Agricultural four-wheel drive self-adaptive chassis with adjustable stiffness damping mechanism

Abstract

The present application relates to a kind of agricultural four-wheel drive self-adaptive chassis with adjustable stiffness damping mechanism, including vehicle body and independent suspension system;The vehicle body includes vehicle body and frame;The independent suspension system includes suspension damping device arranged in the front and rear sides of vehicle body;The suspension damping device includes suspension device and damping device;The suspension device includes parallelogram profiling mechanism;The damping device includes spring-damping shock absorber and air spring system;The air spring system includes air spring, additional air chamber, inflator, height adjustment valve and connecting pipeline;The upper end of the spring-damping shock absorber is hinged with the vehicle body, and the lower end is hinged with the first connecting rod in the parallelogram profiling mechanism.The agricultural four-wheel drive self-adaptive chassis of the present application can reduce the impact of uneven road on the vehicle body while improving the passability of agricultural unmanned vehicle, and improve the application range of agricultural unmanned vehicle.

Description

Technical Field

[0001] This invention relates to the field of agricultural unmanned vehicle chassis structure, and particularly to an agricultural four-wheel drive adaptive chassis with an adjustable stiffness damping mechanism. Background Technology

[0002] With the development of autonomous vehicles, more and more of them are being deployed in the agricultural sector. Traditional agricultural autonomous vehicles mostly use rigidly connected chassis structures, which cannot buffer the bumps and vibrations caused by uneven road surfaces. This significantly affects the accuracy of the onboard sensors, thus limiting the application scenarios of autonomous vehicles in agriculture. Furthermore, in the mountainous and hilly areas of southern my country, the complex terrain requires agricultural autonomous vehicles to have strong off-road capabilities. Summary of the Invention

[0003] The purpose of this invention is to overcome the shortcomings of the prior art and provide an agricultural four-wheel drive adaptive chassis with an adjustable stiffness damping mechanism. The agricultural four-wheel drive adaptive chassis can improve the passability of agricultural unmanned vehicles while reducing the impact of uneven road surfaces on the vehicle body, thereby expanding the application range of agricultural unmanned vehicles.

[0004] The technical solution of the present invention to solve the above-mentioned technical problems is:

[0005] An agricultural four-wheel drive adaptive chassis with an adjustable stiffness damping mechanism includes a vehicle body and independent suspension systems disposed on the left and right sides of the vehicle body. The vehicle body includes a chassis and frames located on the left and right sides of the chassis. A connecting shaft is provided between the two frames, with both ends of the connecting shaft connected to the frames on both sides respectively. The bottom of the chassis contacts the connecting shaft. The independent suspension system includes suspension damping devices disposed on the front and rear sides of the vehicle body. The suspension damping device includes a suspension assembly and a damping device. The suspension assembly includes a parallel four-bar linkage. The parallel four-bar linkage includes a first link, a second link, and a third link. The first link and the second link are arranged in parallel, with one end hinged to the frame and the other end connected to both ends of the third link respectively. The damping device includes spring damping... A shock absorber and air spring system, wherein the air spring system includes an air spring, an auxiliary air chamber, an inflator, a height adjustment valve, and connecting pipes; the upper end of the air spring is connected to the first connecting rod, and the lower end is connected to the second connecting rod; the inflator is mounted on the frame, and the air outlet of the inflator is connected to the air inlet of the air spring through the connecting pipe, while the air outlet of the air spring is connected to the auxiliary air chamber mounted on the frame through the connecting pipe; the height adjustment valve is installed at the air outlet of the inflator; the upper end of the spring damping shock absorber is hinged to the vehicle body, and the lower end is connected to the first connecting rod; a mounting seat is provided on one side of the third connecting rod, one side of the mounting seat is rotatably connected to the third connecting rod through a rotating shaft, and the other side is connected to the wheel axle, the wheel axle being rotatably connected to the mounting seat.

[0006] Preferably, it also includes a power drive device for driving the wheels on the left and right sides of the vehicle body to rotate, wherein there are two sets of power drive devices, which are used to drive the wheels on the left and right sides of the vehicle body to rotate respectively.

[0007] Preferably, the power drive device is located on the outer side of the vehicle body. Each power drive device includes two power transmission mechanisms and one power drive mechanism. The two power transmission mechanisms are located on the front and rear sides of the same side of the vehicle body, respectively. One power transmission mechanism is used to transmit the output power of the power drive mechanism to the front wheel on the same side of the vehicle body, and the other power transmission mechanism is used to transmit the output power of the power drive mechanism to the rear wheel on the same side of the vehicle body.

