Walking balance system of wheeled tractor

Abstract

A walking balance system of a wheeled tractor comprises a fixing frame, wheels, a balance mechanism, a steering mechanism, a front axle and a rear axle. According to the walking balance system of the wheeled tractor, a dynamic posture weight screw instrument is adopted for the balance function, four electromagnetic reversing valves are controlled respectively to adjust lifting balance of four wheels, and the beneficial effects that the walking balance system not only can adapt to flat road surfaces and slope road conditions, but also can adapt to complex rugged bumpy road conditions are achieved; and the steering mechanism adopts mechanical transmission steering, so that the beneficial effects of four-wheel steering and timely steering are achieved.

Description

Technical Field

[0001] The utility model relates to the technical field of agricultural machinery, in particular to a wheeled tractor walking balance system which can be adapted to operations on flat land, paddy fields, mountainous areas, hilly areas and plateaus. Background Art

[0002] With the continuous development of agriculture in hilly, mountainous and plateau areas of my country, the demand for agricultural machinery is increasing. However, due to the complex terrain and ups and downs in these areas, the existing wheeled tractors are required to be able to adapt not only to plain terrain operations, but also to complex terrain operations such as hills, mountains and plateaus.

[0003] For example, publication number CN 212667540 U discloses a self-propelled balancing mechanism for a multifunctional wheeled tractor, comprising a travel frame, a front chain track travel mechanism, a rear chain track travel mechanism, two steering telescopic cylinders, and a leveling device. The fixed frame comprises a front steering frame and a rear steering frame, which are connected by a steering fixed shaft. The two steering telescopic cylinders are hinged at both ends to the front and rear steering frames. The leveling device comprises a guide vertical shaft and a hydraulic lifting cylinder. When the multifunctional wheeled tractor is operating on a slope, the extension length of the plungers of the four hydraulic lifting cylinders is adjusted to maintain the travel frame in a level position.

[0004] In this patent, the structure of the leveling device is relatively simple, and the adjustment of the leveling device can only be done manually through the driver's feel, which has poor stability. Moreover, the hydraulic lifting cylinders can only be raised or lowered at the same time by two guide vertical shafts, and cannot be adjusted independently. This results in the leveling device being able to adapt only to flat slope conditions, but not to complex uneven and bumpy road conditions. When turning, since the two steering telescopic cylinders rely on hydraulic motor input transmission, the wheeled tractor can only achieve two-wheel turning, and the steering response of the steering telescopic cylinders is relatively slow, which is not conducive to timely steering. Summary of the Invention

[0005] In order to address the deficiencies of the prior art, the utility model provides a walking balancing system for a wheeled tractor. The balancing function of the walking balancing system of the wheeled tractor adopts a dynamic attitude gyro to control four electromagnetic reversing valves respectively to adjust the lifting balance of the four wheels, thereby achieving the purpose of not only adapting to flat roads and sloped road conditions, but also adapting to complex uneven and bumpy road conditions; the steering mechanism adopts mechanical transmission steering, thereby achieving the purpose of four-wheel steering and timely steering.

[0006] The utility model solves the problem with a technical solution, a wheel tractor walking balance system, comprising a fixed frame, wheels, a balance mechanism, a steering mechanism, a front axle and a rear axle, wherein the wheels have hubs, the outer sides of the wheels are equipped with anti-skid telescopic teeth, the fixed frame connects the front axle, the rear axle and the balance mechanism, the balance mechanism comprises a main control panel, an electromagnetic reversing valve and a lifting device, the main control panel is provided with a touch screen button, a controller PLC, a sensor, and a relay module, the main control panel is connected to the electromagnetic reversing valve by a circuit, the electromagnetic reversing valve is connected to the lifting device by an oil pipe; the lifting device The device includes a guide sleeve and a reinforcement plate. The side of the guide sleeve is connected to the fixing frame. A reinforcement plate is provided between the side of the guide sleeve and the fixing frame. The guide sleeve includes a lifting cylinder, a lifting cylinder seat and a guide tube. The inner wall of the guide sleeve is connected to the guide tube. A guide tube fixing seat is provided at one end of the guide tube. A lifting cylinder is provided in the guide tube. The bottom of the lifting cylinder is connected to the lifting cylinder seat. The lifting cylinder seat is connected to the guide sleeve. A lifting support rod is provided in the lifting cylinder. The lifting support rod is connected to the guide tube fixing seat. The guide tube fixing seat is bolted to the wheel hub.

