Multifunctional vehicle assembly and control method thereof

Abstract

The invention discloses a multifunctional vehicle assembly and a control method thereof.The multifunctional vehicle assembly comprises an upper vehicle frame, a lower vehicle frame, a slewing bearing and a main control box arranged on the upper vehicle frame, and the upper vehicle frame and the lower vehicle frame are rotationally connected through the slewing bearing; a first rotating frame and a second rotating frame are arranged on the upper frame, a large arm is rotationally connected to the first rotating frame, a large arm oil cylinder is rotationally connected to the second rotating frame, and the other end of the large arm oil cylinder is rotationally connected with the middle of the large arm; the other end of the large arm is rotationally connected with a quick-change connector, the large arm is rotationally connected with one end of a connector adjusting oil cylinder, the other end of the connector adjusting oil cylinder is rotationally connected with the other end of the quick-change connector, a working head is arranged on the quick-change connector, and the working head is an excavator working head or a loading working head; through the structural arrangement of the quick-change connector, different working heads can be conveniently and quickly replaced, the design enables a vehicle to flexibly deal with different operation scenes, and the utilization rate and the operation efficiency of equipment are improved.

Description

Technical Field

[0001] The invention belongs to the technical field of excavators, and in particular relates to a multifunctional vehicle assembly and a control method thereof. Background Art

[0002] Most of the existing construction machinery has a single function, and many construction sites require both loaders and excavators to operate. In the case of limited space, too many construction vehicles entering at the same time will cause the site to be too crowded and unable to work normally. Therefore, there is a need for an engineering machinery that can have the functions of both a loader and an excavator.

[0003] Most of the existing excavator loaders are modified from traditional loaders. An excavator excavation device is installed behind the traditional loader, commonly known as "busy at both ends". During the actual construction, the operator only needs to turn the seat to change the working end and complete the switch between the excavator and the loader. However, the traditional excavator loader requires two different hydraulic control systems, the layout of the hydraulic pipeline is relatively complicated, and it is difficult to achieve 360° rotation between the working end and the frame, or the working end can only be rotated by turning the body, which requires high operation requirements for the driver; and the traditional excavator loader has working ends at both ends, which makes the overall length of the equipment longer and requires a larger construction space. It cannot be used in some working environments with narrow construction space. In addition, the mismatch of the weight of the working ends at both ends can easily cause the equipment to overturn during operation, which poses certain safety hazards.

[0004] Therefore, the present application provides a multi-functional vehicle assembly and a control method thereof, which can realize rapid switching between an excavator and a loader, and has a compact structure and strong stability. Summary of the invention

[0005] The present invention provides a multi-functional vehicle assembly and a control method thereof, aiming to solve the problems pointed out in the above background technology.

[0006] In order to solve the above technical problems, the present invention adopts the following technical solutions:

[0007] A multifunctional vehicle assembly comprises: an upper frame, a lower frame, a slewing bearing and a main control box arranged on the upper frame, wherein the upper frame and the lower frame are rotatably connected via the slewing bearing; a first slewing frame and a second slewing frame are arranged on the upper frame, one end of a boom is rotatably connected to the first slewing frame, one end of a boom oil cylinder is rotatably connected to the second slewing frame, and the other end of the boom oil cylinder is rotatably connected to the middle part of the boom;

[0008] The other end of the boom is rotatably connected to one end of a quick-change joint, and one end of a joint adjustment cylinder is rotatably connected to the boom, and the other end of the joint adjustment cylinder is rotatably connected to the other end of the quick-change joint. A working head is provided on the quick-change joint, and the working head is an excavator working head or a loading working head;

[0009] The quick-change joint comprises: a joint fixing plate, two sides of the joint fixing plate are respectively fixedly connected with a connecting plate group, the upper ends of the two connecting plate groups are provided with mounting holes for installing a pin shaft that cooperates with the joint adjusting cylinder, a clamping rod is provided between the lower ends of the two connecting plate groups, and the two ends of the clamping rod extend out of the connecting plate group for rotational connection with the big arm; two mounting plates are provided on the side of the joint fixing plate away from the big arm, a mounting groove is formed between the mounting plate and the adjacent connecting plate groups, and the mounting plates and the connecting plate groups are provided with mounting holes arranged coaxially, and the mounting plates and the connecting plate groups are plugged with latch rods on the mounting holes, and the latch rods are provided with fixing rings, and the fixing rings are fixedly connected to the connecting plate groups by bolts;

[0010] The clamping rod is used for clamping the excavator working head or the loading working head, and the mounting groove formed between the mounting plate and the adjacent connecting plate group cooperates with the latch rod to fix the excavator working head or the loading working head.

[0011] Furthermore, the excavator working head comprises: an excavator arm, the lower end of the excavator arm is rotatably connected to a bucket, one end of an excavator oil cylinder is rotatably connected to the excavator arm, and the other end of the excavator oil cylinder cooperates with the excavator arm and the bucket respectively through a connecting rod mechanism, so as to adjust the angle between the bucket and the excavator arm;

[0012] A clamping block is provided on the upper part of the excavator arm, and a clamping groove is formed between the clamping block and the excavator arm. The clamping groove is used to cooperate with the clamping rod. Excavator fixing plates are fixedly connected to both sides of the upper end of the excavator arm respectively. The excavator fixing plates cooperate with the mounting grooves on the quick-change joints and are fixedly connected to the quick-change joints through the latch rods.

[0013] Furthermore, a pair of clamping plates and a pair of loading fixing plates are provided on one side of the loading working head adjacent to the quick-change joint, a clamping groove is provided at the lower part of the clamping plate for cooperating with the clamping rod, the loading fixing plate cooperates with the mounting groove on the quick-change joint, and is fixedly connected to the quick-change joint through a latch rod.

