A differentially driven land-rail dual-purpose chassis

Abstract

The present invention relates to a differentially driven land-rail dual-purpose chassis, which adopts the following technical scheme: it comprises a main beam, a suspension and driven wheel brackets located on both sides of the suspension are connected to the main beam, suspension brackets are fixedly connected to both sides of the suspension, the suspension brackets are fixedly connected to the drive assembly, a plurality of drive assemblies are driven independently, and a driven wheel assembly is installed on the driven wheel bracket.

Description

Technical Field

[0001] The invention relates to the field of greenhouse agricultural equipment, and in particular to a differentially driven land-rail dual-purpose chassis. Background Art

[0002] In modern agriculture, large glass greenhouses or three-dimensional planting solar greenhouses generally have special circular tube tracks. The circular tube tracks can be used as heating pipes to provide temperature for the greenhouse, and can also be used as tracks for driving equipment in the greenhouse to realize the automation of production in the greenhouse. In the process of greenhouse production operations, various types of small vehicles running on tracks, such as automatic navigation equipment, track automatic spraying equipment, and picking equipment in the greenhouse, have the need to go up and down the track and drive on land. In practical applications, most of them use the method of automatic driving on the track and manual pushing after getting off the track. Some high-end products can realize the function of electric auxiliary pushing on land, but these products have the common problem of unstable speed on the track. The main reason is that the track wheel and the land wheel share a transmission mechanism and use the same transmission ratio. When going up and down the track, the driving wheel switches between the track wheel and the land wheel, and the wheel diameter changes, resulting in sudden changes in linear speed and motor load, which causes walking swaying and affects the life of the motor. Summary of the invention

[0003] In view of the shortcomings of the prior art, the present invention provides a differentially driven land-rail dual-purpose chassis to solve the problems raised in the above background technology.

[0004] To achieve the above object, the present invention adopts the following technical solutions:

[0005] A differentially driven land-rail dual-purpose chassis comprises a main beam, a suspension and driven wheel brackets located on both sides of the suspension are connected to the main beam, suspension brackets are fixedly connected to both sides of the suspension, the suspension brackets are fixedly connected to the drive assembly, a plurality of drive assemblies are driven independently, and a driven wheel assembly is installed on the driven wheel bracket.

[0006] Preferably, the suspension frame is installed on the suspension frame through a fixed bracket, the suspension frame is movably connected to the fixed bracket, a fixed hinge and a movable hinge are provided at the connection between the suspension frame and the fixed bracket, the suspension frame uses the fixed hinge as a fulcrum, and realizes up and down flipping with a limited stroke through the movable hinge.

[0007] Preferably, a compression spring is provided between the suspension frame and the fixed bracket.

[0008] Preferably, the suspension frame includes a movable plate A, a movable plate B, and a connecting plate, which are welded together.

[0009] Preferably, the drive assembly includes a drive motor, a reduction gearbox, land wheels, and rail wheels. The drive motor provides power for the reduction gearbox. The reduction gearbox is a double-output shaft reduction gearbox, in which the input shaft and two output shafts are on one side. The land wheels and rail wheels are respectively installed and connected to the two output shafts of the reduction gearbox, and the land wheels are on the outside of the rail wheels.

[0010] Preferably, the transmission ratio between the input shaft and the output shaft where the rail wheel is located and the transmission ratio between the input shaft and the output shaft where the land wheel is located are adjusted by replacing the gear set. According to the ratio between the diameter of the rail wheel and the diameter of the land wheel, the above two transmission ratios are adjusted, and the linear speed of the rail wheel and the linear speed of the land wheel are adjusted to a certain range, so that the rail wheel 11.3 and the land wheel 11.2 have little impact when they go up and down the track.

[0011] Preferably, the transmission ratio between the input shaft and the output shaft where the track wheel is located is i1;

[0012] The transmission ratio between the input shaft and the output shaft where the land wheels are located is i2;

[0013] The diameter of the track wheel is d1, and the diameter of the land wheel is d2;

[0014] The output shaft speed is r;

[0015] The track wheel linear speed is v1, the land wheel linear speed is v2;

[0016] Theoretically, when v1=v2, the movement of the assembly when moving up and down the rails is minimal (or there is no movement).