[0007] The steering mechanism includes a steering cylinder, a steering cylinder seat, a steering cylinder tie rod, a steering cylinder tie rod seat, a universal joint and a drive shaft. The two ends of the universal joint are connected to the drive shaft, and the drive shaft is connected to the wheel hub and the front axle. The bottom of the steering cylinder has a steering cylinder seat, and the steering cylinder seat pin is connected to the wheel hub. The steering cylinder cooperates with the steering cylinder tie rod, and the steering cylinder tie rod is connected to the steering cylinder tie rod seat, and the steering cylinder tie rod seat is connected to the front axle.

[0008] The wheel hub is provided with a pin hole for cooperating with the steering cylinder, a bolt hole for connecting with the guide tube, and a shaft hole for cooperating with the transmission shaft;

[0009] The guide tube fixing seat is provided with a bolt hole;

[0010] The wheel hub is a closed wheel hub.

[0011] The beneficial effects of the utility model are as follows: the balancing function of the walking balancing system of the wheeled tractor adopts a dynamic attitude gyro to control four electromagnetic reversing valves respectively to adjust the lifting balance of the four wheels, achieving the beneficial effect of not only being able to adapt to flat roads and sloped road conditions, but also being able to adapt to complex uneven and potholed road conditions; the steering mechanism adopts mechanical transmission steering, achieving four-wheel steering, and the beneficial effect of timely and corresponding steering. BRIEF DESCRIPTION OF THE DRAWINGS

[0012] Figure 1 It is a structural diagram of the utility model;

[0013] Figure 2 This is the structural front view of the utility model;

[0014] Figure 3 For this utility model Figure 2 A top view of

[0015] Figure 4 This is the structural front view of the wheel hub of the utility model;

[0016] Figure 5 For this utility model Figure 4 Bottom view of

[0017] Figure 6 This is a structural front view of the guide tube of the utility model;

[0018] Figure 7 For this utility model Figure 6 A top view of

[0019] The present invention will be further described below with reference to the accompanying drawings. DETAILED DESCRIPTION

[0020] The specific implementation of the utility model is as follows: Figure 1 、 Figure 2 、 Figure 3 A wheeled tractor walking balance system includes a fixed frame 10, a wheel 18, a balancing mechanism, a steering mechanism, a front axle 11 and a rear axle, wherein the wheel 18 has a wheel hub 20, and the outer side of the wheel 18 is installed with an anti-skid telescopic tooth 22. The fixed frame 10 connects the front axle 11, the rear axle and the balancing mechanism. The balancing mechanism includes a main control board 5, an electromagnetic reversing valve 3 and a lifting device 1. The main control board 5 is provided with a touch screen button 6, a controller PLC 7, a sensor 8, and a relay module 9. The main control board 5 is connected to the circuit 4 between the electromagnetic reversing valve 2, and the electromagnetic reversing valve 3 is connected to the oil pipe 2 between the lifting device 1; the lifting device 1 includes a guide sleeve 16 and a reinforcing plate 12. The side of the guide sleeve 16 is connected to the fixing frame 10, and a reinforcing plate 12 is provided between the side of the guide sleeve 16 and the fixing frame 10. The guide sleeve 16 includes a lifting cylinder 14, a lifting cylinder seat 13 and a guide tube 15. The inner wall of the guide sleeve 16 is connected to the guide tube 15. A guide tube fixing seat 19 is provided on one end of the guide tube 15. A lifting cylinder 14 is provided in the guide tube 15. The bottom of the lifting cylinder 14 is connected to the lifting cylinder seat 13. The lifting cylinder seat 13 is connected to the guide sleeve 16. A lifting support rod 17 is provided in the lifting cylinder 14. The lifting support rod 17 is connected to the guide tube fixing seat 19. The guide tube fixing seat 19 is bolted to the wheel hub 20.

[0021] Reference Figure 2 、 Figure 3 The steering mechanism includes a steering cylinder 24, a steering cylinder seat 21, a steering cylinder rod 26, a steering cylinder rod seat 28, a universal joint 25 and drive shafts 23 and 27. The two ends of the universal joint 25 are connected to the drive shafts 23 and 27. The drive shafts 23 and 27 are connected to the wheel hub 20 and the front axle 11. The steering cylinder 24 has a steering cylinder seat 21 at the bottom. The steering cylinder seat 21 is pin-connected to the wheel hub 20. The steering cylinder 24 cooperates with the steering cylinder rod 26. The steering cylinder rod 26 is connected to the steering cylinder rod seat 28, and the steering cylinder rod seat 28 is connected to the front axle 11.