[0014] Furthermore, the lower frame includes: a double-wheel side frame, front wheel assemblies are arranged on both sides of the front end of the double-wheel side frame, track drive axles are arranged on both sides of the middle and rear parts of the double-wheel side frame, fenders are arranged on both sides of the double-wheel side frame, and a steering component for driving the front wheel assembly to turn is arranged inside the double-wheel side frame;

[0015] The slewing support includes: a bearing inner ring and a bearing outer ring, the bearing inner ring is fixedly connected to the middle part of the double-wheel side frame, meshing teeth are evenly distributed on the inner wall of the bearing inner ring, the bearing outer ring is rotatably connected to the bearing inner ring, and is fixedly connected to the upper frame; a slewing motor is arranged on the upper frame, a slewing gear is arranged at the output end of the slewing motor, and the slewing gear cooperates with the meshing teeth of the bearing inner ring.

[0016] Furthermore, a central slewing control assembly is provided in the middle of the double-wheel side frame, and the central slewing control assembly includes: a fixed plate fixedly connected to the double-wheel side frame, a lower hydraulic control module and a lower electric control module are fixedly connected coaxially in sequence at the lower part of the fixed plate, an upper control module is coaxially provided at the upper part of the fixed plate, the upper control module is fixedly connected to the upper frame, corresponding matching holes are provided on the upper frame, a conductive slip ring is fixed at the lower part of the upper control module, and the conductive slip ring matches the lower hydraulic control module;

[0017] A clutch rotary shaft is arranged in the middle of the central rotary control assembly, and the clutch rotary shaft passes through the upper control module, the fixed plate, the lower hydraulic control module and the lower electronic control module in sequence. A clutch is arranged at the upper end of the clutch rotary shaft, and a first steering sprocket is fixedly connected to the lower end. A matching gear is arranged at the upper end of the clutch, and the matching gear cooperates with the upper frame and rotates synchronously with the upper frame. The first steering sprocket is used to cooperate with the steering component.

[0018] Furthermore, the steering component comprises: a steering block fixedly connected to the double-wheel side frame, the middle part of the steering block is rotatably connected to a vertically arranged steering shaft, the upper end of the steering shaft is fixedly connected to a second steering sprocket, and the lower end is fixedly connected to one end of a steering rod, the second steering sprocket cooperates with the first steering sprocket through a steering chain, the other end of the steering rod is provided with a two-way universal joint, the two sides of the two-way universal joint are respectively provided with a first universal shaft, the end of the first universal shaft away from the two-way universal joint is respectively provided with a second universal shaft, and the second universal shaft is respectively cooperated with adjacent front wheel assemblies;

[0019] The steering block is also provided with a steering motor, which cooperates with the steering shaft through a gear set to assist the steering shaft in rotating.

[0020] Furthermore, the front wheel assembly includes: a pair of front wheel suspension frames arranged in parallel, one end of the front wheel suspension frame is rotatably connected to the double-wheel side frame, and the other end is rotatably connected to the front wheel rotating frame, the middle part of the front wheel rotating frame is rotatably connected to a rotating table, one side of the rotating table is rotatably connected to the front drive wheel, a front wheel motor is arranged on the double-wheel side frame, the front wheel motor and the front drive wheel are matched through a steering knuckle arm, the rotating table is matched with the corresponding second universal joint shaft, the middle part of the upper front wheel suspension frame is rotatably connected to the front wheel suspension, and the upper part of the front wheel suspension is rotatably connected to the double-wheel side frame.

[0021] Furthermore, the crawler drive axle includes: a crawler suspension frame, the middle part of the crawler suspension frame is rotatably connected to the double-wheel side frame, the two ends of the crawler suspension frame are matched with the double-wheel side frame through crawler suspension, a crawler motor is provided on one side of the crawler suspension frame, and a sliding frame is slidably provided on the other side, a crawler motor is provided on the sliding frame, and the crawler motors are matched with track wheels, two track wheels are covered with rubber tracks, and a tensioning assembly is provided between the sliding frame and the crawler suspension frame.

[0022] Furthermore, a bulldozer arm groove inclined downward is provided on one side of the double-wheel side frame, a bulldozer arm is slidably provided inside the bulldozer arm groove, a vertically arranged bulldozer shovel is fixedly connected to the extended end of the bulldozer arm, and a telescopic cylinder for pushing and pulling the bulldozer arm is provided in the bulldozer arm groove.

[0023] The present invention also provides a multi-function vehicle control method, the control method is used to control the multi-function vehicle assembly as described above, the control method comprises the following steps:

[0024] Step 1: Obtain the angle information and speed information of the two sets of front wheel assemblies, obtain the speed information of the two sets of track drive axles, and obtain the orientation angle information of the upper frame;

[0025] Step 2: Acquire the driver's operation information, wherein the operation information includes: rotation direction, rotation angle, travel direction and travel speed;

[0026] Step 3: Control the upper frame to rotate according to the operation information, and transmit the rotation of the upper frame to the steering component by closing the clutch in the central swing control assembly, and the rotating component drives the front wheel assembly to rotate the required angle;

[0027] When the clutch is closed, the torque information of the rotary motor driving the upper frame is obtained, and when the torque of the rotary motor is greater than the preset maximum torque, the steering motor is started;

[0028] Step 4: disengage the clutch in the central swing control assembly, and control the upper frame to rotate so that the upper frame is oriented in the same direction as the travel direction and is offset by half the rotation angle toward the rotation direction of the multi-purpose vehicle;

[0029] Step 5: Control the rotation speeds of the two front wheel assemblies and the two track drive axles respectively according to the operation information, and the rotation speed difference between the two front wheel assemblies and the rotation speed difference between the two track drive axles correspond to the rotation angle.

