Parallel self-adaptive suspension micro agricultural machine chassis

Abstract

The utility model discloses a parallel connection self-adaptive suspension miniature agricultural machine chassis, which belongs to the technical field of agricultural machine chassis, and comprises a chassis frame, a guide wheel, a parallel connection rod suspension mechanism and a Mecanum wheel set, the chassis frame comprises a chassis main beam and a chassis auxiliary beam, and auxiliary beams are arranged on two sides of the chassis main beam. A shock absorber connecting plate is arranged between the shock absorber body and the base, and a shock absorber is arranged on the shock absorber connecting plate. The guide wheels comprise a first guide wheel and a second guide wheel, the first guide wheel is fixedly arranged on the chassis auxiliary beam, and the second guide wheel is arranged on the auxiliary beam; the parallel connection rod suspension mechanism is arranged above the chassis main beam and is fixedly connected with the chassis main beam through an arranged suspension connection assembly; the Mecanum wheel sets are arranged on the outer sides of the two ends of the parallel connection rod suspension mechanism. A non-independent parallel connecting rod suspension mechanism is adopted, the stability of the chassis is improved, the adjustability of the chassis is high, and the chassis is more suitable for complex working road conditions.

Description

Technical Field

[0001] The utility model relates to the technical field of agricultural machinery chassis, in particular to a miniature agricultural machinery chassis with parallel adaptive suspension. Background Art

[0002] China has a vast territory with complex and diverse terrain, with mountainous areas accounting for a large area, accounting for 2 / 3 of the country's area. In addition, due to the uneven distribution of agricultural land and poor transportation conditions, some large agricultural machinery is difficult to operate, and the degree of agricultural mechanization in mountainous areas is hindered. Therefore, the development of micro-agricultural machinery with stability and safety in complex terrain is an urgent need for agricultural production in mountainous areas.

[0003] Traditional vehicles generally use independent suspensions for their suspension systems. Independent suspensions are comfortable and easy to operate. However, when driving on harsh terrains, such as steep slopes or stairs, it is easy for a single wheel to step on air, and the shock absorber travel can easily reach its limit. When a Mecanum wheel chassis machine with independent suspension moves sideways, due to the characteristics of the Mecanum wheel, the front and rear wheels will be subject to greater inertia, reducing the stability of the system. Therefore, the above two chassis are not suitable for agricultural machinery or other load-bearing machinery. Utility Model Content

[0004] The main purpose of the utility model is to solve the above-mentioned technical problems to a certain extent, and propose a miniature agricultural machinery chassis with parallel adaptive suspension, which adopts a non-independent parallel connecting rod suspension mechanism to improve the stability of the chassis. The chassis has strong adjustability and is more suitable for complex working conditions.

[0005] The above-mentioned problem to be solved by the utility model is achieved through the following technical solutions:

[0006] A miniature agricultural machinery chassis with parallel adaptive suspension is proposed, comprising a chassis frame, a guide wheel, a parallel link suspension mechanism and a Mecanum wheel set, wherein the chassis frame comprises a chassis main beam and a chassis sub-beam connected to each other, auxiliary beams are provided at the lower positions of both sides of the chassis main beam, and a shock absorber connecting plate is provided between the two, and a shock absorber is provided on the shock absorber connecting plate; the guide wheel comprises a first guide wheel and a second guide wheel, the first guide wheel is fixedly arranged on the chassis sub-beam to control left and right movement, and the second guide wheel is arranged on the auxiliary beam to control front and back movement; the parallel link suspension mechanism is arranged above the chassis main beam, and is fixedly connected to the chassis main beam through a suspension connection component; the Mecanum wheel set comprises four groups, which are respectively arranged on the outer sides of both ends of the parallel link suspension mechanism, and are respectively hinged to the shock absorber, the parallel link suspension mechanism, the auxiliary beam and the chassis main beam.

[0007] In one embodiment, the parallel-link suspension mechanism includes a damping rod, a tension spring, a suspension plate and a suspension link. The suspension plate is disposed on one side of the end of the chassis main beam. One end of the damping rod and the tension spring are respectively hinged to the suspension plate, and the other end is respectively hinged to the Mecanum wheel assembly. The two suspension plates are connected by the suspension link. The suspension connection assembly is fixed in a mounting hole provided in the chassis main beam and is fixedly connected to the suspension link.

