A control device that achieves reversible motion of large loads using small control forces

Abstract

The present invention relates to the field of vehicle technology, and in particular to a control device that uses a small control force to achieve reversible motion of a large load, including a basic force auxiliary device and a control force output device. The basic force auxiliary device can store and release potential energy. When its stored potential energy is at its maximum, the load is at its lowest potential energy position and can output a force that is large enough but not enough to cause the load to displace; the control force output device provides a controllable force or displacement output, and can achieve position adjustment of the load with a smaller force based on the force provided by the basic force auxiliary device.

Description

Technical Field

[0001] The present invention relates to the field of vehicle technology, and in particular to a control device that uses a small control force to achieve large-load reversible motion. Background Art

[0002] At present, in situations where large loads need to be lifted or lowered reversibly, the control devices used are mostly devices that directly control devices with corresponding force output capabilities, such as electronic control systems with force output devices such as electric cylinders or hydraulic cylinders. Such force output devices cannot absorb the potential energy of the load during the lifting process, resulting in high energy consumption. Systems with smaller controllable force output capabilities cannot be used, and their application scope is limited. Summary of the Invention

[0003] The object of the present invention is to overcome the deficiencies of the above-mentioned technology and to provide a control device that uses a small control force to achieve reversible motion of a large load.

[0004] To achieve the above-mentioned objectives, the present invention adopts the following technical solutions: a control device that uses a small control force to achieve reversible motion of a large load, including a basic force auxiliary device and a control force output device. The basic force auxiliary device can store and release potential energy. When its potential energy is maximum, the large load is at its lowest potential energy position, and can output a force that is large enough but not enough to cause the load to displace; the control force output device provides controllable force or displacement output, and can adjust the position of the load with a smaller force based on the force provided by the basic force auxiliary device.

[0005] Preferably, during the load lifting process, the basic force auxiliary device releases potential energy, and during the load lowering process, the basic force auxiliary device stores potential energy, and the control force output device controls the output of force or displacement to achieve load position adjustment.

[0006] Preferably, the basic force auxiliary device is a hydraulic system with an energy storage element, or a pneumatic system, or an electrical system, or a mechanical mechanism with an elastic element, or a combination of the above systems.

[0007] Preferably, the control force output device is a hydraulic system, a pneumatic system, an electrical system, a mechanical device, or a combination thereof that can output a controllable force or displacement.

[0008] Preferably, the basic force auxiliary device is composed of an accumulator and a hydraulic cylinder, and the control force output device is composed of a cylinder connected to a central charging and discharging system, and the output force or displacement of the cylinder is controlled by controlling the output pressure of the central charging and discharging system.

[0009] Preferably, for controlling the morphological reconstruction of a reconfigurable rubber crawler track walking system, the reconfigurable rubber crawler track walking system is composed of a support frame assembly, a cooperative mechanism assembly, a plurality of road wheel chain assemblies and a drive wheel adjustment mechanism, etc. The hydraulic cylinder of the basic force auxiliary device is installed between any two of the support frame assembly, the cooperative mechanism assembly, the plurality of road wheel chain assemblies and the drive wheel adjustment mechanism, or is installed between the internal components of the cooperative mechanism assembly, or is installed between the internal components of the drive wheel adjustment mechanism; the cylinder of the control force output device is installed between any two of the support frame assembly, the cooperative mechanism assembly, the plurality of road wheel chain assemblies and the drive wheel adjustment mechanism, or is installed between the internal components of the cooperative mechanism assembly, or is installed between the internal components of the drive wheel adjustment mechanism.

[0010] Preferably, the accumulator is fixed on the support frame assembly and connected to the hydraulic cylinder through an oil pipe and a ball valve.

[0011] Preferably, both ends of the hydraulic cylinder are hinged to the support frame assembly and the road wheel chain assembly respectively.

[0012] Preferably, both ends of the cylinder are hinged to the cooperative mechanism assembly and the support frame assembly respectively.

[0013] Preferably, there are two hydraulic cylinders.

[0014] Preferably, there are two cylinders.