[0030] Compared with the prior art, the present invention has the following technical effects:

[0031] 1. The multi-functional vehicle assembly described in the present invention can conveniently and quickly replace different working heads, such as excavator working heads and loading working heads, through the structural setting of the quick-change joint. This design enables the vehicle to flexibly respond to different working scenarios, thereby improving the utilization rate and working efficiency of the equipment; by adjusting the oil cylinder through the joint, the angle and position of the quick-change joint can be accurately controlled, making the process of replacing the working head simpler and faster. This design reduces the time for replacing the working head. The design of the clamping rod and the latch rod ensures the firmness and stability of the working head during replacement and use, and avoids safety problems caused by loosening or falling off of the working head.

[0032] 2. The multi-functional vehicle assembly described in the present invention is provided with front wheel assemblies on both sides of the front end of the double-wheel side frame, and steering components are arranged inside, which makes the vehicle more flexible and precise when turning. The track drive axle is arranged in the middle and rear part of the double-wheel side frame. This layout provides strong traction while maintaining the center of gravity distribution of the vehicle, thereby enhancing the stability and anti-rollover ability of the vehicle.

[0033] 3. The multifunctional vehicle assembly described in the present invention realizes the centralized arrangement of vehicle control circuits by centrally arranging a central rotation control assembly in the middle of a double-wheel side frame, including a fixed plate, an upper control module, a lower hydraulic control module and a lower electric control module. This design reduces the complexity of the control circuits and improves the efficiency and reliability of signal transmission. The upper control module cooperates with the lower hydraulic control module through a conductive slip ring to ensure that electricity and signals can be continuously transmitted during the vehicle rotation process, avoiding the problems of line entanglement and disconnection, and improving the continuity and stability of control. The setting of the clutch and the clutch rotating shaft can transmit the rotation of the upper frame to the steering component, without the need to set up a separate steering drive component, thereby simplifying the internal structure of the lower frame. BRIEF DESCRIPTION OF THE DRAWINGS

[0034] Figure 1 It is a schematic diagram of an excavator mode of a multi-purpose vehicle assembly according to the present invention;

[0035] Figure 2 is a schematic diagram of a loader mode of a multi-purpose vehicle assembly according to the present invention;

[0036] Figure 3It is a schematic diagram of an upper frame of a multi-functional vehicle assembly according to the present invention;

[0037] Figure 4 It is a schematic diagram of the bottom of an upper frame of a multi-functional vehicle assembly according to the present invention;

[0038] Figure 5 It is a structural schematic diagram of an excavator working head of a multi-functional vehicle assembly according to the present invention;

[0039] Figure 6 It is a schematic diagram of the cooperation between the excavator arm and the quick-change joint of a multi-purpose vehicle assembly described in the present invention;

[0040] Figure 7 It is a schematic diagram of the cooperation between a loading working head and a quick-change joint of a multi-functional vehicle assembly according to the present invention;

[0041] Figure 8 It is a schematic diagram of a lower frame of a multi-functional vehicle assembly according to the present invention;

[0042] Fig. 9 It is a schematic diagram of a slewing bearing structure of a multi-functional vehicle assembly according to the present invention;

[0043] Fig.10 It is a schematic diagram of the internal structure of a lower frame of a multi-functional vehicle assembly according to the present invention;

[0044] Fig.11 It is a schematic diagram of the cooperation between the front wheel assembly and the steering component of a multi-functional vehicle assembly according to the present invention;

[0045] Fig.12 is a schematic diagram of a front wheel assembly of a multi-purpose vehicle assembly according to the present invention;

[0046] Fig.13 It is a schematic diagram of a steering component of a multi-purpose vehicle assembly according to the present invention;

[0047] Fig.14 It is a schematic structural diagram of a crawler drive axle of a multi-functional vehicle assembly according to the present invention;

[0048] Fig.15 It is a schematic diagram of a central rotary control assembly of a multi-functional vehicle assembly according to the present invention;

[0049] Fig.16 The present invention is a schematic diagram of the cooperation between a bulldozer arm and a double-wheel side frame of a multi-functional vehicle assembly.

[0050] In the figure:

[0051] 1. Upper frame; 101. First rotating frame; 102. Second rotating frame; 103. Rotating motor; 104. Matching hole;

[0052] 2. Lower frame; 201. Double wheel side frame; 202. Mudguard;

[0053] 203, central rotary control assembly; 2031, lower hydraulic control module; 2032, lower electric control module; 2033, fixed plate; 2034, upper control module; 2035, clutch; 2036, matching gear; 2037, first steering sprocket; 2038, clutch rotary shaft;

[0054] 204, bulldozer arm;

[0055] 205, front wheel assembly; 2051, front wheel suspension frame; 2052, front wheel rotating frame; 2053, front wheel motor; 2054, front drive wheel; 2055, front wheel suspension; 2056, steering knuckle arm;

[0056] 206, crawler drive axle; 2061, crawler suspension frame; 2062, crawler motor; 2063, crawler wheel; 2064, crawler suspension; 2065, sliding frame; 2066, tensioning assembly; 2067, rubber crawler;

[0057] 207, bulldozer arm slot;

[0058] 208, steering component; 2081, steering block; 2082, steering shaft; 2083, second steering sprocket; 2084, steering chain; 2085, steering motor; 2086, steering rod; 2087, two-way universal joint; 2088, first universal shaft; 2089, second universal shaft;

[0059] 3. Slewing bearing; 301. Bearing inner ring; 302. Bearing outer ring;

[0060] 4. Upper arm;

[0061] 5. Boom cylinder;

[0062] 6. Quick-change connector; 601. Connector fixing plate; 602. Connecting plate assembly; 603. Mounting plate; 604. Latch rod; 605. Fixing ring; 606. Clamping rod;

[0063] 7. Joint adjustment cylinder;

[0064] 8. Excavator working head; 801. Excavator arm; 8011. Clamping block; 8012. Excavator fixing plate;

[0065] 802, excavator cylinder; 803, bucket; 804, connecting rod mechanism;

[0066] 9. Loading working head; 901. Clamping plate; 902. Loading fixing plate;

[0067] 10. Bulldozer. DETAILED DESCRIPTION

[0068] In order to make the objectives, technical solutions and advantages of the present invention more clear, the technical solutions of the present invention will be clearly and completely described below in combination with specific embodiments of the present application and with reference to the accompanying drawings.