[0008] In one embodiment, the damping rod is arranged in parallel with the tension spring.

[0009] In one embodiment, the suspension connection assembly includes a flange spindle, a spacer block and a circular ring. The flange spindle is fixed in the mounting hole of the chassis main beam, the spacer block is sleeved on the flange spindle and a portion of it is placed in the mounting hole, the portion of the flange spindle extending out of the spacer block passes through the suspension connecting rod, and the circular ring is fixed to the end of the flange spindle extending out of the spacer block.

[0010] In one embodiment, the flange spindle is provided with a gasket and a flange bearing at a position between the raising block and the suspension link, and at a position between the circular ring and the suspension link.

[0011] In one embodiment, the first guide wheels are provided in four groups and are symmetrically arranged at the four corners of the chassis sub-beam, and the second guide wheels are provided in two groups and are symmetrically arranged at one end surface of the auxiliary beam.

[0012] In one embodiment, the shock absorbers are provided in four groups, one end of each group of shock absorbers is hinged to the shock absorber connecting plate, and the other end is hinged to a V-shaped connector, and the V-shaped connector is connected to the Mecanum wheel set.

[0013] In one embodiment, two chassis main beams and two chassis sub-beams are provided respectively, wherein the chassis main beam is arranged above the chassis sub-beam and are vertically connected to each other to form a tic-tac-toe frame structure.

[0014] The above technical solution provided by this application has the following advantages compared with the prior art:

[0015] The utility model connects four sets of Mecanum wheel groups in parallel through a suspension link assembly, and realizes elastic connection through a damping rod and a tension spring, so that the shock absorber has a certain compression amount in the initial state. When encountering a step road condition, a single wheel group can achieve a large stroke lift, and at the same time, the shock absorber stroke of the diagonally arranged Mecanum wheel group is compressed. When encountering a concave road condition, since the shock absorber is not in the longest state, the shock absorber is extended to make the Mecanum wheel group adapt to the concave ground, so that the vibration amplitude of the chassis frame is buffered and reduced. The effect of vibration is further reduced when encountering more undulating sections of road due to the addition of damping rods and tension springs. Under starting, braking, translation and other working conditions, after installing the suspension link assembly, part of the inertial impact can be consumed to prevent tipping. In complex road conditions, the guide wheels can ensure the passing angle of the vehicle. After assembly, the height of the Mecanum wheel set can be fine-tuned by adjusting the damping rod length, and the stability of the chassis system can be fine-tuned by adjusting the damping rod coefficient, making the chassis highly adjustable and more suitable for complex working road conditions. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] In order to more clearly illustrate the embodiments of the utility model or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the utility model. For ordinary technicians in this field, other drawings can be obtained based on the structures shown in these drawings without paying creative work.

[0017] Figure 1 It is a structural diagram of the miniature agricultural machinery chassis with parallel adaptive suspension of the utility model;

[0018] Figure 2 It is a structural diagram of the miniature agricultural machinery chassis with parallel adaptive suspension of the utility model;

[0019] Figure 3 It is a structural diagram of the miniature agricultural machinery chassis with parallel adaptive suspension of the utility model;

[0020] Figure 4 This is a structural diagram of the parallel connecting rod suspension mechanism of the utility model;

[0021] Figure 5 This is a structural diagram of the suspension connection assembly of the utility model.

[0022] Description of Figure Numbers:

[0023] 1-chassis frame; 101-chassis main beam; 102-chassis sub-beam; 103-auxiliary beam; 2-guide wheel; 201-first guide wheel; 202-second guide wheel; 3-parallel link suspension mechanism; 301-damping rod; 302-tension spring; 303-suspension plate; 304-suspension link; 4-Mecanum wheel assembly; 5-shock absorber connecting plate; 6-shock absorber; 7-V-shaped connector 7; 8-suspension connecting assembly; 801-flange spindle; 802-heightening block; 803-ring; 804-gasket; 805-flange bearing. DETAILED DESCRIPTION

[0024] The following will be combined with the drawings in the embodiments of the utility model to clearly and completely describe the technical solutions in the embodiments of the utility model. Obviously, the described embodiments are only part of the embodiments of the utility model, not all of the embodiments. Based on the embodiments of the utility model, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the utility model.

