention

An omnidirectional leveling mountain crawler tractor driven by a hydraulic motor mainly comprises a transverse vehicle body leveling device, a longitudinal vehicle body leveling device and a full hydraulic driving system.

The car body transverse leveling device comprises: the lower layer frame 17, the auxiliary rocker 18, the transverse leveling cylinder 19, the main rocker 20 and the trolley frame 21. The transverse leveling cylinder 19 provides power for the main rocker 20, the main rocker 20 is pushed to rotate, the auxiliary rocker 18 is driven to rotate through the pull rod, the unilateral frame is enabled to move horizontally and rise, and then the transverse leveling of the vehicle body is achieved.

The vehicle body longitudinal leveling device comprises: the automobile body longitudinal leveling device comprises a lower-layer frame 17, a longitudinal leveling cylinder 23, an upper-layer frame 24, a rotary shaft seat 25 and a fixed shaft seat 26, wherein the upper-layer frame 24 and the lower-layer frame 17 are connected in a nested mode through the fixed shaft seat 26, and the longitudinal leveling cylinder 23 is controlled to change an included angle between the upper-layer frame 24 and the lower-layer frame 17, so that the automobile body longitudinal leveling is realized.

The full-hydraulic driving system comprises a driving wheel 1, a hydraulic motor 2, a hydraulic oil tank 3, a cooler 4, a hydraulic oil pipe 5, a hydraulic valve 6, a hydraulic pump 7, an intermediate transmission gear 8, a gear box 9, a diesel engine 10, a centrifugal pump 11, a rack 12, a water tank 13, a guide wheel 14, a crawler 15 and a walking rack 16. The frame 12 is provided with a hydraulic motor 2 which is connected with a hydraulic valve 6 through a hydraulic oil pipe 5. A hydraulic pump 7 is arranged on a frame 12, hydraulic oil in a hydraulic oil tank 3 is conveyed into a hydraulic valve 6 and further conveyed to each oil way, and a driving wheel 1 and a guide wheel 14 are arranged on the front side and the rear side of the whole machine and are connected through a crawler 15. The hydraulic oil tank 3, the diesel engine 10, the centrifugal pump 11 and the water tank 13 are sequentially arranged on the rack 12, the centrifugal pump 11 is connected with the water tank 13 and the diesel engine 10, and the power wheel of the diesel engine 10 transmits power to the power wheel of the centrifugal pump 11 and the driving wheel in the gear box 9 through belt transmission. The hydraulic pump 7 is driven by the gearbox 9 and delivers hydraulic oil from the hydraulic oil tank 3 to the hydraulic valve 6. The cooler 4, the centrifugal pump 11 and the water tank 13 are communicated with each other through water pipes to form a hydraulic cooling system.

Compared with the prior art, the invention has the advantages that the flexible control of the walking, steering, speed regulation and omnidirectional leveling action of the tractor is realized by adopting the hydraulic driving system. The system can effectively improve the slope adaptability, stability and operation convenience of the mountain tractor, and has good popularization and application values.

Drawings

Fig. 1 is a schematic structural diagram of an omnidirectional leveling mountain crawler tractor driven by a hydraulic motor.

FIG. 2 is a schematic diagram of the hydraulic motor mounting location of a hydraulically driven omni-directional leveling mountain track tractor.

FIG. 3 is a schematic structural diagram of a hydraulic-driven omnidirectional leveling mountain crawler tractor body transverse leveling device.

FIG. 4 is a structural schematic diagram of a hydraulic-driven longitudinal leveling device for an omnidirectional leveling mountain crawler tractor body.

As shown in the figure: 1. a drive wheel; 2. a hydraulic motor; 3. a hydraulic oil tank; 4. a cooler; 5. a hydraulic oil pipe; 6. a hydraulic valve; 7. a hydraulic pump; 8. an intermediate transmission gear; 9. a gear case; 10. a diesel engine; 11. a centrifugal pump; 12. a frame; 13. a water tank; 14. a guide wheel; 15. a crawler belt; 16. a traveling frame; 17. a lower frame; 18. a slave rocker; 19. a transverse leveling cylinder; 20. a main rocker; 21. a trolley frame; 22. a pull rod; 23. a longitudinal leveling cylinder; 24. an upper frame; 25. a rotary shaft seat; 26. and fixing the shaft seat.

Detailed Description

The hydraulic motor driven omni-directional leveling mountain crawler tractor according to the present invention will be described in further detail with reference to the accompanying drawings.

With the attached drawings, the hydraulic motor driven omnidirectional leveling mountain crawler tractor mainly comprises a transverse vehicle body leveling device, a longitudinal vehicle body leveling device and a full hydraulic driving system.

The invention provides a transverse leveling device of a vehicle body of an omnidirectional leveling crawler tractor driven by a hydraulic motor, which mainly comprises a lower-layer frame 17, a slave rocker 18, a transverse leveling cylinder 19, a master rocker 20, a trolley frame 21, wherein the master rocker 20, the lower-layer frame 17, the trolley frame 21 and the slave rocker 18 form a parallel four-bar mechanism, the lower ends of the master rocker 20 and the slave rocker 18 are hinged on the trolley frame 21 in parallel, the upper ends of the master rocker 20 and the slave rocker 18 are hinged with the supported lower-layer frame 17, the transverse leveling cylinder 19 is respectively connected with the trolley frame 21 and the master rocker 20, the master rocker 20 is pushed to rotate by controlling the transverse leveling cylinder 19 to drive the slave rocker 18 to follow up, so that the lower-layer frame 17 is horizontally moved and lifted, the relative position of the lower-layer frame 17 and the trolley frame 21 is changed, and further the vehicle body posture of the crawler tractor is, ensuring the lateral stability of the tractor working on the slope.