[0069] like Figure 1-3 and Figure 6-7 As shown, a multifunctional vehicle assembly comprises: an upper frame 1, a lower frame 2, a slewing bearing 3 and a main control box arranged on the upper frame 1, wherein the upper frame 1 and the lower frame 2 are rotatably connected via the slewing bearing 3; a first slewing frame 101 and a second slewing frame 102 are arranged on the upper frame 1, one end of a boom 4 is rotatably connected to the first slewing frame 101, one end of a boom oil cylinder 5 is rotatably connected to the second slewing frame 102, and the other end of the boom oil cylinder 5 is rotatably connected to the middle part of the boom 4;

[0070] The upper frame 1 is also provided with a cab, hydraulic components, power supply components, heat dissipation components, counterweight components, etc., and the lower frame 2 is provided with separate hydraulic components and power supply components. The driver sends control signals to the main control box through the operation panel in the cab, and the main control box controls the coordinated work of different components;

[0071] The other end of the boom 4 is rotatably connected to one end of a quick-change joint 6, and one end of a joint adjustment cylinder 7 is rotatably connected to the boom 4, and the other end of the joint adjustment cylinder 7 is rotatably connected to the other end of the quick-change joint 6. A working head is provided on the quick-change joint 6, and the working head is an excavator working head 8 or a loading working head 9;

[0072] The quick-change joint 6 includes: a joint fixing plate 601, both sides of which are fixedly connected with connecting plate groups 602, and the upper ends of the two connecting plate groups 602 are provided with mounting holes for installing pins that cooperate with the joint adjusting cylinder 7, and a clamping rod 606 is provided between the lower ends of the two connecting plate groups 602, and both ends of the clamping rod 606 extend out of the connecting plate group 602 for rotational connection with the big arm 4; two mounting plates 603 are provided on the side of the joint fixing plate 601 away from the big arm 4, and mounting grooves are formed between the mounting plates 603 and the adjacent connecting plate groups 602, and the mounting plates 603 and the connecting plate groups 602 are provided with mounting holes arranged coaxially, and the mounting holes on the mounting plates 603 and the connecting plate groups 602 are plugged with latch rods 604, and the latch rods 604 are provided with fixing rings 605, and the fixing rings 605 are fixedly connected to the connecting plate groups 602 by bolts;

[0073] The clamping rod 606 is used to clamp the excavator working head 8 or the loading working head 9, and the mounting groove formed between the mounting plate 603 and the adjacent connecting plate group 602 cooperates with the latch rod 604 to fix the excavator working head 8 or the loading working head 9.

[0074] like Figure 5-6 As shown, the excavator working head 8 comprises: an excavator arm 801, the lower end of the excavator arm 801 is rotatably connected to a bucket 803, one end of an excavator oil cylinder 802 is rotatably connected to the excavator arm 801, and the other end of the excavator oil cylinder 802 is respectively matched with the excavator arm 801 and the bucket 803 through a connecting rod mechanism 804, so as to adjust the angle between the bucket 803 and the excavator arm 801;

[0075] A clamping block 8011 is provided on the upper part of the excavator arm 801, and a clamping groove is formed between the clamping block 8011 and the excavator arm 801, and the clamping groove is used to cooperate with the clamping rod 606. Excavator fixing plates 8012 are fixedly connected to both sides of the upper end of the excavator arm 801, respectively, and the excavator fixing plates 8012 cooperate with the installation groove on the quick-change joint 6, and are fixedly connected to the quick-change joint 6 through the latch rod 604.

[0076] like Figure 7 As shown, a pair of clamping plates 901 and a pair of loading fixing plates 902 are provided on one side of the loading working head 9 adjacent to the quick-change connector 6. A clamping groove is provided at the lower portion of the clamping plate 901 for cooperating with the clamping rod 606. The loading fixing plate 902 cooperates with the mounting groove on the quick-change connector 6 and is fixedly connected to the quick-change connector 6 via a latch rod 604.

[0077] When the excavator arm 801 and the loading work head 9 cooperate with the quick-change joint 6, they are first clamped on the clamping rod 606, and then the angle of the quick-change joint 6 is adjusted by controlling the joint adjustment cylinder 7, so that the installation groove on the quick-change joint 6 cooperates with the corresponding structure on the excavator arm 801 and the loading work head 9, and then the latch rod 604 is inserted, and the fixing ring 605 is fastened by bolts; when installing the excavator work head 8, the control oil circuit of the excavator cylinder 802 is installed simultaneously; the above-mentioned arrangement can conveniently and quickly replace different work heads, so that the vehicle can flexibly respond to different working scenarios, thereby improving the utilization rate and working efficiency of the equipment;

[0078] like Figure 4 and Figure 8-9 As shown, the lower frame 2 comprises: a double-wheel side frame 201, front wheel assemblies 205 are arranged on both sides of the front end of the double-wheel side frame 201, track drive axles 206 are arranged on both sides of the middle and rear parts of the double-wheel side frame 201, fenders 202 are arranged on both sides of the double-wheel side frame 201, and a steering component 208 for driving the front wheel assembly 205 to turn is arranged inside the double-wheel side frame 201;

[0079] Front wheel assemblies 205 are arranged on both sides of the front end of the double-wheel side frame 201, and a steering component 208 is arranged inside, which makes the vehicle more flexible and accurate when turning. The track drive axle 206 is arranged in the middle and rear part of the double-wheel side frame 201. This layout provides strong traction while maintaining the center of gravity distribution of the vehicle, thereby enhancing the stability and anti-rollover ability of the vehicle.