[0025] It should be noted that if the embodiments of the present invention involve directional indications (such as up, down, left, right, front, back...), the directional indications are only used to explain the relative position relationship, movement status, etc. between the components in a certain specific posture. If the specific posture changes, the directional indications will also change accordingly.

[0026] In addition, if there are descriptions involving "first", "second", etc. in the embodiments of the utility model, the descriptions of "first", "second", etc. are only used for descriptive purposes and cannot be understood as indicating or implying their relative importance or implicitly indicating the number of technical features indicated. Therefore, the features limited to "first" and "second" may explicitly or implicitly include at least one of the features. In addition, if "and / or" or "and / or" appears in the full text, its meaning includes three parallel solutions. Taking "A and / or B" as an example, it includes solution A, solution B, or solutions that satisfy both A and B. In addition, the technical solutions between the various embodiments can be combined with each other, but it must be based on the ability of ordinary technicians in this field to implement. When the combination of technical solutions is contradictory or cannot be implemented, it should be deemed that such combination of technical solutions does not exist and is not within the scope of protection required by the utility model.

[0027] like Figure 1-5As shown, the utility model proposes a miniature agricultural machinery chassis with parallel adaptive suspension, including a chassis frame 1, a guide wheel 2, a parallel link suspension mechanism 3 and a Mecanum wheel group 4, the chassis frame 1 includes a chassis main beam 101 and a chassis sub-beam 102 connected to each other, wherein the chassis main beam 101 and the chassis sub-beam 102 are respectively provided with two, the chassis main beam 101 is arranged above the chassis sub-beam 102, and are vertically connected to each other so that the chassis frame 1 is arranged in a tic-tac-toe frame structure; the lower positions on both sides of the chassis main beam 101 An auxiliary beam 103 is provided, and a shock absorber connecting plate 5 is provided therebetween. A shock absorber 6 is provided on the shock absorber connecting plate 5. Four groups of shock absorbers 6 are provided. One end of each group of shock absorbers 6 is hinged to the shock absorber connecting plate 5, and the other end is hinged to a V-shaped connector 7. The V-shaped connector 7 is connected to four groups of Mecanum wheels. Four groups of Mecanum wheels are provided, which are respectively arranged on the outsides of the two ends of the parallel link suspension mechanism 3, and are respectively hinged to the shock absorber 6, the parallel link suspension mechanism 3, the auxiliary beam 103 and the chassis main beam 101.

[0028] The guide wheel 2 includes a first guide wheel 201 and a second guide wheel 202, wherein the first guide wheel 201 is provided with four groups and symmetrically arranged at the four corners of the chassis subbeam 102 to control left and right movement, and the second guide wheel 202 is provided with two groups and symmetrically arranged at one side end surface of the auxiliary beam 103 to control front and rear movement.

[0029] Reference Figure 2-4 As shown, the parallel-link suspension mechanism 3 is arranged above the chassis main beam 101, and the parallel-link suspension mechanism 3 includes a damping rod 301, a tension spring 302, a suspension plate 303 and a suspension link 304. The suspension plate 303 is arranged on one side of the end of the chassis main beam 101, and one end of the damping rod 301 and the tension spring 302 are respectively hinged to the suspension plate 303, and the other end is respectively hinged to the four groups of Mecanum wheels, and the damping rod 301 and the tension spring 302 are arranged in parallel; the two suspension plates 303 are connected by the suspension link 304; at the same time, a suspension connection component 8 is fixedly provided in the mounting hole set in the chassis main beam 101, and is fixedly connected to the suspension link 304 through the suspension connection component 8, so that the parallel-link suspension mechanism 3 is fixedly connected to the chassis main beam 101; by adopting the non-independent parallel-link suspension mechanism 3, the stability of the chassis is improved, the chassis has strong adjustability, and is more suitable for complex working road conditions.