[0008] Preferably, the power transmission mechanism includes a ball cage type drive shaft, one end of which is connected to the output end of the power drive mechanism, and the other end is rotatably connected to the mounting base, and is connected to the wheel axle of the wheel through a bevel gear transmission mechanism.

[0009] Preferably, the power drive mechanism includes a three-way box and a power mechanism for driving the input shaft of the three-way box to rotate. The three-way box is mounted on the frame and has two sets of output shafts. The two sets of output shafts are symmetrically arranged and are respectively connected to one end of two sets of ball cage drive shafts.

[0010] Preferably, the power mechanism includes a drive motor mounted on the frame, and the main shaft of the drive motor is connected to the input shaft of the three-way box via a chain drive mechanism.

[0011] Preferably, the connecting shaft is located on the front or rear side of the vehicle body.

[0012] Preferably, a buffer device is provided between the two ends of the connecting shaft and the frame. The buffer device includes a fixed seat and a spring damper provided on the frame. The fixed seat is provided with a limit groove, and the spring damper is vertically installed in the limit groove. The end of the connecting shaft extends into the limit groove and presses against the upper end of the spring damper.

[0013] Preferably, the spring damper consists of a helical spring and a damper.

[0014] Compared with the prior art, the present invention has the following advantages:

[0015] 1. The agricultural unmanned vehicle equipped with the agricultural four-wheel drive adaptive chassis of this invention can absorb shocks through four sets of shock-absorbing devices on the front, rear, left, and right sides of the vehicle body, while the parallel four-bar contouring mechanism in the four sets of suspension devices can swing up and down; the frame and independent suspension system on the same side of the vehicle body can rotate around the axis of the connecting shaft; when stationary on uneven ground, if the wheel center of one of the front or rear wheels rises or falls relative to the vehicle body, this can drive the valve in the height adjustment valve of the air spring system to move down or up, causing the air spring to inflate or deflate. This ensures the vehicle body remains level at all times. When driving on uneven surfaces, if the wheel center of one of the front or rear wheels rises or falls, the parallel four-bar linkage in the independent suspension system rotates upward or downward. The spring dampers and air springs simultaneously compress or extend, keeping the vehicle body balanced. If the parallel four-bar linkage on one side swings upward or downward to its limit, causing the frame to rotate around the axis of the connecting shaft, the independent suspension system on the other side follows the frame around the connection between its parallel four-bar linkage and the frame. When the hinge point rotates, the parallel four-bar linkage of the independent suspension system on the front and rear sides rotates to its limit. Then, the independent suspension system on the front and rear sides rotates around the axis of the connecting shaft along with the frame. The spring dampers and air springs in the independent suspension system on the front and rear sides compress or stretch accordingly. This means that when the agricultural drone travels on uneven ground, all four sets of wheels can firmly grip the ground. When the ground impacts the wheels upwards or downwards, the air springs are compressed or stretched, creating a pressure difference between the air springs and the gas inside the auxiliary air chamber. This allows for gas exchange between the two components. The small flow area of ​​the connecting pipes damps the gas exchange, absorbing the impact force generated by the ground. This is also absorbed by the spring dampers and dampers in the buffer devices of the independent suspension systems on the left and right sides of the vehicle. This ensures that the agricultural drone does not experience significant bumps when traveling on uneven ground, reducing the adverse effects of vibration and impact on the performance of the electronic components inside the agricultural drone and ensuring the accuracy of the sensors on the vehicle.

[0016] 2. The agricultural four-wheel drive adaptive chassis with adjustable stiffness damping mechanism of the present invention maintains the vehicle body posture under different road conditions by changing the angle of the parallel four-bar contouring mechanism in the four sets of suspension damping devices and limiting the working plane of the parallel four-bar contouring mechanism by the spring damping shock absorber. Attached Figure Description

[0017] Figures 1-4 These are schematic diagrams of the agricultural four-wheel drive adaptive chassis with an adjustable stiffness damping mechanism from four different perspectives according to the present invention.

[0018] Figures 5-7These are three different structural schematic diagrams (with wheels removed) of the agricultural four-wheel drive adaptive chassis with adjustable stiffness damping mechanism of the present invention.

