阅读说明：本技术 一种旋点式双侧浮动行走底盘 (Rotary point type bilateral floating walking chassis ) 是由 李沐桐 何林 王克 刘华 李君略 黄雄辉 杨金虎 张轩 王水传 于 2019-10-11 设计创作，主要内容包括：本发明公开了一种旋点式双侧浮动行走底盘,设有平衡尾板,平衡尾板通过平衡旋点连接装置可旋转地与底盘架连接,然后再将平衡尾板的两端通过弹性补偿连接装置连接支撑至行走装置上,在复杂的地形环境中,行走装置的上下起伏,带动平衡尾板两端上下浮动,但由于底盘架是通过旋接中心与平衡尾板连接,所以行走装置在复杂地形环境下行走的上下起伏,通过平衡尾板得到补偿,不会给底盘架带来太大的震动；提高了底盘在不规则丘陵山区行走的仿形能力,增强了通过性,是行走底盘更加适用于复杂的地形环境。(The invention discloses a rotary point type bilateral floating walking chassis which is provided with a balance tail plate, wherein the balance tail plate is rotatably connected with a chassis frame through a balance rotary point connecting device, then two ends of the balance tail plate are connected and supported to a walking device through an elastic compensation connecting device, in a complex terrain environment, the walking device fluctuates up and down to drive two ends of the balance tail plate to float up and down, but the chassis frame is connected with the balance tail plate through a rotary connection center, so that the walking device fluctuates up and down in the complex terrain environment, and the balance tail plate is compensated, and the chassis frame cannot be greatly vibrated; the profiling capability of the chassis in walking in irregular hilly and mountainous areas is improved, the trafficability is enhanced, and the walking chassis is more suitable for complex terrain environments.)

1. The utility model provides a revolve two side walking chassis that floats of point type, includes chassis frame, running gear, its characterized in that: the balance tail plate, the elastic compensation connecting device and the balance rotating point connecting device are also included; one end of the balance rotating point connecting device is connected to the tail end of the chassis frame, and the other end of the balance rotating point connecting device is connected to the balance tail plate; the balance rotating point connecting device is provided with a rotating center; the two end parts of the balance tail plate take a rotary connection center as a rotation center; the two end parts of the balance tail plate are respectively connected with the walking device through elastic compensation connecting devices; the walking device is used for connecting and supporting the front end of the chassis frame, and connecting and supporting two ends of the balance tail plate through the elastic compensation connecting device to drive the chassis frame to walk and move.

2. The pivot-point type bilateral floating walking chassis of claim 1, wherein: the balance rotating point connecting device comprises a rear hinge rod, hinge holes are formed in the balance tail plate, one end of the rear hinge rod is fixedly connected to the tail end of the chassis frame, the other end of the rear hinge rod is fixed in the hinge holes of the balance tail plate in a hinged mode, and the rotating center of the rear hinge rod and the hinge holes is the rotating center of the balance rotating point connecting device.

3. The pivot-point type bilateral floating walking chassis of claim 1, wherein: the balance rotating point connecting device comprises a rear hinge rod, a hinge hole is formed in the tail end of the chassis frame, one end of the rear hinge rod is fixedly connected to the balance tail plate, the other end of the rear hinge rod is fixed in the hinge hole of the chassis frame in a hinged mode, and the rotating center of the rear hinge rod and the hinge hole is the rotating center of the balance rotating point connecting device.

4. The pivot-point type bilateral floating walking chassis of claim 1, wherein: the balance rotating point connecting device comprises a chassis frame connecting mechanism and a balance tail plate connecting mechanism, wherein the chassis frame connecting mechanism and the balance tail plate connecting mechanism are respectively provided with a connecting head rod and two connecting foot rods, and the two connecting foot rods are symmetrically connected to one end of the connecting head rod; the connecting foot rods of the chassis frame connecting mechanism are respectively and fixedly connected to two sides of the tail end of the chassis frame; the connecting foot rods of the balance tail plate connecting mechanism are respectively and fixedly connected to two sides of the balance tail plate, the connecting head rod of the chassis frame connecting mechanism is hinged to the connecting head rod of the balance tail plate connecting mechanism through a coupler, and the hinged point is the screwing center of the balance screwing point connecting device.