[0017] In order to eliminate the influence of input shaft speed on the evaluation of mechanism anti-slip capability, the speed difference between the two wheels is divided by the average speed of the upper and lower tracks (v1+v2) / 2;

[0018] After eliminating the constant, we can get the speed jump coefficient a=|v1-v2| / (v1+v2)=|i1*d2-i2*d1| / (i1*d2+i2*d1);

[0019] The change of speed jump coefficient a will affect the acceleration G value when the equipment switches between land wheels and track wheels, thereby affecting the change of equipment speed and motor load.

[0020] Preferably, when a=|i1*d2-i2*d1| / (i1*d2+i2*d1)≤0.1, the speed change is small when going up and down the track.

[0021] Preferably, a support groove is provided on the output shaft where the land wheel is located, a mechanical limit is provided on the support groove, the mechanical limit includes a limit bracket and a buffer rubber pad, a universal wheel bracket is provided between the driven wheel bracket and the suspension, and a universal wheel is provided on the universal wheel bracket.

[0022] Preferably, an auxiliary wheel bracket is provided between the suspension and the universal wheel, and an auxiliary wheel is provided on the auxiliary wheel bracket.

[0023] Compared with the prior art, the present invention has the following beneficial effects:

[0024] 1. The drive assembly on the left and right sides of the chassis of the present invention is independently driven by two drive motors, which can display the equal speed and differential speed rotation of the two drive assemblies, and realize the functions of forward and backward, steering, and rotation on the spot. With the handle, the person behind the lower track can drive on the vehicle, and with the navigation module, automatic driving can be realized;

[0025] Second, the chassis drive assembly of the present invention has a compact structure. The drive motor and the land wheels and the rail wheels are transmitted through a one-input and two-output reduction box. The reduction box reasonably distributes the transmission speed ratio from the motor to the rail wheels and the land wheels according to the diameters of the rail wheels and the land wheels, ensuring that the torque on the rail wheels is the same as the torque on the land wheels, and the speed is constant when going up and down the track;

[0026] 3. The chassis of the present invention is provided with a suspension to ensure the gripping ability and increase the driving comfort; auxiliary load-bearing wheels can be added to improve the load-bearing capacity of the vehicle body. BRIEF DESCRIPTION OF THE DRAWINGS

[0027] Figure 1 It is a schematic diagram of the chassis of the present invention;

[0028] Figure 2 It is a schematic diagram of the drive assembly suspension of the present invention;

[0029] Figure 3 It is a schematic diagram of the limiting bracket of the present invention;

[0030] Figure 4 This is a schematic diagram of the chassis expansion of the present invention;

[0031] Figure 5 Schematic diagram of the gear set of the present invention

[0032] As shown in the figure: 1. Inner bracket of driven wheel; 2. Outer bracket of driven wheel; 3. Main beam; 4. Front beam of universal wheel; 5. Auxiliary wheel bracket; 6. Front beam of suspension; 7. Rear beam of suspension; 8. Base of distance measuring device; 9. Rear beam of universal wheel; 10. Outer shell; 11. Driving assembly; 11.1. Driving motor; 11.2. Land wheel; 11.3. Track wheel; 11.4. Speed ​​reducer; 11.5. Gear set; 12. Suspension assembly; 12.1, limit bracket 1; 12.2, limit bracket 2; 12.3, buffer pad; 12.4, movable plate A; 12.4.1, fixed hinge point; 12.4.2, movable hinge point; 12.5, movable plate B; 12.6, connecting plate; 12.7, compression spring; 12.8, fixed bracket; 13, universal wheel; 14, driven wheel assembly; 15, anti-collision mechanism assembly; 16, auxiliary wheel; 17, distance measuring device assembly. DETAILED DESCRIPTION

[0033] In order to further explain the technical means and effects adopted by the present invention to achieve the predetermined invention purpose, the specific implementation mode, structure, characteristics and effects of the present invention are described in detail below in combination with the accompanying drawings and preferred embodiments.

[0034] like Figure 1-5 The differentially driven land-rail dual-purpose chassis comprises a chassis, wherein the chassis comprises a driven wheel bracket, a main beam 3, a universal wheel bracket, an auxiliary wheel bracket 5, a suspension, and a distance measuring device base 8. The driven wheel bracket, the main beam 3, the universal wheel bracket, the auxiliary wheel bracket 5, the suspension, and the distance measuring device base 8 are welded together to form the main frame of the chassis, and the main frame of the chassis is welded to an outer shell 10 to form a chassis structural member.