[0019] Figure 8 This is a schematic diagram of the power drive device.

[0020] Figure 9 This is a schematic diagram of the buffer device. Detailed Implementation

[0021] The present invention will be further described in detail below with reference to the embodiments and accompanying drawings, but the embodiments of the present invention are not limited thereto.

[0022] See Figures 1-9The agricultural four-wheel drive adaptive chassis with adjustable stiffness damping mechanism of the present invention includes a vehicle body 1 and independent suspension systems (i.e., left independent suspension system 2 and right independent suspension system 3) disposed on the left and right sides of the vehicle body 1. The vehicle body 1 includes a body 101 and frames 102 located on the left and right sides of the body 101. The two frames 102 are connected by a connecting shaft 7, and the bottom of the body 101 contacts the connecting shaft 7. The independent suspension system includes suspension damping devices disposed on the front and rear sides of the vehicle body 1. The suspension damping devices include suspension components and damping devices. The suspension system includes a parallel four-bar linkage 301; the parallel four-bar linkage 301 includes a first link 308, a second link 309, and a third link 310, wherein the first link 308 and the second link 309 are arranged in parallel, with one end hinged to the frame 102 and the other end connected to both ends of the third link 310 respectively; the shock absorption system includes a spring-damped shock absorber 302 and an air spring system, wherein the air spring system includes an air spring 303, an auxiliary air chamber 304, an inflator 305, and a height adjustment valve. 306 and connecting pipe 307, wherein the upper end of the air spring 303 is connected to the first connecting rod 308, and the lower end is connected to the second connecting rod 309; the inflator 305 is mounted on the frame 102, the air outlet of the inflator 305 is connected to the air inlet of the air spring 303 through the connecting pipe 307, and the air outlet of the air spring 303 is connected to the auxiliary air chamber 304 mounted on the frame 102 through the connecting pipe 307; the height adjustment valve 306 is installed at the air outlet of the inflator 305; the spring damping shock absorber The upper end of the device 302 is hinged to the vehicle body 101, and the lower end is hinged to the first connecting rod 308. A mounting seat 6 is provided on one side of the third connecting rod 310. One side of the mounting seat 6 is rotatably connected to the third connecting rod 310 via a rotating shaft, and the other side is connected to the wheel axle 8. The wheel axle 8 is mounted on the mounting seat 6. By setting the spring damping shock absorber 302 and the air spring 303, the shock absorption and impact resistance of the vehicle body 101 can be improved, and the adverse effects of vibration (or shock) and impact on the working performance of electronic components inside the unmanned transport vehicle can be reduced.

[0023] See Figures 1-9The agricultural four-wheel drive adaptive chassis with adjustable stiffness damping mechanism of the present invention also includes a power drive device 4 for driving the wheels on the left and right sides of the vehicle body 1 to rotate. The power drive device 4 is disposed on the outer side of the vehicle body 101, and there are two sets of power drive devices 4, each used to drive the wheels on the left and right sides of the vehicle body 1 to rotate. Each set of power drive devices 4 includes two sets of power transmission mechanisms and one set of power drive mechanisms. The two sets of power transmission mechanisms are located on the front and rear sides of the same side of the vehicle body 101, respectively. One set is used to transmit the output power of the power drive mechanism to the front wheel on the same side of the vehicle body 101, and the other set is used to transmit the output power of the power drive mechanism to the rear wheel on the same side of the vehicle body 101. In this embodiment, the power transmission mechanism includes a ball cage type drive shaft 406. One end of the ball cage type drive shaft 406 is connected to the output end of the power drive mechanism, and the other end is rotatably connected to the mounting base 6 and to the wheel. The shafts 8 are connected by a bevel gear transmission mechanism; the power drive mechanism includes a three-way box 405 and a power mechanism for driving the input shaft of the three-way box 405 to rotate, wherein the three-way box 405 is mounted on the frame 102, and the three-way box 405 is provided with two sets of output shafts, which are symmetrically arranged and respectively connected to one end of two sets of ball cage type transmission shafts 406; the power mechanism includes a drive motor and a chain drive mechanism mounted on the frame 102, wherein the... The chain drive mechanism includes a drive sprocket 407, a driven sprocket 402, and a chain 401. The drive sprocket 407 is mounted on the main shaft of the drive motor, and the driven sprocket 402 is rotatably connected to the three-way box 405 via a rotating shaft 403. The chain 401 is wound around the drive sprocket 407 and the driven sprocket 402. The rotating shaft 403 is connected to the ball cage type drive shafts 406 on both sides of the three-way box 405 via a bevel gear transmission mechanism 404.

