Four-wheel-drive rotating support travelling device and control method thereof

Abstract

The invention provides a four-wheel-drive rotating support travelling device and a control method thereof. The four-wheel-drive rotating support travelling device comprises a vehicle frame, a front supporting leg structure and a rear supporting leg structure; the front supporting leg structure comprises front wheels and a front wheel bracket, and the front wheel bracket and the vehicle frame are connected through a rotating mechanism; the rotating mechanism comprises a vertical rotating pair and a horizontal rotating pair and is used for realizing rotatable connection between the vehicle frameand the front supporting leg structure in the vertical and horizontal directions; the rear supporting leg structure comprises rear wheels and a rear wheel bracket, and the rear wheel bracket and thevehicle frame are connected through a rotating support; and the vertical center line of the rotating mechanism and the connecting line of the center axes of the two front wheels perpendicularly intersect at the middle point of the connecting line of the center axes of the two front wheels, the front wheels and the rear wheels are driven by independent driving devices correspondingly, and the vertical rotating pair is connected with a first steering control motor. The four-wheel-drive rotating support travelling device is simple in structure and convenient to control, during steering, side swayof the two front wheels is avoided, the small steering radius can be achieved, and the damage to crops is effectively reduced.

Description

technical field [0001] The invention relates to the field of agricultural machinery, in particular to a four-wheel drive slewing support traveling device and a control method. Background technique [0002] Traditional agricultural machinery traveling devices are mainly four-wheeled traveling devices. In order to achieve small resistance and smooth steering when the four-wheeled traveling device turns, it is required that the steering system can ensure that all wheels are purely rolling when the car is turning. Obviously, this is only This can only be achieved when the axes of all wheels intersect at a point, such as figure 1 It can be seen that only when the deflection angle of the inner wheel is greater than the deflection angle of the outer wheel, the three axes O 1 A 1 , O 1 B 1 , O 1 D. 1 This requires a complicated steering mechanism to adjust and compensate the angle, and the structural cost of the steering mechanism is relatively high; at the same time, the comp...

AI Technical Summary

Problems solved by technology

[0002] Traditional agricultural machinery traveling devices are mainly four-wheeled traveling devices. In order to achieve small resistance and smooth steering when the four-wheeled traveling device turns, it is required that the steering system can ensure that all wheels are purely rolling when the car is turning. Obviously, this is only This can only be achieved when the axes of all wheels intersect at a point, such as figure 1 It can be seen that only when the deflection angle of the inner wheel is greater than the deflection angle of the outer wheel, the three axes O 1 A 1 , O 1 B 1 , O 1 D. 1 This requires a complicated steering mechanism to adjust and compensate the angle, and the structural cost of the steering mechanism is relatively high; at the same time, the compensation angle in practical applications is often not accurate enough, and at least one of the two front wheels will slightly slip or Slipping, the resistance to steering is large, and steering is difficult; in addition, the traditional four-wheel walking device has a large steering radius, which has a large operating blind area when working in the field, and its production efficiency cannot meet the needs of the operation.

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