[0035] The suspension includes a suspension front beam 6 and a suspension rear beam 7, and the suspension front beam 6 and the suspension rear beam 7 are located in the middle of the chassis. The driven wheel bracket is located at the four corners of the chassis, and the driven wheel bracket includes a driven wheel inner bracket 1 and a driven wheel outer bracket 2. The driven wheel assembly 14 is installed on the driven wheel inner bracket 1 and the driven wheel outer bracket 2 through fasteners. The universal wheel bracket is located between the driven wheel bracket and the suspension, and the universal wheel bracket includes a universal wheel front beam 4 and a universal wheel rear beam 9. The universal wheel front beam 4 is located between the driven wheel bracket on the left side of the chassis and the suspension beam front beam 6, and the universal wheel rear beam 9 is located between the driven wheel bracket on the right side of the chassis and the suspension rear beam 7. The universal wheel 13 is respectively installed on the upper and lower sides of the universal wheel front beam 4 and the upper and lower sides of the universal wheel rear beam 9. The universal wheel 13 is preferably a self-resetting universal wheel to avoid interference between the track support frame and the universal wheel.

[0036] like Figure 1-2As shown, the drive assembly 11 includes a drive motor 11.1, a reduction gearbox 11.4, a land wheel 11.2, and a rail wheel 11.3. The reduction gearbox is a double-output shaft reduction gearbox, and the input shaft and two output shafts are both on one side. The input shaft is connected to the drive motor 11.1, and the land wheel 11.2 and the rail wheel 11.3 are respectively installed and connected to the two output shafts of the reduction gearbox 11.4. The transmission ratio of the input shaft to the output shaft where the rail wheel 11.3 is located and the transmission ratio of the input shaft to the output shaft where the land wheel 11.2 is located can be adjusted by replacing the gear set 11.5. The gear set 11.5 is located in the reduction box 11.4. According to the ratio between the diameter of the track wheel 11.3 and the diameter of the land wheel 11.2, by adjusting the two transmission ratios, the linear speed of the track wheel 11.3 and the linear speed of the land wheel 11.2 are adjusted to a certain range, so that the track wheel 11.3 and the land wheel 11.2 have little impact when going up and down the track. The land wheel 11.2 is on the outside of the track wheel 11.3, and the diameter of the track wheel 11.3 should be greater than the height of the reduction box 11.4 and the diameter of the drive motor 11.1 to avoid the land wheel 11.2 from interfering with the track when going up and down the track. The surface of the land wheel 11.2 and the surface of the track wheel 11.3 are both silent and wear-resistant materials, preferably, polyurethane can be selected. The track is preferably a circular track, which can be used as a track and also as a heating pipe to adjust the indoor temperature.

[0037] The transmission ratio between the input shaft and the output shaft where the track wheel 11.3 is located is set to i1, the transmission ratio between the input shaft and the output shaft where the land wheel 11.2 is located is set to i2, the diameter of the track wheel 11.3 is d1, the diameter of the land wheel 11.2 is d2, the output shaft speed is r, the track wheel linear speed is v1, and the land wheel linear speed is v2; theoretically, when v1=v2, the assembly has minimal or no movement when going up and down the track. In order to eliminate the influence of the input shaft speed on the evaluation of the anti-movement ability of the mechanism, the speed difference between the two wheels is divided by the average speed of the upper and lower tracks (v1+v2) / 2; after eliminating the constant, the speed jump coefficient a=|v1-v2| / (v1+v2)=|i1*d2-i2*d1| / (i1*d2+i2*d1) can be obtained; when a≤0.1, the speed change is small when going up and down the track, and the speed of the upper and lower tracks is relatively stable. When a=0, the speed is constant when going up and down the track. The change of the speed jump coefficient a will affect the acceleration G value when the land wheel 6 and the track wheel 5 of the equipment are switched, thereby affecting the change of the equipment speed and the motor load.

[0038] Tests can be carried out according to different products and different needs to obtain a speed jump coefficient a that meets the needs, thereby guiding further design. This helps to ensure that the speed is stable when the upper and lower track land wheels and rail wheels switch, so as to avoid sudden changes in the linear speed of the land wheels and rail wheels and the motor load, which will cause walking jerking and affect the life of the motor. At the same time, it can effectively improve the operating experience.