[0015] The beneficial effects of the present invention are: by storing and releasing the potential energy of the load's movement through the basic force assist device and providing most of the lifting force required for the load's movement, the control force output device can achieve load position adjustment with less force, significantly reducing the energy consumption required for load position adjustment. Typically, this patent can achieve the morphological reconstruction of a reconfigurable rubber crawler walking system controlled by a central inflation and deflation system. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] Figure 1 This is a structural diagram of the reconfigurable rubber crawler walking system used in the present invention;

[0017] Figure 2 This is a structural diagram of the gear train in the walking system used in the present invention;

[0018] Figure 3 It is a schematic diagram of the installation of the basic force auxiliary device and the control force output device in the present invention;

[0019] Figure 4 It is a schematic diagram of the present invention when the walking system is in the extreme state of the track wheel form;

[0020] Figure 5 Schematic diagram of a driving wheel adjustment mechanism in a walking system used in the present invention;

[0021] Figure 6 It is a structural schematic diagram of the basic force auxiliary device in the present invention;

[0022] Figure 7 It is a structural schematic diagram of the control force output device in the present invention;

[0023] Figure 8 yes Figure 1 Front view of

[0024] Figure 9 This is a non-limiting state diagram of the walking system used in the present invention in a crawler wheel configuration;

[0025] Figure 10 This is another non-limiting state diagram of the walking system used in the present invention in the crawler wheel form;

[0026] Figure 11 It is a front view of the walking system used in the present invention in the extreme state of the track wheel;

[0027] Figure 12 It is a three-dimensional diagram of the walking system used in the present invention in the extreme state of the track wheel form;

[0028] In the figure: 1. Rubber track; 2. Wheel train; 3. Support frame assembly; 31. Inner support frame; 32. Outer support frame; 33. Support frame connector; 4. Road wheel chain assembly; 5. Center shaft assembly; 51. Center shaft; 6. Coordinating mechanism assembly; 61. Coordinating mechanism; 62. Synchronizing component; 7. Accumulator; 8. Ball valve; 9. Hydraulic cylinder; 10. Hydraulic cylinder mounting frame; 11. Oil pipe; 12. Middle position of road wheel chain assembly; 13. Cylinder; 14. Cylinder top mounting frame; 15. Cylinder bottom mounting frame; 16. Air pipe; 17. Rotary joint; 18. Air duct; 19. Drive wheel adjustment mechanism; 190. Drive wheel assembly; 191. Swing arm; 192. Drive wheel mounting shaft. DETAILED DESCRIPTION

[0029] It should be noted that, in the absence of conflict, the embodiments of the present invention and the features in the embodiments can be combined with each other.

[0030] In the description of the present invention, it should be understood that the terms "center", "longitudinal", "lateral", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside" and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation on the present invention. In addition, the terms "first", "second" and the like are only used for descriptive purposes and cannot be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features. Thus, features defined as "first", "second" and the like may explicitly or implicitly include one or more of the features. In the description of the present invention, unless otherwise specified, "multiple" means two or more.

[0031] In the description of the present invention, it should be noted that, unless otherwise expressly specified or limited, the terms "installed," "connected," "connected," "fixedly connected," and "fixed connection" should be understood in a broad sense. For example, they can refer to fixed connections, detachable connections, or integral connections; they can refer to mechanical connections or electrical connections; they can refer to direct connections or indirect connections through an intermediate medium; and they can refer to internal connections between two components. Those skilled in the art can understand the specific meanings of the above terms in the present invention based on specific circumstances.

[0032] A control device that uses a small control force to achieve reversible motion of a large load includes a basic force auxiliary device and a control force output device. The basic force auxiliary device can store and release potential energy (such as elastic potential energy, magnetic field potential energy, etc.). When its potential energy is maximum, the large load is at its lowest potential energy position and can output a force that is large enough but not enough to cause the load to displace. During the load lifting process, the basic force auxiliary device releases potential energy, and during the load lowering process, the basic force auxiliary device stores potential energy; the control force output device provides controllable force or displacement output, and can adjust the position of the load with a smaller force based on the force provided by the basic force auxiliary device.

[0033] This device will be described using a reconfigurable rubber tracked travel system as an example. This travel system can be used with tires that can be replaced on wheeled vehicles, and its configuration can be controllably switched between tire and tracked wheel configurations. In tire configuration, the travel system rotates as a whole, enabling the vehicle to achieve the same speed and fuel consumption as a wheeled vehicle when used on paved or other hard surfaces. In tracked wheel configuration, the contact patch is large, and the travel system drives the tracks forward via the drive wheels. This improves the vehicle's off-road maneuverability when used on soft or low-adhesion off-road terrain.

[0034] Walking system such as Figure 1-5 As shown, it mainly consists of a rubber track 1 and a wheel train 2. The wheel train 2 mainly consists of a support frame assembly 3, a road wheel chain assembly 4, a central shaft assembly 5, a coordination mechanism assembly 6, a drive wheel adjustment mechanism 19, etc. Among them:

[0035] The support frame assembly 3 provides the main basic support for each component of the walking system, including the inner support frame 31, the outer support frame 32, and the support frame connector 33. Multiple support frame connectors 33 connect the support frames on both sides.