[0080] The slewing support 3 includes: a bearing inner ring 301 and a bearing outer ring 302. The bearing inner ring 301 is fixedly connected to the middle part of the double-wheel side frame 201. Meshing teeth are evenly distributed on the inner wall of the bearing inner ring 301. The bearing outer ring 302 is rotatably connected to the bearing inner ring 301 and is fixedly connected to the upper frame 1. A slewing motor 103 is arranged on the upper frame 1. A slewing gear is arranged at the output end of the slewing motor 103. The slewing gear cooperates with the meshing teeth of the bearing inner ring 301.

[0081] like Figure 8 , Figure 10-11 and Fig.15 As shown, a central rotary control assembly 203 is provided in the middle of the double-wheel side frame 201, and the central rotary control assembly 203 includes: a fixed plate 2033 fixedly connected to the double-wheel side frame 201, a lower hydraulic control module 2031 and a lower electric control module 2032 are coaxially fixedly connected to the lower part of the fixed plate 2033 in sequence, an upper control module 2034 is coaxially provided on the upper part of the fixed plate 2033, the upper control module 2034 is fixedly connected to the upper frame 1, a corresponding matching hole 104 is opened on the upper frame 1, a conductive slip ring is fixed to the lower part of the upper control module 2034, and the conductive slip ring matches the lower hydraulic control module 2031;

[0082] The upper control module 2034 is fixedly connected to the upper frame 1. Some data transmission lines or hydraulic oil delivery pipelines on the upper frame 1 that need to rotate with the upper control module 2034 cooperate with the upper control module 2034. As the upper control module 2034 rotates synchronously with the upper frame 1, it is ensured that the rotation angle of the upper frame 1 is not affected by the internal control circuit and the infusion pipeline, thereby improving the flexibility of equipment operation; a conductive slip ring is fixed to the lower part of the upper control module 2034, and the conductive slip ring cooperates with the lower hydraulic control module 2031, so that the control signal of the main control box of the upper frame 1 can be transmitted to the lower frame 2, thereby controlling the action of each component on the lower frame 2, ensuring that the signal can be continuously transmitted during the vehicle rotation process, and improving the continuity and stability of control;

[0083] A clutch rotary shaft 2038 is provided in the middle of the central rotary control assembly 203, and the clutch rotary shaft 2038 passes through the upper control module 2034, the fixed plate 2033, the lower hydraulic control module 2031 and the lower electric control module 2032 in sequence. A clutch 2035 is provided at the upper end of the clutch rotary shaft 2038, and a first steering sprocket 2037 is fixedly connected to the lower end. A matching gear 2036 is provided at the upper end of the clutch 2035, and the matching gear 2036 cooperates with the upper frame 1 and rotates synchronously with the upper frame 1. The first steering sprocket 2037 is used to cooperate with the steering component 208.

[0084] Through the cooperation of the clutch rotating shaft 2038, the clutch 2035, the matching gear 2036 and the first steering sprocket 2037, the rotation of the upper frame 1 can be coordinated with the steering component 208, without the need to install another complex steering drive on the lower frame 2.

[0085] The design and control of the central rotation control assembly 203 are as follows:

[0086] First, the relationship between the moment of inertia and torque of the central rotary control assembly 203 is defined to satisfy the following relationship:

[0087] Where J is the moment of inertia of the system; θ is the actual rotation angle; is the angular acceleration; b is the damping coefficient of the system; is the angular velocity; T in is the input torque; T load is the torque due to external load.

[0088] T load =W·r, which is based on the assumption that there is an object with a weight of W hanging on a rotating wheel with a radius of r.

[0089] Among them, T in =K t u,K t is the torque constant of the system; u is the controller input (such as motor voltage or hydraulic pressure).

[0090] The desired rotation angle is controlled as follows:

[0091] θ desired =f(t), where f(t) is the desired rotation angle θ desired as a function of time t.

[0092] In one embodiment, the desired rotation angle changes at a constant angular velocity, and its functional relationship f(t) can be expressed by the following formula:

[0093] θdesired (t)=ω0t+θ0, where ω0 is a constant angular velocity and θ0 is an initial angle.

[0094] In another embodiment, the desired rotation angle varies according to a sinusoidal waveform, and its functional relationship f(t) can be expressed by the following formula:

[0095] θ desired (t) = Asin(ωt+φ)+θ0;

[0096] Where A is the amplitude of the waveform; ω is the angular frequency; φ is the phase shift; and θ0 is the initial angle.

[0097] Design a proportional-integral-derivative controller as follows:

[0098] Among them, K p is the proportional gain; K i is the integral gain; K d is the differential gain.