The invention provides a hydraulic motor-driven longitudinal car body leveling device of an omnidirectional leveling mountain crawler tractor, which adopts a 'double-frame' structure and mainly comprises a lower-layer car frame 17, a longitudinal leveling cylinder 23, an upper-layer car frame 24, a rotary shaft seat 25 and a fixed shaft seat 26, wherein the upper-layer car frame 24 and the lower-layer car frame 17 are connected in a nested manner through a pin shaft; the change of the included angle between the upper layer frame 24 and the lower layer frame 17 is realized by controlling the longitudinal leveling cylinder 23, so that the longitudinal leveling of the vehicle body is realized, and the longitudinal stability of the tractor working on the slope is ensured.

The full hydraulic drive system provided by the invention comprises a drive wheel 1, a hydraulic motor 2, a hydraulic oil tank 3, a cooler 4, a hydraulic oil pipe 5, a hydraulic valve 6, a hydraulic pump 7, an intermediate transmission gear 8, a gear box 9, a diesel engine 10, a centrifugal pump 11, a rack 12, a water tank 13, a guide wheel 14, a crawler 15 and a walking rack 16. The hydraulic valve 6 is arranged on the frame 12 and is connected with the hydraulic motor 2 through a hydraulic oil pipe 5. The hydraulic pump 7 is driven by a diesel engine 10 through a gearbox 9 and delivers hydraulic oil from the hydraulic oil tank 3 to the hydraulic valve 6. The hydraulic oil tank 3, the diesel engine 10, the centrifugal pump 11 and the water tank 13 are installed on the rack 12, the centrifugal pump 11 is connected with the water tank 13 and the diesel engine 10, and the power wheel of the diesel engine 10 transmits power to the power wheel of the centrifugal pump 11 and the driving wheel in the gear box 9 through belt transmission. The cooler 4, the centrifugal pump 11 and the water tank 13 are communicated with each other through water pipes to form a cooling system for radiating heat of the hydraulic circuit.

Further, constant-speed forward running of the two hydraulic motors 2 which are symmetrically arranged on the left and right is realized by controlling the hydraulic valve 6, uniform power is provided for the driving wheels 1, and straight running of the tractor is realized.

Furthermore, differential operation of the two hydraulic motors 2 which are symmetrically arranged at the left and the right is realized by controlling the hydraulic valve 6, and small-radius quick steering of the tractor is realized.

Furthermore, the two hydraulic motors 2 which are symmetrically arranged at the left and the right can be operated in the constant speed and the reverse direction by controlling the hydraulic valve 6, so that the reverse running of the tractor can be realized.

The present invention is not limited to the above embodiments, and any modifications, equivalent replacements, and improvements made on the spirit and principle of the present invention should be included in the protection scope of the present invention according to the above description.

Claims

1. A hydraulic motor-driven omnidirectional leveling mountain crawler tractor is characterized by comprising a transverse vehicle body leveling device, a longitudinal vehicle body leveling device and a full hydraulic driving system;

the transverse leveling device for the vehicle body comprises a main rocker (20) and a slave rocker (18) which are connected to a trolley frame (21) through pin shafts, a lower-layer vehicle frame (17) supported by the main rocker (20), and a transverse leveling oil cylinder (19) connected between the main rocker (20) and the lower-layer vehicle frame (17) through pin shafts, and is characterized in that the main rocker (20), the lower-layer vehicle frame (17), the trolley frame (21) and the slave rocker (18) form a parallel four-bar mechanism, the angle of the main rocker (20) and the trolley frame (21) is changed by controlling the transverse leveling oil cylinder (19), the parallelism of the lower-layer vehicle frame (17) and the working ground is adjusted, and the transverse leveling of the tractor body is completed;

the longitudinal leveling device for the tractor body comprises a longitudinal leveling oil cylinder (23) arranged on a lower-layer frame (17), an upper-layer frame (24) connected to the upper side of the lower-layer frame (17) through a hinge, a rotary shaft seat (27) and a fixed shaft seat (28) arranged on the upper-layer frame (24), and is characterized in that a double-frame structure is adopted, the upper and lower double-layer frames are connected in a nested manner through the fixed shaft seat (26), the longitudinal leveling oil cylinder (23) drives the upper-layer frame (24) to move, the change of an included angle between the upper-layer frame (24) and the lower-layer frame (17) is realized, and the longitudinal leveling of the tractor body is completed;

the full-hydraulic drive system comprises a drive wheel (1), hydraulic motors (2), a hydraulic oil tank (3), a cooler (4), a hydraulic oil pipe (5), a hydraulic valve (6), a hydraulic pump (7), a gear box (9), a diesel engine (10), a centrifugal pump (11), a rack (12), a water tank (13), a guide wheel (14) and a crawler (15), and is characterized in that the rack (12) is symmetrically provided with the two hydraulic motors (2) for providing power for the drive wheel (1), each hydraulic motor (2) is connected with the hydraulic valve (6) through the hydraulic oil pipe (5), the hydraulic pump (7) is arranged on the rack (12) for conveying hydraulic oil from the hydraulic oil tank (3) to the hydraulic valve (6), and the hydraulic valve (6) is used for controlling walking, steering, speed regulation and omnidirectional leveling instructions of a tractor.