[0036] The main body of the central shaft assembly 5 is the central shaft 51, which is hinged to the inner support frame 31 and the outer support frame 32 via bearings. One end of the central shaft is fixedly connected to the vehicle's axle shaft or other power output shaft. The central shaft can rotate about a fixed axis on the support frame assembly and provides power for the travel system. The axis about which the central shaft rotates relative to the support frame assembly is referred to as the central shaft axis.

[0037] The cooperative mechanism assembly 6 mainly includes cooperative mechanisms 61 respectively installed on the support frames on both sides, and a synchronization component 62 that connects the cooperative mechanisms on both sides to ensure their synchronous movement.

[0038] like Figure 5 As shown, the drive wheel adjustment mechanism 19 is mounted on the two coordinating mechanisms and primarily comprises a drive wheel assembly 190, a swing arm 191, and a drive wheel mounting shaft 192. The drive wheel assembly is mounted on the drive wheel mounting shaft. When the coordinating mechanism moves, the swing arm moves with it, causing the drive wheel assembly to translate along a fixed line on the support frame assembly 3, which is perpendicular to the central axis.

[0039] The six road wheel chain assemblies are arranged opposite to each other on both sides of the wheel train and are respectively installed on the cooperative mechanisms 61 on both sides. The road wheel chain assembly is composed of a plurality of components for installing road wheels, which are connected in series in a hinged manner. Under the coordination of the cooperative mechanism assembly 6, each road wheel chain assembly 4 is synchronously and gradually bent or straightened to change the shape of the outer peripheral side of the wheel train. In the above process, the middle position 12 of each road wheel chain assembly always translates along a fixed straight line on the support frame assembly 3. These straight lines are perpendicular to the axis of the central shaft and intersect with the axis. When the road wheel chain assembly 4 is fully straightened and the road wheels thereon are arranged in a straight line, the walking system is in the extreme state of the track wheel form. At this time, the central axis 51 is closest to the ground, that is, the axis height of the central axis 51 is the lowest. As the roadwheel chain assembly 4 gradually bends, its ends gradually approach the center shaft assembly 5, while its center gradually moves away from it. During this process, the traveling system remains in track wheel configuration, but the contact patch gradually decreases, and the center shaft 51 gradually rises above the ground. When the roadwheel chain assembly 4 bends into an arc, the traveling system assumes tire configuration, at which point the center shaft 51 is at its highest point above the ground. The interconnectedness of the various components of the wheel train makes it a controllable device with a single degree of freedom. The traveling system's configuration is reconfigured to transition between track wheel configuration and tire configuration, and to adjust the contact patch when in track wheel configuration.

[0040] During the morphological reconstruction of the walking system, the middle position of the road wheel chain assembly moves along the straight line direction (a, b, c) perpendicular to the central axis, away from or close to the central axis assembly 5, so that the central axis assembly 5 gradually rises or falls, and the center of gravity of the vehicle also rises or falls accordingly. Figures 9 to 12 shown.

[0041] Existing off-road vehicles generally use a central inflation and deflation system. To minimize vehicle modifications, it is necessary to utilize the vehicle's existing central inflation and deflation system to control the reconfiguration of the travel system's shape, making it easier to use the travel system to replace tires. However, the output pressure of the central inflation and deflation system is very low, less than 1Mpa. Due to the limited internal space of the travel system, it is impossible to arrange cylinders of sufficient volume, making it difficult to use the central inflation and deflation system to control the reconfiguration of the travel system's shape. The control device designed in this patent, which uses a small control force to achieve high-load reversible motion, can solve this problem.

[0042] The specific implementation of a control device for achieving large-load reversible motion using a small control force on the walking system described in this patent is as follows. During the reconstruction process of the track wheel form into the tire form, if a lifting force is applied to the central shaft assembly 5 through the middle position of the road wheel chain assembly, since the weight of the vehicle remains unchanged, the lifting force is basically stable and unchanged, and the lifting force can be expressed as the overall lifting force. Since the wheel train is a single-degree-of-freedom controllable device, the control device is not limited to being installed between the middle position of the road wheel chain assembly and the central shaft assembly 5. It can be installed on a motion component related to the change in the position of the central shaft assembly, but the effect of its output force can be equivalent to the effect of the aforementioned lifting force.

[0043] The control device is composed of a basic force auxiliary device and a control force output device, and is installed inside or between the relative motion components of the above-mentioned gear train.

[0044] (1) The basic force auxiliary device uses elements with elastic potential energy such as springs and accumulators to provide the basic force required for morphological reconstruction. The action of this basic force is equivalent to the above-mentioned lifting force, and its equivalent magnitude is as close as possible to the magnitude of the overall lifting force.