[0099] like Fig.13 As shown, the steering component 208 includes: a steering block 2081 fixedly connected to the double-wheel side frame 201, the middle part of the steering block 2081 is rotatably connected to a vertically arranged steering shaft 2082, the upper end of the steering shaft 2082 is fixedly connected to a second steering sprocket 2083, and the lower end is fixedly connected to one end of a steering rod 2086, the second steering sprocket 2083 cooperates with the first steering sprocket 2037 through a steering chain 2084, the other end of the steering rod 2086 is provided with a two-way universal joint 2087, both sides of the two-way universal joint 2087 are respectively provided with a first universal shaft 2088, and one end of the first universal shaft 2088 away from the two-way universal joint 2087 is respectively provided with a second universal shaft 2089, and the second universal shaft 2089 is respectively cooperated with the adjacent front wheel assembly 205;

[0100] The steering block 2081 is also provided with a steering motor 2085 , which cooperates with the steering shaft 2082 through a gear set to assist the steering shaft 2082 in rotating.

[0101] The steering motor 2085 is used to provide additional power to the steering shaft 2082. When the multi-purpose vehicle is overloaded, the steering torque required by the front wheel assembly 205 also increases accordingly. Therefore, the setting of the steering motor 2085 can assist the rotary motor 103 to provide steering power.

[0102] like Figure 11-12As shown, the front wheel assembly 205 includes: a pair of parallel front wheel suspension frames 2051, one end of the front wheel suspension frame 2051 is rotatably connected to the double-wheel side frame 201, and the other end is rotatably connected to the front wheel rotating frame 2052, the middle part of the front wheel rotating frame 2052 is rotatably connected to a rotating table, one side of the rotating table is rotatably connected to the front drive wheel 2054, a front wheel motor 2053 is arranged on the double-wheel side frame 201, the front wheel motor 2053 cooperates with the front drive wheel 2054 through a steering knuckle arm 2056, the rotating table cooperates with the corresponding second universal joint 2089, the middle part of the upper front wheel suspension frame 2051 is rotatably connected to the front wheel suspension 2055, and the upper part of the front wheel suspension 2055 is rotatably connected to the double-wheel side frame 201.

[0103] like Fig.14 As shown, the track drive axle 206 includes: a track suspension frame 2061, the middle part of the track suspension frame 2061 is rotatably connected to the double-wheel side frame 201, the two ends of the track suspension frame 2061 are matched with the double-wheel side frame 201 through track suspension 2064, a track motor 2062 is arranged on one side of the track suspension frame 2061, and a sliding frame 2065 is slidably arranged on the other side, a track motor 2062 is arranged on the sliding frame 2065, and the track motor 2062 is matched with a track wheel 2063, and two track wheels 2063 are covered with rubber tracks 2067, and a tensioning assembly 2066 is arranged between the sliding frame 2065 and the track suspension frame 2061.

[0104] like Fig.16 As shown, a bulldozer arm slot 207 tilted downward is provided on one side of the double-wheel side frame 201, a bulldozer arm 204 is slidably provided inside the bulldozer arm slot 207, a vertically provided bulldozer 10 is fixedly connected to the extended end of the bulldozer arm 204, and a telescopic oil cylinder for pushing and pulling the bulldozer arm 204 is provided inside the bulldozer arm slot 207. Through the cooperation of the downward tilted bulldozer arm slot 207, the bulldozer arm 204, the telescopic oil cylinder and the bulldozer 10, the multifunctional vehicle can also realize the function of a bulldozer, further improving the applicability of the device.

[0105] The present invention also provides a multi-function vehicle control method, the control method is used to control the multi-function vehicle assembly as described above, the control method comprises the following steps:

[0106] Step 1: Obtain the angle information and speed information of the two sets of front wheel assemblies 205, obtain the speed information of the two sets of crawler drive axles 6, and obtain the orientation angle information of the upper frame 1; the above information can be obtained through corresponding sensors;

[0107] Step 2: obtaining the driver's operation information, wherein the operation information includes: rotation direction, rotation angle, travel direction and travel speed; the operation information is generated by the driver operating the control panel or operating lever in the cab;

[0108] Step 3: Control the upper frame 1 to rotate according to the operation information, and transmit the rotation of the upper frame 1 to the steering component 208 by closing the clutch 2035 in the central rotation control assembly 203, and the rotating component 208 drives the front wheel assembly 205 to rotate the required angle;

[0109] When the clutch 2035 is closed, the torque information of the rotary motor 103 driving the upper frame 1 to rotate is obtained, and when the torque of the rotary motor 103 is greater than the preset maximum torque, the steering motor 2085 is started;

[0110] Step 4: Disengage the clutch 2035 in the central slewing control assembly 203, control the upper frame 1 to rotate, so that the orientation angle of the upper frame 1 is the same as the direction of travel, and is offset by half the rotation angle in the direction of rotation of the multi-purpose vehicle; through the above control, the complexity of the driver's operation process is simplified, especially for some working conditions where the excavator working head 8 works on the side of the lower frame 2 and needs to unload materials at other positions, the above control method can simplify the driver's operating steps and improve work efficiency; and before the multi-purpose vehicle moves, control the upper frame 1 to rotate, so that the orientation angle of the upper frame 1 is the same as the direction of travel, and is offset by half the rotation angle in the direction of rotation of the multi-purpose vehicle, so that the driver can obtain a greater field of view of the multi-purpose vehicle's rotation and forward direction, thereby ensuring the safety of the operation process;

[0111] Step 5: Control the rotation speeds of the two front wheel assemblies 205 and the two crawler drive axles 6 according to the operation information. The rotation speed difference between the two front wheel assemblies 205 and the rotation speed difference between the two crawler drive axles 6 correspond to the rotation angle. Different rotation angles correspond to different rotation speed differences. The relevant parameters are pre-stored in the main control box of the equipment, which is called by the main control box according to the driver's operation and controls the actions of each motor.