5. The pivot-point type bilateral floating walking chassis of claim 1, wherein: the elastic compensation connecting device comprises a rear connecting beam and an elastic cushion block, wherein one end of the rear connecting beam is fixedly connected to the traveling device, the elastic cushion block is fixedly arranged on the rear connecting beam, and the end part of the balance tail plate is supported on the elastic cushion block.

6. The rotary point type bilateral floating walking chassis according to claim 5, characterized in that: the elastic cushion block is a cylindrical rubber cushion block.

7. The rotary point type bilateral floating walking chassis according to claim 5, characterized in that: the elastic cushion block is a compression spring.

8. The pivot-point type bilateral floating walking chassis of claim 1, wherein: the elastic compensation connecting device comprises a transverse cylindrical pair, a transverse sliding rail, a transverse reset spring, a linkage rod, a linkage hinge pair, a longitudinal sliding rail, a longitudinal cylindrical pair and a longitudinal reset spring; one end of the transverse sliding rail is fixedly connected to the walking device, and the transverse cylindrical pair is rotatably sleeved on the transverse sliding rail in a sliding manner; a transverse return spring is arranged on the transverse sliding rail, one end of the transverse return spring is fixedly connected with the transverse sliding rail, and the other end of the transverse return spring is fixedly connected with a transverse cylindrical pair; one end of the linkage rod is fixedly connected to the transverse cylindrical pair, and the other end of the linkage rod is hinged to one end of the linkage hinge pair; the other end of the linkage hinge pair, which is far away from the hinge end, is fixedly connected with the longitudinal cylindrical pair; one end of the longitudinal slide rail is fixedly connected with the end part of the balance tail plate; the longitudinal cylinder pair is rotatably sleeved on the longitudinal slide rail in a sliding manner, a longitudinal reset spring is arranged on the longitudinal slide rail, one end of the longitudinal reset spring is fixedly connected with the longitudinal slide rail, and the other end of the longitudinal reset spring is fixedly connected with the longitudinal cylinder pair.

9. The pivot-point type bilateral floating walking chassis of claim 1, wherein: the walking device is a walking crawler device or a walking wheel device.

10. The pivot-point type bilateral floating walking chassis of claim 1, wherein: the front end of the base frame is provided with a rack configuration platform, and the base frame is provided with a safety protection frame; the screwing center is positioned on a common vertical plane where the gravity center of the balance tail plate and the gravity center of the chassis frame are positioned.

Technical Field

The invention belongs to the technical field of agricultural mechanical equipment, and particularly relates to a rotary point type bilateral floating walking chassis.

Background

Agricultural machinery equipment is weaker in hilly and mountainous areas in China, the main reason is that the traditional walking chassis is large in gradient, poor in the trafficability of operation environments with complex terrain, and seriously insufficient in obstacle crossing capability, so links such as cultivation, planting, fertilization, harvesting and transportation of crops are mainly completed manually, labor and cost of high intensity and low-efficiency operation of the walking chassis seriously restrict the development of agricultural production in hilly and mountainous areas, and meanwhile, manual operation is performed under severe and changeable landform conditions, so that huge potential safety hazards are generated. In order to improve the operating capability and adaptability of agricultural mechanization in hilly and mountainous areas, the operating machine needs to have strong walking and passing capability so as to ensure the stability and efficiency of machine operation, which is also a key technology to be broken through in the development of agricultural machinery in hilly and mountainous areas and is also a primary task.

At present, the existing walking chassis comprises a rigid wheel type chassis, a floating gear train crawler chassis, a multi-degree-of-freedom climbing chassis, a multi-rod deformation chassis and the like. Most of the chassis are not suitable for operation in complex environments such as large-gradient terrain and the like, for example, the rigid wheel type chassis has good stability, but has poor ground profiling capability and is only applied to field operation; the crawler chassis of the floating gear train only has the function of internal copying of the crawler, has small copying amplitude, is suitable for partial ditch crossing obstacle crossing operation and cannot ensure large-gradient walking; the multi-degree-of-freedom climbing chassis mainly forms the chassis linkage characteristic by arranging the multi-rod deformation chassis and mainly arranging the suspension structure, most of the multi-degree-of-freedom climbing chassis only aims at the profile modeling in the pitching direction, and part of the multi-degree-of-freedom climbing chassis with the side-turning angle direction has a more complex profile modeling structure and high maintenance difficulty, and is rarely applied at home and abroad.