[0022] Reference Figure 2 、 Figure 4 、 Figure 5 The wheel hub 20 has a pin hole 30 that cooperates with the steering cylinder 24, a bolt hole 29 connected to the guide tube, and a shaft hole 31 that cooperates with the drive shaft 23;

[0023] Reference Figure 6 、 Figure 7 , the guide tube fixing seat 19 is provided with a bolt hole 32;

[0024] Reference Figure 2 、 Figure 3 , the wheel hub 20 is a closed wheel hub;

[0025] Reference Figure 1 、 Figure 2 、 Figure 3 Before use, the main control panel of the wheeled tractor walking balance system is first set in the cab, and the fixing frame 10 is installed on the wheeled tractor chassis through fasteners; when the wheeled tractor walking balance system encounters mountainous, hilly, and pothole-prone road conditions, the driver turns on the main control panel 5 to start working. The touch screen button 6 has the functions of working mode, stop button, angle adjustment, and each electromagnetic reversing valve adjustment button. When set to work, the sensor 8 grasps the degree of bevel angle. When it is greater than five degrees, the sensor 8 sends a signal to the controller 7 through the relay module 9 to notify the electromagnetic reversing valve 3 greater than five degrees to open the oil flow mode. The hydraulic oil enters the lifting device through the oil pipe 2 to lift the vehicle body, so that it remains horizontal and achieves the function of automatic balancing of the vehicle body. As the terrain rises and falls, the vehicle automatically adjusts to a balanced center of gravity. It can climb 40 degrees longitudinally and 38 degrees laterally. For hilly picking operations, four-wheel turning and U-turns can be performed, two-wheel steering can be performed, and small strips and blocks can be reversed.

Claims

1. A wheeled tractor travel balancing system, comprising a fixed frame, wheels, a balancing mechanism, a steering mechanism, a front axle, and a rear axle, characterized by: The wheel has a hub, and the outer side of the wheel is equipped with anti-skid telescopic teeth. The fixed frame connects the front axle, the rear axle and the balancing mechanism. The balancing mechanism includes a main control board, an electromagnetic reversing valve and a lifting device. The main control board is provided with a touch screen button, a controller PLC, a sensor, and a relay module. The main control board is connected to the electromagnetic reversing valve by a circuit, and the electromagnetic reversing valve is connected to the lifting device by an oil pipe; the lifting device includes a guide sleeve and a reinforcement plate. The side of the guide sleeve is connected to the fixed frame, and a reinforcement plate is provided between the side of the guide sleeve and the fixed frame. The guide sleeve includes a lifting cylinder, a lifting cylinder seat and a guide tube. The inner wall of the guide sleeve is connected to the guide tube, and a guide tube fixing seat is provided at one end of the guide tube. A lifting cylinder is provided in the guide tube, and a lifting cylinder seat is connected to the bottom of the lifting cylinder. The lifting cylinder seat is connected to the guide sleeve. A lifting support rod is provided in the lifting cylinder, and the lifting support rod is connected to the guide tube fixing seat, and the guide tube fixing seat is bolted to the wheel hub.

2. A wheeled tractor walking balancing system according to claim 1, characterized in that: The steering mechanism includes a steering cylinder, a steering cylinder seat, a steering cylinder rod, a steering cylinder rod seat, a universal joint and a drive shaft. The two ends of the universal joint are connected to the drive shaft, and the drive shaft is connected to the wheel hub and the front axle. The bottom of the steering cylinder has a steering cylinder seat, and the steering cylinder seat pin is connected to the wheel hub. The steering cylinder cooperates with the steering cylinder rod, and the steering cylinder rod is connected to the steering cylinder rod seat, and the steering cylinder rod seat is connected to the front axle.

3. The wheeled tractor walking balancing system according to claim 1, characterized in that: The wheel hub is provided with a pin shaft hole matched with the steering oil cylinder, a bolt hole connected with the guide tube and a shaft hole matched with the transmission shaft.

4. The wheeled tractor walking balancing system according to claim 1, characterized in that: The guide tube fixing seat is provided with bolt holes.

5. The wheeled tractor walking balancing system according to claim 1, characterized in that: The wheel hub is a closed wheel hub.

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