[0045] (2) The control force output device can adjust the control force output size, and can adopt devices such as central inflation and deflation systems. The sum of the output control force and the basic force is not less than the total lifting force.

[0046] For the sake of convenience, the relationships between the basic force, control force and overall lifting force described below all refer to the equivalent effect relationships.

[0047] Because the basic force assist device uses elastic potential energy elements to provide the basic force, the force output varies with the stroke during the reconfiguration process. Generally, the basic force gradually decreases with increasing stroke. By optimizing the installation position and dimensional parameters of the basic force assist device components, the output basic force can still contribute the majority of the overall lifting force. The control force output device can achieve control of the reconfiguration with a relatively small output force.

[0048] The specific structure is: Figure 3 and Figure 6 As shown, the basic force assist device is a hydraulic system consisting of an accumulator 7, a ball valve 8, a hydraulic cylinder 9, a hydraulic cylinder mounting bracket 10, and an oil pipe 11. The accumulator 7 is fixed to the support frame connector 33 and is connected to the hydraulic cylinder 9 via the oil pipe 11 and the ball valve 8. The hydraulic cylinder is installed between the support frame assembly and the road wheel chain assembly. Specifically, the cylinder barrel of the hydraulic cylinder is hinged to the hydraulic cylinder mounting bracket 10, which is fixed to the support frame connector 33. The piston rod of the hydraulic cylinder is hinged to the road wheel chain assembly 4, and the hinge position is near the middle of the road wheel chain assembly 12. There are two hydraulic cylinders, one on each side of the wheel train, and they are staggered in space.

[0049] The accumulator 7 imparts a certain output force to the hydraulic cylinder 9, causing the middle portion 12 of the roadwheel chain assembly to move radially (a, b, c) away from the central axis. Based on practical needs, optimized design and appropriate selection of parameters such as the accumulator 7 volume, initial pressure, and hydraulic cylinder piston diameter ensure that the hydraulic cylinder 9 can deliver a base force. By properly positioning the various components, a stable and well-defined linear relationship is maintained between the extension of the hydraulic cylinder piston rod and the height at which the central axis is lifted. This results in a base force output that is consistently close to, and less than, the overall lifting force.

[0050] Normally, the ball valve 8 is open, allowing the oil between the accumulator 7 and the hydraulic cylinder 9 to communicate and operate normally. When the travel system fails or requires maintenance, the ball valve 8 can be closed to interrupt the flow of oil between the accumulator 7 and the hydraulic cylinder 9, keeping its shape fixed.

[0051] like Figure 3 and 7 As shown, the control force output device consists of a central air filling and discharging system, a cylinder 13, a cylinder top mounting frame 14, a cylinder bottom mounting frame 15, an air pipe 16, a rotary joint 17, etc. The cylinder top mounting frame 14 is hinged to the synchronization component 62 of the cooperative mechanism assembly 6, and the cylinder bottom mounting frame is hinged to the support frame connector 33. The two ends of the cylinder 13 are respectively fixed on the cylinder top mounting frame 14 and the cylinder bottom mounting frame 15. An air channel 18 is machined in the middle of the central shaft 51; the rotary joint 17 is fixed to the shaft end of the central shaft and is connected to the air channel 18, and the other end is fixed to the support frame assembly; the cylinder 13 is connected to the rotary joint 17 through the air pipe 16. The control force output device uses two cylinders, and the two cylinders are respectively located on both sides of the central shaft.

[0052] By controlling the output pressure of the central inflation and deflation system, gas enters the airway 18 of the central shaft 51 through the central inflation and deflation system and is distributed to the two cylinders 13 through the rotary joint 17 at the top of the central shaft. The output force of the cylinders 13 is positively correlated with the output pressure of the central inflation and deflation system, thus providing control force.

[0053] The base force provided by the base force assist device, combined with the control force provided by the control force output device, enables the reconfiguration of the walking system's morphology. The use of the base force assist device significantly reduces the control force required by the control force output device. For example, at a load of 2 tons, the maximum output force required by the control force output device is only 1200N, less than 10% of the base force provided by the base force assist device.

[0054] During the reconstruction process of the walking system from the tire shape to the track wheel shape, the cylinder output force is reduced by reducing the output air pressure of the central inflation and deflation system. Under the action of the walking system's own weight and load, the piston rod of the hydraulic cylinder 9 retracts into the cylinder barrel, the cylinder 13 retracts, and the accumulator 7 stores energy until it is reconstructed into the track wheel shape.