Disclosure of Invention

In order to overcome the defects in the prior art, the invention provides the rotary point type bilateral floating walking chassis, which improves the profiling capability of the chassis in walking in complex terrains such as irregular hilly and mountainous areas and enhances the adaptability of the chassis to complex terrain environments.

The technical scheme adopted by the invention for solving the technical problems is as follows:

the utility model provides a revolve two side walking chassis that floats of point type, includes chassis frame, running gear, its characterized in that: the balance tail plate, the elastic compensation connecting device and the balance rotating point connecting device are also included; one end of the balance rotating point connecting device is connected to the tail end of the chassis frame, and the other end of the balance rotating point connecting device is connected to the balance tail plate; the balance rotating point connecting device is provided with a rotating center; the two end parts of the balance tail plate take a rotary connection center as a rotation center; the two end parts of the balance tail plate are respectively connected with the walking device through elastic compensation connecting devices; the walking device is used for connecting and supporting the front end of the chassis frame, and connecting and supporting two ends of the balance tail plate through the elastic compensation connecting device to drive the chassis frame to walk and move.

According to the technical scheme, the rotary point type bilateral floating walking chassis is provided with the balance tail plate, the balance tail plate is rotatably connected with the chassis frame through the balance rotary point connecting device, then two ends of the balance tail plate are connected and supported to the walking device through the elastic compensation connecting device, in a complex terrain environment, the walking device fluctuates up and down to drive two ends of the balance tail plate to float up and down, but the chassis frame is connected with the balance tail plate through the rotary connection center, so that the fluctuation of the walking device in the complex terrain environment is compensated through the balance tail plate, and the chassis frame cannot be subjected to too large vibration; the profiling capability of the chassis in walking in irregular hilly and mountainous areas is improved, the trafficability is enhanced, and the walking chassis is more suitable for complex terrain environments.

In some embodiments, the balance turning point connecting device includes a rear hinge rod, the balance tail plate is provided with a hinge hole, one end of the rear hinge rod is fixedly connected to the tail end of the chassis frame, the other end of the rear hinge rod is fixed in the hinge hole of the balance tail plate in a hinged manner, and the rotation center of the rear hinge rod and the hinge hole is the turning center of the balance turning point connecting device.

In some embodiments, the balance rotation point connecting device comprises a rear hinge rod, the rear end of the chassis frame is provided with a hinge hole, one end of the rear hinge rod is fixedly connected to the balance tail plate, the other end of the rear hinge rod is fixed in the hinge hole of the chassis frame in a hinged manner, and the rotation center of the rear hinge rod and the hinge hole is the rotation center of the balance rotation point connecting device.

In some embodiments, the balance rotating point connecting device comprises a chassis frame connecting mechanism and a balance tail board connecting mechanism, wherein the chassis frame connecting mechanism and the balance tail board connecting mechanism are respectively provided with a connecting head rod and two connecting foot rods, and the two connecting foot rods are symmetrically connected to one end of the connecting head rod; the connecting foot rods of the chassis frame connecting mechanism are respectively and fixedly connected to two sides of the tail end of the chassis frame; the connecting foot rods of the balance tail plate connecting mechanism are respectively and fixedly connected to two sides of the balance tail plate, the connecting head rod of the chassis frame connecting mechanism is hinged to the connecting head rod of the balance tail plate connecting mechanism through a coupler, and the hinged point is the screwing center of the balance screwing point connecting device.

In some embodiments, the elastic compensation connecting device comprises a rear connecting beam and an elastic cushion block, one end of the rear connecting beam is fixedly connected to the traveling device, the elastic cushion block is fixedly arranged on the rear connecting beam, and the end part of the balance tail plate is supported on the elastic cushion block.

In some embodiments, the resilient pad is a cylindrical rubber pad.

In some embodiments, the resilient pad is a compression spring.

