Electric-driven steering chassis

Abstract

The invention provides an electric-driven steering chassis. The electric-driven steering chassis is capable of guaranteeing the coordinated rotation angles of front and rear vehicle frames, wherein aradius of turning circle is small, realizing the steering and walking of the chassis through a revolving speed difference of left and right vehicle wheels, and improving the stability and a steering response speed of the chassis in a walking process. The electric-driven steering chassis comprises the chassis, the front vehicle frame, the rear vehicle frame, and a controller. Two ends of the frontvehicle frame are provided with left and right front wheels, and two ends of the rear vehicle frame are provided with left and right rear wheels. The left and right front wheels are the front wheels driven by two front hub motors. The controller used for controlling the left and right front hub motors is electrically connected with the front hub motors. The front vehicle frame, the rear vehicle frame and the chassis are rotatably connected by using a vertical front and back axis as a center line. Two ends of a first steering push-pull rod are hinged with a left front connecting base and a right rear connecting base, or hinged with a right front connecting base and a left rear connecting base.

Description

technical field [0001] The invention relates to an electrically driven steering chassis, in particular to a walking steering chassis used for loading or pulling plant protection machinery and other agricultural equipment in fields such as agriculture and forestry. Background technique [0002] The walking chassis of agricultural equipment should have the characteristics of crossing obstacles and trenches, walking on soft soil, paddy fields, and walking on various complex working surfaces. The walking and steering mechanisms of the traveling device of agricultural equipment generally adopt mechanical transmission, operation and control. The device usually adopts an internal combustion engine, and the rotation direction of its output shaft is fixed. From an output shaft with a fixed rotation direction, the chassis is moved forward or backward, and a mechanical shift method is usually used, that is, to realize the chassis to move forward or backward. To turn left or right, the...

AI Technical Summary

Problems solved by technology

[0004] 1. When the steering chassis is walking or turning, when one wheel of the front frame or the rear frame suddenly hits a large pothole, one wheel of the front frame or the rear frame enters the pothole area instantly, although the control The rotation speed difference between the left and right wheels on the vehicle frame controlled by the controller remains unchanged, however, one wheel of the vehicle frame will hang in the air or the friction force in contact with the ground will decrease, and the other wheel of the vehicle frame will continue to maintain The original rotation speed controlled by the controller, if the torque force of a wheel of the frame exceeds the resistance applied to the frame by the front resistance device or the rear resistance device on the frame, it will instantly cause the frame to move vertically. front axis P 前 or rear axis P 后 Rotate an angle for the central axis, and the other frame still maintains the original rotation angle, resulting in inconsistent steering angles of the front and rear frames

If the angle difference between the front and rear frames exceeds the angle difference between the two frames set by the controller, the front frame and the rear frame will rotate in different directions. When the two frames rotate If the angle difference is greater than X°, the chassis will not be able to move or turn normally in an instant

[0005] 2. When the steering chassis is walking or turning, a wheel of the front frame or rear frame suddenly hits a large block of soil, stones, etc., and the front frame or rear frame where the wheel is located is subject to unexpected impact instantly Force, when the impact force exceeds the resistance applied to the frame by the resistance device on the frame or the rear resistance device, it causes the frame to move with its vertical front axis P 前 or rear axis P 后 Turning an angle for the center line, the other frame still maintains the original rotation angle, resulting in a large error in the steering angle of the front and rear frames, which cannot be coordinated. If the angle difference between the front and rear frames exceeds the controller The set rotation angle difference between the two frames will cause the front frame and the rear frame to rotate in different directions. When the rotation angle difference between the two frames is greater than X°, the chassis will be abnormal instantly. march or turn

[0006] 3. When the steering chassis is walking in a straight line, the speed difference between the left and right wheels on the frame controlled by the controller is zero, that is, the speed difference between the left and right wheels on the frame remains unchanged. The left and right wheels of the frame or rear frame are different from the height or flatness of the corresponding working ground, resulting in different frictional forces between the left and right wheels and the ground, resulting in the rotation of the front frame or rear frame. If the torque force of the front frame or rear frame exceeds the resistance applied to the frame by the front resistance device or rear resistance device on the frame, the steering angle of the front frame or rear frame cannot be accurately determined. Control, causing the frame to rotate left and right relative to the chassis, so that the frame rotates randomly relative to the chassis, and the chassis cannot drive in the set direction, which eventually leads to unstable walking and steering of the chassis

[0007] In summary, the above-mentioned existing four-wheel chassis only controls the rotation speed of each wheel of the front frame or the rear frame through the controller, and realizes the chassis walking and steering through the difference in the rotation speed of the wheels on the left and right sides of the frame, and the chassis and the frame The resistance device or rear resistance device installed between them exerts little resistance to the frame, and the steering of the chassis cannot be independently completed by the difference in the speed of the wheels.

Therefore, the chassis has poor adaptability to complex ground, and it cannot always ensure that the steering angles of the front and rear frames of the chassis are coordinated. slow response

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