[0112] The above control method is a control method for the multi-purpose vehicle when it is turning forward; the two sets of front wheel assemblies 205 and the two sets of track drive axles 206 of the multi-purpose vehicle are both equipped with separate power assemblies. During the operation of the multi-purpose vehicle, the driver can flexibly operate according to the construction environment to achieve functions such as straight-line control, differential steering, on-the-spot steering, and arc steering of different radii.

[0113] The above is only a preferred embodiment of the present invention. It should be pointed out that a person skilled in the art can make several modifications and improvements without departing from the inventive concept of the present invention, which all belong to the protection scope of the present invention.

Claims

1. A multi-purpose vehicle assembly, characterized in that: include: An upper frame (1), a lower frame (2), a slewing bearing (3), and a main control box arranged on the upper frame (1); the upper frame (1) and the lower frame (2) are rotatably connected via the slewing bearing (3); a first slewing frame (101) and a second slewing frame (102) are arranged on the upper frame (1); one end of a boom (4) is rotatably connected to the first slewing frame (101); one end of a boom oil cylinder (5) is rotatably connected to the second slewing frame (102); the other end of the boom oil cylinder (5) is rotatably connected to the middle part of the boom (4); The other end of the boom (4) is rotatably connected to one end of a quick-change joint (6), and the boom (4) is rotatably connected to one end of a joint adjustment cylinder (7), and the other end of the joint adjustment cylinder (7) is rotatably connected to the other end of the quick-change joint (6). A working head is provided on the quick-change joint (6), and the working head is an excavator working head (8) or a loading working head (9); The quick-change joint (6) comprises: a joint fixing plate (601), the two sides of which are fixedly connected to connecting plate groups (602), the upper ends of the two connecting plate groups (602) are provided with mounting holes for mounting pins that cooperate with the joint adjustment cylinder (7), and a clamping rod (606) is provided between the lower ends of the two connecting plate groups (602), the two ends of the clamping rod (606) extend out of the connecting plate group (602) for rotational connection with the boom (4); the joint fixing plate (601) is away from the connecting plate group (602). Two mounting plates (603) are provided on one side of the upper arm (4), a mounting groove is formed between the mounting plates (603) and the adjacent connecting plate group (602), and mounting holes arranged coaxially are provided on the mounting plates (603) and the connecting plate group (602), a latch rod (604) is plugged into the mounting holes on the mounting plates (603) and the connecting plate group (602), a fixing ring (605) is provided on the latch rod (604), and the fixing ring (605) is fixedly connected to the connecting plate group (602) by bolts; The clamping rod (606) is used to clamp the excavator working head (8) or the loading working head (9), and the mounting groove formed between the mounting plate (603) and the adjacent connecting plate group (602) cooperates with the latch rod (604) to fix the excavator working head (8) or the loading working head (9).

2. A multi-purpose vehicle assembly according to claim 1, characterized in that: The excavator working head (8) comprises: an excavator arm (801), the lower end of the excavator arm (801) is rotatably connected to a bucket (803), one end of an excavator oil cylinder (802) is rotatably connected to the excavator arm (801), and the other end of the excavator oil cylinder (802) is respectively matched with the excavator arm (801) and the bucket (803) through a connecting rod mechanism (804) for adjusting the angle between the bucket (803) and the excavator arm (801); A clamping block (8011) is provided on the upper part of the excavator arm (801), and a clamping groove is formed between the clamping block (8011) and the excavator arm (801), and the clamping groove is used to cooperate with the clamping rod (606). Excavator fixing plates (8012) are fixedly connected to both sides of the upper end of the excavator arm (801), respectively, and the excavator fixing plates (8012) cooperate with the installation groove on the quick-change joint (6), and are fixedly connected to the quick-change joint (6) through the latch rod (604).

3. A multi-purpose vehicle assembly according to claim 1, characterized in that: A pair of clamping plates (901) and a pair of loading fixing plates (902) are provided on one side of the loading working head (9) adjacent to the quick-change joint (6); a clamping groove is provided at the lower part of the clamping plate (901) for cooperating with the clamping rod (606); the loading fixing plate (902) cooperates with the mounting groove on the quick-change joint (6) and is fixedly connected to the quick-change joint (6) via a latch rod (604).

4. A multi-purpose vehicle assembly according to claim 1, characterized in that: The lower frame (2) comprises: a double-wheel side frame (201), front wheel assemblies (205) are arranged on both sides of the front end of the double-wheel side frame (201), track drive axles (206) are arranged on both sides of the middle and rear parts of the double-wheel side frame (201), mudguards (202) are arranged on both sides of the double-wheel side frame (201), and a steering component (208) for driving the front wheel assembly (205) to steer is arranged inside the double-wheel side frame (201); The slewing bearing (3) comprises: a bearing inner ring (301) and a bearing outer ring (302); the bearing inner ring (301) is fixedly connected to the middle part of the double-wheel side frame (201); meshing teeth are evenly distributed on the inner wall of the bearing inner ring (301); the bearing outer ring (302) is rotatably connected to the bearing inner ring (301) and is fixedly connected to the upper frame (1); a slewing motor (103) is arranged on the upper frame (1); a slewing gear is arranged at the output end of the slewing motor (103); the slewing gear cooperates with the meshing teeth of the bearing inner ring (301).