[0030] In this embodiment, four groups of Mecanum wheels 4 are connected in parallel through the suspension link 304 assembly, and elastically connected through the damping rod 301 and the tension spring 302, so that the shock absorber 6 has a certain amount of compression in the initial state. When encountering a step road condition, a single wheel group can achieve a large stroke lift, and at the same time, the shock absorber 6 of the diagonally arranged Mecanum wheel 4 groups is compressed. When encountering a concave road condition, since the shock absorber 6 is not in the longest state, the shock absorber 6 is extended to make the Mecanum wheel 4 groups adapt to the concave ground, so that the vibration amplitude of the chassis frame 1 plays a buffering role. The effect of vibration is further reduced when encountering more undulating sections of the road due to the addition of the damping rod 301 and the tension spring 302. Under the working conditions of starting, braking, and translation, after installing the suspension link 304 assembly, part of the inertial impact can be consumed to prevent tipping. In complex road conditions, the guide wheel 2 can ensure the passing angle of the vehicle. After assembly, the height of the Mecanum wheel 4 group can be fine-tuned by adjusting the length of the damping rod 301, and the stability of the chassis system can be fine-tuned by adjusting the damping rod 301 coefficient, so that the chassis has strong adjustability and is more suitable for complex working road conditions.

[0031] Further, such as Figure 5 As shown, the suspension connection component 8 includes a flange spindle 801, a heightening block 802 and a ring 803. The flange spindle 801 is fixed in the mounting hole of the chassis main beam 101. The heightening block 802 is sleeved on the flange spindle 801 and part of it is placed in the mounting hole. The portion of the flange spindle 801 extending out of the heightening block 802 passes through the suspension link 304, and the ring 803 is fixed to the end of the flange spindle 801 extending out of the heightening block 802. Through this structure, the flange spindle 801 is respectively fixed to the suspension link 304 and the chassis main beam 101, thereby fixing the parallel link suspension mechanism 3 to the chassis main beam 101.

[0032] In order to improve the stability of the flange shaft 801, the heightening block 802, the ring 803 and the suspension link 304 after locking, a gasket 804 and a flange bearing 805 are provided at the position of the flange shaft 801 between the heightening block 802 and the suspension link 304, and at the position between the ring 803 and the suspension link 304.

[0033] The parallel connecting rod suspension mechanism 3 of the miniature agricultural machinery chassis of the parallel adaptive suspension is in a state of certain compression in the initial installation state. The tension spring 302 and the damping rod 301 can be extended or further compressed. The front and rear Mecanum wheels 4 groups on the same side transmit force through the tension spring 302 and the damping rod 301, so that the shock absorber 6 on the second guide wheel 202 can quickly respond to the change of the pressure of the second guide wheel 202. The Mecanum wheels 4 groups on the diagonal side are connected through the suspension plate 303 and the suspension connecting rod 304. 304, the tension spring 302 and the damping rod 301 transmit force; therefore, when the pressure of any guide wheel 2 on the ground changes due to special terrain changes, the guide wheel 2 on the same side can quickly adapt to this change. At the same time, the pressure change of the shock absorbing system on one side will also cause the adaptive adjustment of the shock absorbing system on the other side. When the tension spring 302 and the damping rod 301 are not compressed, and when the tension spring 302 and the damping rod 301 are compressed, the travel of the guide wheel 2 on the side with greater pressure is greater, and the travel of the other side is smaller, and the force of the single-sided shock absorbing system is balanced.

[0034] Under different road conditions, different adaptation effects are reflected:

[0035] When moving forward and backward, when the pressure difference between the front wheel and the rear wheel of the first guide wheel 201 suddenly increases, the tension spring 302 and the damping rod 301 are subjected to different forces at both ends, and the non-independent parallel link suspension mechanism 3 moves relative to the chassis frame 1. The result of the movement is to press down the Mecanum wheel group 4 at the end with smaller pressure, so that the pressure of the first guide wheel 201 is balanced.

[0036] During the landing impact, when the chassis pressure increases sharply, if the four wheels of the Mecanum wheel group 4 touch the ground at the same time without pressure difference, the shock absorber 6, the tension spring 302 and the damping rod 301 are compressed at the same time, which can absorb more energy and greatly reduce the impact of the vehicle body and other parts. If the four wheels of the non-Mecanum wheel group 4 touch the ground at the same time, it can be understood as the road condition.

[0037] When the front Mecanum wheel 4 is suspended in the air, the pressure is zero, and the rear Mecanum wheel 4 is lifted up by the ground support force, driving the tension spring 302 and the damping rod 301 to move forward. The tension spring 302 and the damping rod 301 press down the suspended front Mecanum wheel 4, so that the wheel touches the ground in advance, accelerating the response speed of the wheel to the terrain change.