[0055] During the reconstruction process of the walking system from the track wheel shape to the tire shape, the output air pressure of the central charging and discharging system is increased, the cylinder 13 is inflated, and the output force is increased; the accumulator 7 releases energy, and the piston rod of the hydraulic cylinder 9 extends from the cylinder barrel until it is reconstructed into the tire shape.

[0056] By using this device, the central inflation and deflation system can be used to control the reconstruction of the walking system. As the output pressure of the central inflation and deflation system decreases, the walking system changes from the tire form to the track wheel form, and gradually changes to the extreme state of the track wheel form, such as Figure 9-12 and vice versa.

[0057] This device stores and releases the potential energy of the load movement through the basic force auxiliary device, providing most of the lifting force required for the load movement, so that the control force output device can adjust the position of the load with a smaller force, greatly reducing the energy consumption required for load position adjustment, and realizing the reversible movement of a large load controlled by a small force.

[0058] The above is only a preferred embodiment of the present invention. It should be pointed out that for ordinary technicians in this technical field, several improvements and modifications can be made without departing from the principles of the present invention. These improvements and modifications should also be regarded as within the scope of protection of the present invention.

Claims

1. A control device for achieving reversible motion of a large load using a small control force, characterized in that: Including basic force auxiliary device and control force output device, The basic force auxiliary device includes an accumulator, a ball valve, a hydraulic cylinder, a hydraulic cylinder mounting frame and an oil pipe. The accumulator is fixed to the support frame connecting member and is connected to the hydraulic cylinder through the oil pipe and the ball valve. The cylinder barrel of the hydraulic cylinder is hinged to the hydraulic cylinder mounting frame fixed to the support frame connecting member. The piston rod of the hydraulic cylinder is hinged to the road wheel chain assembly, and the hinge position is close to the middle position of the road wheel chain assembly. The control force output device includes a central air filling and discharging system, a cylinder, a cylinder top mounting frame, a cylinder bottom mounting frame, an air pipe and a rotary joint; the cylinder top mounting frame is hinged to the synchronization component of the cooperative mechanism assembly, the cylinder bottom mounting frame is hinged to the support frame connecting piece, the two ends of the cylinder are respectively fixed to the cylinder top mounting frame and the cylinder bottom mounting frame, and an air channel is machined in the middle of the central shaft; the rotary joint is fixed to the shaft end of the central shaft and communicates with the air channel, and the other end is fixed to the support frame assembly; the cylinder is connected to the rotary joint through the air pipe; The cooperative mechanism assembly includes cooperative mechanisms respectively mounted on the support frames on both sides, and a synchronization component connecting the cooperative mechanisms on both sides to ensure their synchronous movement; The road wheel chain assembly is respectively installed on the cooperative mechanisms on both sides; The control device is used to control the morphological reconstruction of a reconfigurable rubber crawler walking system, which consists of a support frame assembly, a cooperative mechanism assembly, multiple road wheel chain assemblies and a drive wheel adjustment mechanism.

2. The control device for realizing reversible motion of a large load using a small control force according to claim 1, characterized in that: During the load lifting process, the basic force auxiliary device releases potential energy, and during the load lowering process, the basic force auxiliary device stores potential energy. The control force output device controls the output of force or displacement to achieve load position adjustment.

3. The control device for achieving large-load reversible motion using small control force according to claim 1, characterized in that: The basic force auxiliary device is a hydraulic system with an energy storage element, or a pneumatic system, or an electrical system, or a mechanical mechanism with an elastic element, or a combination of the above systems.

4. The control device for achieving large-load reversible motion using small control force according to claim 1, characterized in that: The control force output device is a hydraulic system, a pneumatic system, an electrical system, a mechanical device, or a combination thereof that can output a controllable force or displacement.

5. The control device for realizing large-load reversible motion using small control force according to claim 1, characterized in that: The hydraulic cylinder of the basic force auxiliary device is installed between any two of the support frame assembly, the cooperative mechanism assembly, multiple road wheel chain assemblies, and the drive wheel adjustment mechanism, or is installed between the internal components of the cooperative mechanism assembly, or is installed between the internal components of the drive wheel adjustment mechanism; the cylinder of the control force output device is installed between any two of the support frame assembly, the cooperative mechanism assembly, multiple road wheel chain assemblies, and the drive wheel adjustment mechanism, or is installed between the internal components of the cooperative mechanism assembly, or is installed between the internal components of the drive wheel adjustment mechanism.

6. The control device for achieving large-load reversible motion using small control force according to claim 1, characterized in that: There are two hydraulic cylinders.

7. The control device for achieving large-load reversible motion using small control force according to claim 1, characterized in that: There are two cylinders.

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