All-terrain rhombic four-wheel leveling and steering device and agricultural machine
阅读说明：本技术 一种全地形菱形四轮调平和转向装置与农业机械 (All-terrain rhombic four-wheel leveling and steering device and agricultural machine ) 是由 刘庆庭 武涛 周嘉铖 邹小平 张增学 徐凤英 谢聪 于 2020-06-10 设计创作，主要内容包括：本发明涉及一种全地形菱形四轮调平和转向装置,包括轮式行走机构、车身调平机构、转向机构、车架；轮式行走机构的数量为四组,每组均包括一个独立驱动的车轮,四个车轮呈菱形排列,在前、后、左、右侧各设置一个；每个车轮均由一组车身调平机构带动相对于车架升降,前、后侧车轮均由一组转向机构带动相对于车架转动。本发明还涉及一种农业机械,底部设有全地形菱形四轮调平和转向装置。本发明运行平稳、爬坡能力强、可转向灵活、适用范围广,属于农业机械技术领域。(The invention relates to an all-terrain diamond four-wheel leveling and steering device, which comprises a wheel type travelling mechanism, a vehicle body leveling mechanism, a steering mechanism and a vehicle frame, wherein the wheel type travelling mechanism is arranged on the vehicle body leveling mechanism; the wheel type travelling mechanisms are four groups, each group comprises an independently driven wheel, the four wheels are arranged in a diamond shape, and one wheel is arranged at each of the front side, the rear side, the left side and the right side; each wheel is driven by a group of vehicle body leveling mechanisms to lift relative to the vehicle frame, and the front and rear wheels are driven by a group of steering mechanisms to rotate relative to the vehicle frame. The invention also relates to agricultural machinery, and the bottom of the agricultural machinery is provided with an all-terrain diamond four-wheel leveling and steering device. The invention has the advantages of stable operation, strong climbing capability, flexible steering and wide application range, and belongs to the technical field of agricultural machinery.)
1. The utility model provides an all-terrain rhombus four-wheel leveling and steering device which characterized in that: comprises a wheel type walking mechanism, a vehicle body leveling mechanism, a steering mechanism and a vehicle frame; the wheel type travelling mechanisms are four groups, each group comprises an independently driven wheel, the four wheels are arranged in a diamond shape, and one wheel is arranged at each of the front side, the rear side, the left side and the right side; each wheel is driven by a group of vehicle body leveling mechanisms to lift relative to the vehicle frame, and the front and rear wheels are driven by a group of steering mechanisms to rotate relative to the vehicle frame.
2. An all-terrain diamond-shaped four-wheel leveling and steering device as defined in claim 1, wherein: the vehicle body leveling mechanism comprises a steel sleeve, supporting legs, a hydraulic cylinder, an upper pin and a lower pin; the steel jacket is fixed on the frame, the steel jacket is sleeved outside the supporting leg, so that the supporting leg slides up and down relative to the steel jacket, the lower end of the supporting leg is connected with the wheel type walking mechanism, a hydraulic cylinder for driving the supporting leg to slide is positioned in the steel jacket and the supporting leg, the upper end of the hydraulic cylinder is connected with the steel jacket through an upper pin, and the lower end of the hydraulic cylinder is connected with the supporting leg through a lower pin.
3. An all-terrain diamond-shaped four-wheel leveling and steering device as defined in claim 2, wherein: the vehicle body leveling mechanism also comprises a key block, the key block comprises a bulge part positioned in the middle and a mounting part positioned at the edge, and the mounting part is connected to the outer side of the steel sleeve; the outer side of the supporting leg is provided with a vertical long key groove, and the steel sleeve is provided with a key hole; for the left and right vehicle body leveling mechanisms, the convex parts of the key blocks are installed towards the inner sides, and the convex parts penetrate through the key holes to be matched with the long key grooves so as to limit the relative rotation of the steel sleeves and the supporting legs; for the front and rear body leveling mechanisms, the projecting portions of the key block are mounted toward the outside.
4. An all-terrain diamond-shaped four-wheel leveling and steering device according to claim 3, wherein: the front end and the rear end of the outer side of each supporting leg are provided with long key grooves, and the two long key grooves are symmetrically arranged; the front side and the rear side of the steel sleeve are provided with through key holes, and the front side and the rear side of the steel sleeve are provided with key blocks.
5. An all-terrain diamond-shaped four-wheel leveling and steering device according to claim 3, wherein: the steering mechanism comprises a worm gear assembly, a hydraulic motor, a coupler, a steering wheel and an installation bottom plate, wherein the worm gear assembly is fixed on the frame, a worm gear is matched with the steering wheel, and the coupler is connected with a worm and the hydraulic motor; the mounting base plate fixes the coupler and the hydraulic motor on the frame; the steering wheel is provided with keys which are matched with the long key grooves to drive the support legs to rotate relative to the steel sleeve.