[0038] In the case of an obstacle terrain, when a certain Mecanum wheel group 4 passes through the obstacle, the wheel is lifted, the shock absorber 6 is compressed, and the tension spring 302 and the damping rod 301 press down the other Mecanum wheel group 4 on the same side. At the same time, the non-independent parallel link suspension mechanism 3 rotates around the suspension connection assembly 8 to lift the diagonal Mecanum wheel group 4. Accordingly, the Mecanum wheel group 4 on the same side as the diagonal Mecanum wheel group 4 is pressed down. Under the combined effect, the inclination angle of the chassis caused by the obstacle road condition can be smaller, reducing the risk of tipping.

[0039] The above are only preferred embodiments of the present invention, and do not limit the patent scope of the present invention. All equivalent structural changes made by using the contents of the present invention specification and drawings under the inventive concept of the present invention, or directly / indirectly applied in other related technical fields are included in the patent protection scope of the present invention.

Claims

1. A miniature agricultural machinery chassis with parallel adaptive suspension, characterized in that: include, A chassis frame, the chassis frame comprising a chassis main beam and a chassis secondary beam connected to each other, auxiliary beams are provided at the lower positions of both sides of the chassis main beam, and a shock absorber connecting plate is provided between the two, and a shock absorber is provided on the shock absorber connecting plate; Guide wheels, the guide wheels comprising a first guide wheel and a second guide wheel, the first guide wheel being fixedly mounted on the chassis sub-beam to control left and right movement, and the second guide wheel being mounted on the auxiliary beam to control front and rear movement; A parallel-link suspension mechanism, which is disposed above the chassis main beam and is fixedly connected to the chassis main beam via a provided suspension connection assembly; The Mecanum wheel assembly comprises four Mecanum wheel assemblies, which are respectively arranged on the outer sides of the two ends of the parallel link suspension mechanism and are respectively hinged to the shock absorber, the parallel link suspension mechanism, the auxiliary beam and the chassis main beam.

2. The miniature agricultural machinery chassis with parallel adaptive suspension according to claim 1, characterized in that: The parallel-link suspension mechanism comprises a damping rod, a tension spring, a suspension plate and a suspension link. The suspension plate is arranged at one side of the end of the chassis main beam. One end of the damping rod and the tension spring are respectively hinged to the suspension plate, and the other end is respectively hinged to the Mecanum wheel set. The two suspension plates are connected by the suspension link. The suspension connection assembly is fixed in a mounting hole provided in the chassis main beam and is fixedly connected to the suspension link.

3. The miniature agricultural machinery chassis with parallel adaptive suspension according to claim 2, characterized in that: The damping rod is arranged in parallel with the tension spring.

4. The miniature agricultural machinery chassis with parallel adaptive suspension according to claim 2, characterized in that: The suspension connection assembly includes a flange spindle, a spacer block and a circular ring. The flange spindle is fixed in the mounting hole of the chassis main beam. The spacer block is sleeved on the flange spindle and part of it is placed in the mounting hole. The portion of the flange spindle extending out of the spacer block passes through the suspension connecting rod. The circular ring is fixed to the end of the flange spindle extending out of the spacer block.

5. The miniature agricultural machinery chassis with parallel adaptive suspension according to claim 4, characterized in that: The flange spindle is located between the pad block and the suspension link, and the flange spindle is sleeved with a gasket and a flange bearing at a position between the ring and the suspension link.

6. The miniature agricultural machinery chassis with parallel adaptive suspension according to claim 1, characterized in that: The first guide wheels are provided in four groups and are symmetrically arranged at the four corners of the chassis auxiliary beam, and the second guide wheels are provided in two groups and are symmetrically arranged at one end surface of the auxiliary beam.

7. The mini agricultural machinery chassis with parallel adaptive suspension according to claim 1, characterized in that: The shock absorbers are provided with four groups, one end of each group of shock absorbers is hinged to the shock absorber connecting plate, and the other end is hinged to a V-shaped connecting piece, and the V-shaped connecting piece is connected to the Mecanum wheel set.

8. The mini agricultural machinery chassis with parallel adaptive suspension according to claim 1, characterized in that: The chassis main beam and the chassis sub-beam are provided with two respectively, wherein the chassis main beam is arranged above the chassis sub-beam and are vertically connected to each other to form a tic-tac-toe frame structure.

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