[0024] The drive motor drives the chain drive mechanism to rotate, which in turn drives the rotating shaft 403 connected to the driven sprocket 402 to rotate. Simultaneously, the rotating shaft 403 rotates, driving the left or right ball-cage drive shaft 406 to rotate via the bevel gear transmission mechanism 404, thereby driving the wheel to rotate. In this embodiment, because there are two sets of power drive devices 4, there are two sets of drive motors, which provides the autonomous vehicle with differential steering capability. With the help of the spring-damped shock absorber 302, it can achieve steering with lower energy consumption and higher speed.

[0025] See Figures 1-9The connecting shaft 7 is disposed on the front or rear side of the vehicle body 101. A buffer device 5 is provided between both ends of the connecting shaft 7 and the frame 102. The buffer device 5 includes a fixed seat and a spring damper disposed on the frame 102. A limiting groove 501 is provided on the fixed seat, and the spring damper is vertically installed within the limiting groove 501. The end of the connecting shaft 7 extends into the limiting groove 501 and presses against the upper end of the spring damper. In this embodiment, the spring damper is composed of a helical spring 502 and a damper 503.

[0026] See Figures 1-9 The working principle of the agricultural four-wheel drive adaptive chassis with adjustable stiffness damping mechanism of the present invention is as follows:

[0027] The agricultural unmanned vehicle equipped with the agricultural four-wheel drive adaptive chassis of the present invention can be shock-absorbing by four sets of shock-absorbing devices in the front, rear, left and right of the body 101, while the parallel four-bar contouring mechanism 301 in the four sets of suspension devices in the front, rear, left and right can swing up and down; the frame 102 and independent suspension system on the same side of the body 101 can rotate around the axis of the connecting shaft 7.

[0028] When stationary on uneven ground, if the wheel center of one of the front or rear wheels rises or falls relative to the vehicle body 101, it will cause the valve in the height adjustment valve 306 of the air spring system to move down or up, causing the air spring 303 to inflate or deflate, ensuring that the vehicle body 101 always remains in a horizontal state.

[0029] When driving on uneven ground, if the wheel center of one of the front or rear wheels rises or falls, the parallel four-bar linkage 301 on that side will rotate upward or downward. The spring damper 302 and air spring 303 will compress or stretch together to keep the vehicle body 101 in a balanced state. If the parallel four-bar linkage 301 on one of the front or rear sides swings upward or downward to its limit, the frame 102 will rotate around the axis of the connecting shaft 7. The independent suspension system on the other front or rear side will then follow the frame 102 in rotation. When the parallel four-bar linkage 301 of the vehicle rotates with the hinge point connecting it to the frame 102, and the parallel four-bar linkage 301 of the independent suspension system on the front and rear sides rotates to its limit, the independent suspension system on the front and rear sides rotates together with the frame 102 around the axis of the connecting shaft 7. The spring damping shock absorber 302 and the air spring 303 in the independent suspension system on the front and rear sides are compressed or stretched together accordingly. That is, when the agricultural unmanned vehicle is driving on uneven ground, all four sets of wheels on the front, rear, left and right sides can grip the ground firmly.

[0030] When the ground impacts the wheels upwards or downwards, the air spring 303 is compressed or stretched, creating a pressure difference between the air spring 303 and the gas inside the auxiliary air chamber 304. This allows the gas inside the two components to exchange. The small flow area of ​​the connecting pipe 307 provides damping during gas exchange, thereby absorbing the impact force generated by the ground. This can also be absorbed by the spring damping shock absorbers 302 and the dampers in the buffer device 5 of the independent suspension system on the left and right sides of the vehicle body 101, thus ensuring that the agricultural unmanned vehicle will not experience large bumps when driving on uneven ground.

[0031] In addition, the high ground clearance design of the agricultural four-wheel drive chassis structure of the present invention and the design that the independent suspension systems on the left and right sides of the vehicle body 101 can rotate relative to each other at a large angle around the connecting shaft 7 improve the passability of the unmanned vehicle and greatly expand the application scenarios of agricultural unmanned vehicles.