6. An all-terrain diamond-shaped four-wheel leveling and steering device according to claim 5, wherein: the steering mechanism on the front side and the steering mechanism on the rear side synchronously rotate in opposite directions.
7. An all-terrain diamond-shaped four-wheel leveling and steering device as defined in claim 1, wherein: the wheel type travelling mechanism comprises wheels, a base and a hydraulic motor; the base comprises a horizontal plate located at the upper end, a vertical plate located on one side and a reinforcing plate located between the horizontal plate and the vertical plate, the horizontal plate is connected with a vehicle body leveling mechanism, a hydraulic motor is installed on the vertical plate, and the hydraulic motor drives wheels to rotate.
8. An all-terrain diamond-shaped four-wheel leveling and steering device as defined in claim 1, wherein: the frame comprises transverse channel steel, longitudinal channel steel and a fixing frame, wherein the transverse channel steel and the longitudinal channel steel form a cross-shaped frame, and the fixing frame is positioned between the transverse channel steel and the longitudinal channel steel; a group of wheel type travelling mechanisms are correspondingly arranged on the front side and the rear side of the longitudinal channel steel and on the left side and the right side of the transverse channel steel.
9. An agricultural machine, characterized by: the bottom is provided with an all-terrain diamond-shaped four-wheel leveling and steering device as claimed in any one of claims 1 to 8.
10. An agricultural machine according to claim 9, wherein: the center of gravity of the agricultural machine is at the center of the diamond.
Technical Field
The invention relates to the agricultural machinery technology, in particular to an all-terrain diamond four-wheel leveling and steering device and agricultural machinery with the mechanism.
Background
Most of wheel-type intertillage mechanisms can only be used and operated on flat ground or large-area gentle terrain, have certain limitation, have poor slope walking capability, poor terrain adaptability and poor climbing performance, and cannot enter areas with certain slopes for operation. When the traditional wheel type intertillage mechanism is used for agricultural production operation, four wheels are often discordant to form virtual legs, the gravity center is too high and the weight of a vehicle body is too large due to uneven road surfaces or large slopes, so that side turning occurs, and the road surface passing performance and flexibility are low.
Disclosure of Invention
Aiming at the technical problems in the prior art, the invention aims to: the full-terrain diamond four-wheel leveling and steering device and the agricultural machine are wider in application range.
In order to achieve the purpose, the invention adopts the following technical scheme:
an all-terrain rhombic four-wheel leveling and steering device comprises a wheel type traveling mechanism, a vehicle body leveling mechanism, a steering mechanism and a vehicle frame; the wheel type travelling mechanisms are four groups, each group comprises an independently driven wheel, the four wheels are arranged in a diamond shape, and one wheel is arranged at each of the front side, the rear side, the left side and the right side; each wheel is driven by a group of vehicle body leveling mechanisms to lift relative to the vehicle frame, and the front and rear wheels are driven by a group of steering mechanisms to rotate relative to the vehicle frame.
Preferably, the vehicle body leveling mechanism comprises a steel sleeve, supporting legs, a hydraulic cylinder, an upper pin and a lower pin; the steel jacket is fixed on the frame, the steel jacket is sleeved outside the supporting leg, so that the supporting leg slides up and down relative to the steel jacket, the lower end of the supporting leg is connected with the wheel type walking mechanism, a hydraulic cylinder for driving the supporting leg to slide is positioned in the steel jacket and the supporting leg, the upper end of the hydraulic cylinder is connected with the steel jacket through an upper pin, and the lower end of the hydraulic cylinder is connected with the supporting leg through a lower pin.
Preferably, the vehicle body leveling mechanism further comprises a key block, the key block comprises a protruding part located in the middle and a mounting part located on the edge, and the mounting part is connected to the outer side of the steel sleeve; the outer side of the supporting leg is provided with a vertical long key groove, and the steel sleeve is provided with a key hole; for the left and right vehicle body leveling mechanisms, the convex parts of the key blocks are installed towards the inner sides, and the convex parts penetrate through the key holes to be matched with the long key grooves so as to limit the relative rotation of the steel sleeves and the supporting legs; for the front and rear body leveling mechanisms, the projecting portions of the key block are mounted toward the outside.
Preferably, the front end and the rear end of the outer side of each support leg are provided with long key grooves, and the two long key grooves are symmetrically arranged; the front side and the rear side of the steel sleeve are provided with through key holes, and the front side and the rear side of the steel sleeve are provided with key blocks.
Preferably, the steering mechanism comprises a worm and gear assembly, a hydraulic motor, a coupler, a steering wheel and a mounting base plate, the worm and gear assembly is fixed on the frame, a worm wheel is matched with the steering wheel, and the coupler is connected with the worm and the hydraulic motor; the mounting base plate fixes the coupler and the hydraulic motor on the frame; the steering wheel is provided with keys which are matched with the long key grooves to drive the support legs to rotate relative to the steel sleeve.