[0039]

[0040]

[0041]

[0042]

[0043]

[0044] From the test records, it can be found that when the equipment using this assembly has upper and lower tracks (especially the lower track), the speed jump coefficient a is greater than 0.1, and the absolute value of the equipment G value is likely to exceed 0.1. At this time: 1. It is easy to cause sudden changes in line speed and motor load, resulting in walking jitter and affecting the motor life; 2. It is easy to affect the operating experience.

[0045] An encoder bracket 11.7 is fixedly connected to the front shell of the reduction box 11.4, and an encoder 11.6 is installed on the encoder bracket 11.7. The encoder 11.6 is connected to the input shaft through a coupling, and the real-time number of rotations is transmitted to the controller, so as to achieve precise control of the motor rotation angle. A pair of drive assemblies after the encoder can realize electric walking and steering on land, and unmanned driving can be realized with the navigation module.

[0046] like Figure 1-2 As shown, the upper and lower sides of the suspension front beam 6 are installed with fixed brackets 12.8, and the reduction box 11.4 is fixedly connected with a suspension frame by fasteners. The suspension frame is movably connected with the fixed bracket 12.8 through a fixed hinge point 12.4.1 and a movable hinge point 12.4.2. The suspension frame uses the fixed hinge point 12.4.1 as a fulcrum and realizes the up and down flipping of limited stroke through the movable hinge point 12.4.2. The suspension frame includes a movable plate A12.4, a movable plate B12.5, and a connecting plate 12.6, which are welded as one. The left side of the movable plate A12.4 is fixed to the reduction box 11.4 by fasteners, and the fixed hinge 12.4.1 is respectively located at the lower part of the connection between the movable plate A12.4 and the fixed bracket 12.8 and the lower part of the connection between the movable plate B12.5 and the fixed bracket 12.8, and the movable hinge 12.4.2 is respectively located at the upper part of the connection between the movable plate A12.4 and the fixed bracket 12.8 and the upper part of the connection between the movable plate B12.5 and the fixed bracket 12.8. A compression spring 12.7 is provided between the connecting plate 12.6 and the fixed bracket 12.8 to provide sufficient downward force, thereby driving the land wheel 11.2 and the rail wheel 11.3 to achieve up and down displacement, ensuring the grip of the land wheel 11.2 and the rail wheel 11.3 while reducing the vibration of the vehicle body.

[0047] like Figure 2As shown, a support groove 11.5 is provided on the output shaft where the land wheel 11.2 is located, and a mechanical limit is provided on the support groove 11.5. The mechanical limit includes a limit bracket and a buffer rubber pad 12.3. When the displacement on the suspension exceeds the stroke, the limit bracket and the buffer rubber pad are mechanically limited to prevent damage to the suspension assembly and the drive assembly. The limit bracket includes a limit bracket 1 12.1 and a limit bracket 2 12.2. When the limit bracket is a limit bracket 12.1, it is easier to accurately position, and accurate positioning can be achieved through waist holes and pads in all directions; when the limit bracket is a limit bracket 2 12.2, the bracket has strong elasticity and can better protect the suspension and drive assembly.

[0048] This chassis has reserved sufficient expansion functions to meet different functional requirements. An auxiliary wheel bracket 5 can be added between the universal wheel front beam 4 and the suspension front beam 6. The auxiliary wheel bracket 5 is equipped with an auxiliary wheel 16 to improve the load-bearing capacity of the vehicle body. It is highly adaptable to large loads, high endurance, and overweight vehicles. A distance measuring device base 8 can be added between the suspension rear beam 7 and the universal wheel rear beam 9. A suspended track distance measuring device 17 is installed on the distance measuring device base 8. It can accurately measure the distance even when walking on a slippery track to achieve precise operation. The suspended track distance measuring device 17 can adopt the patent number applied by the applicant: 2019217738247, patent name: a utility model patent for a track trolley walking distance measuring device in a greenhouse. An anti-collision mechanism assembly 15 is installed at the front end of the left side of the chassis to ensure the safety of personnel and equipment. The anti-collision mechanism assembly 15 can adopt the patent number applied by the applicant: 2022202099632, patent name: a utility model patent for a mechanical anti-collision device.

[0049] How it works:

[0050] When traveling on land, the driving motor drives the track wheel and the land wheel to rotate. The track wheel is suspended in the air, and the land wheel is close to the ground through the suspension to drive the chassis to travel. The height of the lower tangent point of the universal wheel in the free state should be slightly higher than the lower tangent point of the land wheel to ensure that the drive assembly suspension can provide sufficient downforce. When going up and down the track, the driving wheel switches between the track wheel and the land wheel. There should be a reasonable height difference between the land wheel and the track wheel to ensure smooth up and down track and small vibration. When traveling on the track, the land wheel is on the outside of the track wheel, and the track wheel is close to the track to drive the chassis to travel. The track wheel diameter should be larger than the height of the reduction box housing and the diameter of the motor to avoid interference when going up and down the track.