5. A multi-purpose vehicle assembly according to claim 4, characterized in that: A central rotary control assembly (203) is arranged in the middle of the double-wheel side frame (201), and the central rotary control assembly (203) comprises: a fixed plate (2033) fixedly connected to the double-wheel side frame (201), a lower hydraulic control module (2031) and a lower electric control module (2032) being coaxially fixedly connected to the lower portion of the fixed plate (2033), an upper control module (2034) being coaxially arranged on the upper portion of the fixed plate (2033), the upper control module (2034) being fixedly connected to the upper frame (1), a corresponding matching hole (104) being provided on the upper frame (1), a conductive slip ring being fixedly arranged on the lower portion of the upper control module (2034), and the conductive slip ring matching the lower hydraulic control module (2031); A clutch rotary shaft (2038) is arranged in the middle of the central rotary control assembly (203), and the clutch rotary shaft (2038) passes through the upper control module (2034), the fixed plate (2033), the lower hydraulic control module (2031) and the lower electric control module (2032) in sequence. A clutch (2035) is arranged at the upper end of the clutch rotary shaft (2038), and a first steering sprocket (2037) is fixedly connected to the lower end. A matching gear (2036) is arranged at the upper end of the clutch (2035), and the matching gear (2036) cooperates with the upper frame (1) and rotates synchronously with the upper frame (1). The first steering sprocket (2037) is used to cooperate with the steering component (208).

6. A multi-purpose vehicle assembly according to claim 5, characterized in that: The steering component (208) comprises: a steering block (2081) fixedly connected to the double-wheel side frame (201); the middle part of the steering block (2081) is rotatably connected to a vertically arranged steering shaft (2082); the upper end of the steering shaft (2082) is fixedly connected to a second steering sprocket (2083); the lower end of the steering shaft (2082) is fixedly connected to one end of a steering rod (2086); the second steering sprocket (2083) is connected to the steering wheel via a steering chain (2084); The first steering sprocket (2037) cooperates with the other end of the steering rod (2086) to be provided with a bidirectional universal joint (2087), both sides of the bidirectional universal joint (2087) are respectively provided with a first cardan shaft (2088), and one end of the first cardan shaft (2088) away from the bidirectional universal joint (2087) is respectively provided with a second cardan shaft (2089), and the second cardan shaft (2089) cooperates with the adjacent front wheel assembly (205); The steering block (2081) is also provided with a steering motor (2085), and the steering motor (2085) cooperates with the steering shaft (2082) via a gear set to assist the steering shaft (2082) in rotating.

7. A multi-purpose vehicle assembly according to claim 6, characterized in that: The front wheel assembly (205) comprises: a pair of parallel front wheel suspension frames (2051), one end of the front wheel suspension frame (2051) is rotatably connected to the double-wheel side frame (201), and the other end is rotatably connected to a front wheel rotating frame (2052), the middle part of the front wheel rotating frame (2052) is rotatably connected to a rotating platform, one side of the rotating platform is rotatably connected to a front drive wheel (2054), a front wheel motor (2053) is arranged on the double-wheel side frame (201), the front wheel motor (2053) and the front drive wheel (2054) are matched through a steering knuckle arm (2056), the rotating platform is matched with the corresponding second universal joint (2089), the middle part of the upper front wheel suspension frame (2051) is rotatably connected to the front wheel suspension (2055), and the upper part of the front wheel suspension (2055) is rotatably connected to the double-wheel side frame (201).

8. A multi-purpose vehicle assembly according to claim 7, characterized in that: The crawler drive axle (206) comprises: a crawler suspension frame (2061), the middle part of the crawler suspension frame (2061) is rotatably connected to the double-wheel side frame (201), the two ends of the crawler suspension frame (2061) are matched with the double-wheel side frame (201) through crawler suspension (2064), one side of the crawler suspension frame (2061) is provided with a crawler motor (2062), and the other side is slidably provided with a sliding frame (2065), the sliding frame (2065) is provided with a crawler motor (2062), the crawler motor (2062) is matched with a crawler wheel (2063), the two crawler wheels (2063) are sleeved with a rubber crawler track (2067), and a tensioning assembly (2066) is provided between the sliding frame (2065) and the crawler suspension frame (2061).

9. A multi-purpose vehicle assembly according to claim 4, characterized in that: A bulldozer arm slot (207) inclined downward is provided on one side of the double-wheel side frame (201), a bulldozer arm (204) is slidably provided inside the bulldozer arm slot (207), a vertically arranged bulldozer shovel (10) is fixedly connected to the extended end of the bulldozer arm (204), and a telescopic oil cylinder for pushing and pulling the bulldozer arm (204) is provided in the bulldozer arm slot (207).

10. A multi-function vehicle control method, characterized in that: The control method is used to control the multi-function vehicle assembly according to any one of claims 6 to 8, and the control method comprises the following steps: Step 1: Obtaining the angle information and rotation speed information of the two sets of front wheel assemblies (205), obtaining the rotation speed information of the two sets of crawler drive axles (6), and obtaining the orientation angle information of the upper frame (1); Step 2: Acquire the driver's operation information, wherein the operation information includes: rotation direction, rotation angle, travel direction and travel speed; Step 3: Control the upper frame (1) to rotate according to the operation information, and transmit the rotation of the upper frame (1) to the steering component (208) by closing the clutch (2035) in the central rotation control assembly (203), and the rotating component (208) drives the front wheel assembly (205) to rotate to a required angle; When the clutch (2035) is closed, torque information of the rotary motor (103) driving the upper frame (1) to rotate is obtained, and when the torque of the rotary motor (103) is greater than a preset maximum torque, the steering motor (2085) is started; Step 4: disengage the clutch (2035) in the central rotation control assembly (203), and control the upper frame (1) to rotate so that the orientation angle of the upper frame (1) is the same as the travel direction, and is offset by half the rotation angle toward the rotation direction of the multi-purpose vehicle; Step 5: Control the rotation speeds of the two front wheel assemblies (205) and the two track drive axles (6) respectively according to the operation information, and the rotation speed difference between the two front wheel assemblies (205) and the rotation speed difference between the two track drive axles (6) correspond to the rotation angle.

Images