[0032] The above are preferred embodiments of the present invention, but the embodiments of the present invention are not limited to the above content. Any changes, modifications, substitutions, combinations, or simplifications made without departing from the spirit and principle of the present invention shall be considered equivalent substitutions and shall be included within the protection scope of the present invention.

Claims

1. An agricultural four-wheel drive adaptive chassis with an adjustable stiffness damping mechanism, characterized in that, The system includes a vehicle body and independent suspension systems located on the left and right sides of the vehicle body. The vehicle body comprises a body frame and frames located on the left and right sides of the body frame. A connecting shaft is provided between the two frames, with both ends of the connecting shaft connected to the frames on both sides. The bottom of the body frame contacts the connecting shaft, and the frames and independent suspension systems on the same side of the body frame can rotate around the axis of the connecting shaft. The independent suspension system includes suspension damping devices located on the front and rear sides of the vehicle body. The suspension damping device includes a suspension assembly and a damping device. The suspension assembly includes a parallel four-bar linkage. The parallel four-bar linkage includes a first link, a second link, and a third link. The first link and the second link are arranged in parallel, with one end hinged to the frame and the other end connected to both ends of the third link. The damping device includes a spring. A spring-damped shock absorber and an air spring system are disclosed. The air spring system includes an air spring, an auxiliary air chamber, an inflator, a height adjustment valve, and connecting pipes. The upper end of the air spring is connected to the first connecting rod, and the lower end is connected to the second connecting rod. The inflator is mounted on the frame, and its outlet is connected to the air inlet of the air spring via a connecting pipe. The air outlet of the air spring is connected to the auxiliary air chamber mounted on the frame via a connecting pipe. The height adjustment valve is installed at the outlet of the inflator. The upper end of the spring-damped shock absorber is hinged to the vehicle body, and the lower end is hinged to the first connecting rod. A mounting base is provided on one side of the third connecting rod, one side of which is rotatably connected to the third connecting rod via a rotating shaft, and the other side is connected to the wheel axle, which is rotatably connected to the mounting base. It also includes two sets of power drive devices for driving the wheels on the left and right sides of the vehicle body to rotate. The power drive devices are respectively used to drive the wheels on the left and right sides of the vehicle body to rotate. The power drive devices are located on the outside of the vehicle body. Each set of power drive devices includes two sets of power transmission mechanisms and one set of power drive mechanisms. The two sets of power transmission mechanisms are located on the front and rear sides of the same side of the vehicle body, respectively. One set of power transmission mechanisms is used to transmit the output power of the power drive mechanism to the front wheel on the same side of the vehicle body, and the other set of power transmission mechanisms is used to transmit the output power of the power drive mechanism to the rear wheel on the same side of the vehicle body. The power transmission mechanism includes a ball cage type drive shaft. One end of the ball cage type drive shaft is connected to the output end of the power drive mechanism, and the other end is rotatably connected to the mounting base and connected to the wheel axle through a bevel gear transmission mechanism.

2. The agricultural four-wheel drive adaptive chassis with an adjustable stiffness damping mechanism according to claim 1, characterized in that, The power drive mechanism includes a three-way box and a power mechanism for driving the input shaft of the three-way box to rotate. The three-way box is mounted on the frame and has two sets of output shafts. The two sets of output shafts are symmetrically arranged and are respectively connected to one end of two sets of ball cage drive shafts.

3. The agricultural four-wheel drive adaptive chassis with an adjustable stiffness damping mechanism according to claim 2, characterized in that, The power mechanism includes a drive motor mounted on the frame, and the main shaft of the drive motor is connected to the input shaft of the three-way box via a chain drive mechanism.

4. The agricultural four-wheel drive adaptive chassis with an adjustable stiffness damping mechanism according to claim 1, characterized in that, The connecting shaft is located on the front or rear side of the vehicle body.

5. The agricultural four-wheel drive adaptive chassis with an adjustable stiffness damping mechanism according to claim 4, characterized in that, A buffer device is provided between the two ends of the connecting shaft and the frame. The buffer device includes a fixed seat and a spring damper on the frame. The fixed seat is provided with a limit groove, and the spring damper is vertically installed in the limit groove. The end of the connecting shaft extends into the limit groove and presses against the upper end of the spring damper.

6. The agricultural four-wheel drive adaptive chassis with an adjustable stiffness damping mechanism according to claim 5, characterized in that, The spring damper consists of a helical spring and a damper.

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