[0051] The above description is only a preferred embodiment of the present invention and does not limit the present invention in any form. Although the present invention has been disclosed as a preferred embodiment as above, it is not used to limit the present invention. Any technical personnel in this field can make some changes or modify the technical contents disclosed above into equivalent embodiments without departing from the scope of the technical solution of the present invention. However, any brief modifications, equivalent changes and modifications made to the above embodiments based on the technical essence of the present invention without departing from the content of the technical solution of the present invention are still within the scope of the technical solution of the present invention.

Claims

1. A differentially driven land-rail dual-purpose chassis, It is characterized in that The invention comprises a main beam, a suspension and driven wheel brackets located on both sides of the suspension are connected to the main beam, suspension brackets are fixedly connected to both sides of the suspension, the suspension brackets are fixedly connected to a driving assembly, and a plurality of driving assemblies are driven independently respectively, a driven wheel assembly is installed on the driven wheel bracket, the suspension bracket is installed on the suspension through a fixed bracket, the suspension bracket is movably connected to the fixed bracket, a fixed hinge point and a movable hinge point are arranged at the connection between the suspension bracket and the fixed bracket, the suspension bracket uses the fixed hinge point as a fulcrum, and realizes up and down turning with a limited stroke through the movable hinge point, the driving assembly comprises a driving motor, a reduction box, a land wheel, and a rail wheel, the driving motor provides power for the reduction box, and the The reduction box is a dual-output shaft reduction box, the input shaft and the two output shafts are on one side, the land wheel and the rail wheel are respectively installed on the two output shafts connected to the reduction box, the land wheel is on the outside of the rail wheel, the transmission ratio between the input shaft and the output shaft where the rail wheel is located and the transmission ratio between the input shaft and the output shaft where the land wheel is located are adjusted by replacing the gear set, and the above two transmission ratios are adjusted according to the ratio between the diameter of the rail wheel and the diameter of the land wheel, and the linear speed of the rail wheel and the linear speed of the land wheel are adjusted to a certain range, so that the rail wheel and the land wheel have little impact when going up and down the track, and the transmission ratio between the input shaft and the output shaft where the rail wheel is located is i1; The transmission ratio between the input shaft and the output shaft where the land wheels are located is i2; The diameter of the rail wheel is d1, and the diameter of the land wheel is d2; The track wheel linear speed is v1, the land wheel linear speed is v2; When v1=v2, the movement of the drive assembly when moving up and down the rail is minimal. In order to eliminate the influence of input shaft speed on the evaluation of mechanism anti-slip capability, the speed difference between the two wheels is divided by the average speed of the upper and lower tracks (v1+v2) / 2; After eliminating the constant, we can get the speed jump coefficient a=|v1-v2| / (v1+v2)=|i1*d2-i2*d1| / (i1*d2+i2*d1); The change of speed jump coefficient a will affect the acceleration G value when the equipment land wheel and track wheel switch, thus affecting the change of equipment speed and motor load; When a=|i1*d2-i2*d1| / (i1*d2+i2*d1)≤0.1, the speed change is small when going up and down the track.

2. The differentially driven land-rail dual-purpose chassis according to claim 1, It is characterized in that A compression spring is arranged between the suspension frame and the fixing bracket.

3. The differentially driven land-rail dual-purpose chassis according to any one of claims 1-2, It is characterized in that The suspension frame comprises a movable plate A, a movable plate B and a connecting plate, which are welded in one piece.

4. The differentially driven land-rail dual-purpose chassis according to claim 1, It is characterized in that A support groove is provided on the output shaft where the land wheel is located, and a mechanical limit is provided on the support groove. The mechanical limit includes a limit bracket and a buffer rubber pad.

5. The differentially driven land-rail dual-purpose chassis according to claim 1, It is characterized in that A universal wheel bracket is arranged between the driven wheel bracket and the suspension, a universal wheel is arranged on the universal wheel bracket, an auxiliary wheel bracket is arranged between the suspension and the universal wheel, and an auxiliary wheel is arranged on the auxiliary wheel bracket.

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