Preferably, the steering gear on the front side rotates in synchronism with the steering gear on the rear side in the opposite direction.
Preferably, the wheel type travelling mechanism comprises wheels, a base and a hydraulic motor; the base comprises a horizontal plate located at the upper end, a vertical plate located on one side and a reinforcing plate located between the horizontal plate and the vertical plate, the horizontal plate is connected with a vehicle body leveling mechanism, a hydraulic motor is installed on the vertical plate, and the hydraulic motor drives wheels to rotate. After the structure is adopted, the wheel type travelling mechanism and the steering mechanism can operate simultaneously without mutual interference.
Preferably, the frame comprises transverse channel steel, longitudinal channel steel and a fixing frame, the transverse channel steel and the longitudinal channel steel form a cross-shaped frame, and the fixing frame is positioned between the transverse channel steel and the longitudinal channel steel; a group of wheel type travelling mechanisms are correspondingly arranged on the front side and the rear side of the longitudinal channel steel and on the left side and the right side of the transverse channel steel.
An agricultural machine, the bottom of which is provided with an all-terrain diamond four-wheel leveling and steering device.
Preferably, the center of gravity of the agricultural machine is at the center of the diamond. After the structure is adopted, the gravity center of the whole machine tends to the center part of the intersecting line of the wheels, so that the vehicle body is more stable on the terrain with uneven gradient, the vehicle body is effectively prevented from tilting, and the operation can be flexibly carried out.
The principle of the invention is as follows: the four-wheel independent driving structure is adopted, and the four wheels are arranged into a diamond shape, so that the operation is stable and the climbing capability is strong; the front and rear side wheels are provided with steering mechanisms, so that the steering is flexible; the four wheels are lifted by the vehicle body leveling mechanism independently, so that the four wheels are suitable for not only a road surface with a certain gradient and an uneven road surface, but also driving operation on a cross slope and a longitudinal slope, and have all-terrain applicability.
The invention has the following advantages:
1. when walking operation passes through a road with a certain gradient and uneven road surface, the hydraulic cylinder in the vehicle body leveling mechanism can adjust the heights of the front, the rear, the left and the right of the device in real time according to the height of the mass center of the vehicle body, so that the stability of the vehicle body is realized, and the integral passing performance, smoothness and stability are improved.
2. When the vehicle runs on a terrain with a certain gradient to work, the vehicle runs on a cross slope or runs on a longitudinal slope, the posture of the vehicle body can be adjusted by adjusting the four groups of vehicle body leveling mechanisms, so that the vehicle body can be kept in horizontal operation in the horizontal and longitudinal directions, the running stability of the vehicle is improved, and the rollover phenomenon is prevented.
3. The four-wheel drive wheel type traveling mechanism fully transmits the traveling power to the frame through the vehicle body leveling mechanism, and ensures the power performance of the whole machine while the supporting legs are matched with the steel sleeves; the hydraulic motors of the front and rear steering mechanisms can control the front and rear wheels to reversely and synchronously rotate, so that the requirement of large-amplitude steering of the vehicle body is met, and the steering stability is ensured.
4. The cross-shaped frame with a simple structure is easy to customize according to different agricultural machines, the mounting positions of all mechanisms can be changed, the wheel track and the turning radius around and around can be conveniently changed, the adjustment under different conditions and terrains is met, and the adaptability and the flexibility in different terrains are improved.
Drawings
FIG. 1 is a perspective view of an all terrain diamond four wheel leveling and steering apparatus.
Fig. 2 is a perspective view of the front and rear set of body leveling mechanisms.
Fig. 3 is a perspective view of the left and right sets of body leveling mechanisms.
Fig. 4 is a sectional view of the front and rear set of body leveling mechanisms.
Fig. 5 is a sectional view of the left and right sets of body leveling mechanisms.
Figure 6a is a perspective view of the steel sleeve.
Fig. 6b is a perspective view of the leg.
Fig. 6c is a perspective view of the key block.
Fig. 7a is a schematic view of the upper stud.
Fig. 7b is a schematic view of the lower stud.
Fig. 8 is a perspective view of the steering mechanism.
Fig. 9 is a perspective view of the wheel type traveling mechanism.
Fig. 10 is a bottom view of an all-terrain diamond-shaped four-wheel leveling and steering apparatus.
The hydraulic steering mechanism comprises a base, a wheel type traveling mechanism, a longitudinal channel steel 1, a transverse channel steel 2, a fixing frame 3, a steel sleeve 4, an upper pin 5, a hydraulic cylinder 6, a key block 7, a supporting leg 8, a lower pin 9, a hydraulic motor of the
Detailed Description
The present invention will be described in further detail with reference to specific embodiments.
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