In some embodiments, the elastic compensation connecting device comprises a transverse cylindrical pair, a transverse sliding rail, a transverse return spring, a linkage rod, a linkage hinge pair, a longitudinal sliding rail, a longitudinal cylindrical pair and a longitudinal return spring; one end of the transverse sliding rail is fixedly connected to the walking device, and the transverse cylindrical pair is rotatably sleeved on the transverse sliding rail in a sliding manner; a transverse return spring is arranged on the transverse sliding rail, one end of the transverse return spring is fixedly connected with the transverse sliding rail, and the other end of the transverse return spring is fixedly connected with a transverse cylindrical pair; one end of the linkage rod is fixedly connected to the transverse cylindrical pair, and the other end of the linkage rod is hinged to one end of the linkage hinge pair; the other end of the linkage hinge pair, which is far away from the hinge end, is fixedly connected with the longitudinal cylindrical pair; one end of the longitudinal slide rail is fixedly connected with the end part of the balance tail plate; the longitudinal cylinder pair is rotatably sleeved on the longitudinal slide rail in a sliding manner, a longitudinal reset spring is arranged on the longitudinal slide rail, one end of the longitudinal reset spring is fixedly connected with the longitudinal slide rail, and the other end of the longitudinal reset spring is fixedly connected with the longitudinal cylinder pair.

In certain embodiments, the running gear is a running track gear or a running gear.

In some embodiments, the front end of the base frame is provided with a frame configuration platform, and the base frame is provided with a safety protection frame; the screwing center is positioned on a common vertical plane where the gravity center of the balance tail plate and the gravity center of the chassis frame are positioned.

The invention has the beneficial effects that: the rotary point type bilateral floating walking chassis is provided with the balance tail plate, the balance tail plate is rotatably connected with a chassis frame through a balance rotary point connecting device, then two ends of the balance tail plate are connected and supported to the walking device through an elastic compensation connecting device, in a complex terrain environment, the walking device fluctuates up and down to drive two ends of the balance tail plate to float up and down, but the chassis frame is connected with the balance tail plate through a rotary connection center, so that the fluctuation of the walking device in the complex terrain environment is compensated through the balance tail plate, and the chassis frame cannot be subjected to too large vibration; the profiling capability of the chassis in walking in irregular hilly and mountainous areas is improved, the trafficability is enhanced, and the walking chassis is more suitable for complex terrain environments.

Drawings

The invention is further illustrated with reference to the following figures and examples.

Fig. 1 is a schematic structural view of a pivot point type double-sided floating traveling chassis according to an embodiment of the present invention;

fig. 2 is a rear view schematically illustrating a pivot point type double-sided floating traveling chassis according to an embodiment of the present invention;

fig. 3 is a schematic top view of a swivel point type double-sided floating chassis according to an embodiment of the present invention.

Detailed Description

The present invention will now be described in further detail with reference to the accompanying drawings. These drawings are simplified schematic views illustrating only the basic structure of the present invention in a schematic manner, and thus show only the constitution related to the present invention.

In the description of the present application, it is to be understood that the terms "longitudinal," "radial," "length," "width," "thickness," "upper," "lower," "left," "right," "front," "rear," "vertical," "horizontal," "top," "bottom," "inner," "outer," and the like are used in the orientations and positional relationships indicated in the drawings for convenience in describing the present invention and for simplicity in description, and are not intended to indicate or imply that the referenced devices or elements must have a particular orientation, be constructed and operated in a particular orientation, and are not to be construed as limiting the present invention. In the description of the present application, "a plurality" means two or more unless otherwise specified.

In the description of the present application, it is to be noted that, unless otherwise explicitly specified or limited, the terms "mounted," "connected," and "connected" are to be construed broadly, e.g., as meaning either a fixed connection, a removable connection, or an integral connection; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meaning of the above terms in the present application can be understood in a specific case by those of ordinary skill in the art.

The rotation point type double-side floating walking chassis of the present application is described in detail by referring to fig. 1-3 through several embodiments.

In the technical scheme of the application, the front end and the tail end of the chassis frame 1 are not particularly limited to the forward direction of the chassis frame as the front end; the two ends of the chassis frame are described as a relative concept only, and the front end of the chassis frame, the rear end of the chassis frame, may be the front end of the chassis frame in the actual forward direction.