Agricultural six-wheel drive chassis

Abstract

The utility model relates to an agricultural six-wheel drive chassis which comprises a frame, two sets of single-side wheel rod suspensions, a connecting rod for connecting the two sets of single-side wheel rod suspensions, and a rotary magnetorheological damper. The chassis has the advantages that under the action of the suspension, all the wheels can be attached to the ground to the maximum extent, and therefore the traction performance of the chassis when the chassis walks on a complex road surface is improved; 2, when the vehicle runs on an uneven road surface, the posture of the vehicle frame can be finely adjusted by the electric push rod, so that the load on the vehicle frame is kept in a horizontal state to the greatest extent; and 3, the damping of the rotary magnetorheological damper can be adjusted through the current, so that the chassis can obtain the optimal vibration reduction performance when running under different road conditions.

Description

TECHNICAL FIELD

[0001] The utility model relates to agricultural chassis technical field especially relates to an agricultural six wheel drive chassis. BACKGROUND

[0002] The driving chassis is the main part for realizing the whole machine movement and carrying material, the material is supported through the chassis main frame, the driving mechanism is used for driving the wheel rotation, so that the whole machine walks in the carrying state, especially in the orchard or farmland, can be used for the transportation of fruits or crops, is very convenient, and reduces the labor intensity, saves manpower.

[0003] At present, the traditional agricultural driving chassis is mostly four-wheel chassis or track chassis, the driving mechanism drives four wheels or track wheels to rotate, realizes the whole machine movement.But the four wheels of four-wheel chassis are installed on the frame through the wheel shaft, and the wheel shaft cannot displace vertically or horizontally, which leads to poor passability of the whole machine when walking on uneven road surface, and it is difficult to adapt to the mountain orchard and complex farmland road surface.Although the track chassis can adapt to various complex road surface conditions, the driving energy consumption of the track chassis is too high, and the damage degree to the ground is large, which leads to high use cost.

[0004] Therefore, it is urgent to develop a high-passability wheel type chassis to meet the needs of driving on complex mountain and farmland road surfaces. CONTENT OF THE UTILITY MODEL

[0005] The utility model provides an agricultural six wheel drive chassis in view of the prior art's insufficient, improves the passability of agricultural vehicle in complex terrain, and is especially suitable for mountain orchard picking car, agricultural inspection robot and other application scenes.

[0006] The utility model is through following technical scheme realizes, provides an agricultural six wheel drive chassis, including frame, and the connecting rod VII and two single side wheel rod suspension frames installed on the frame, the connecting rod VII is rotatably connected with the frame, and the rotation axis of connecting rod VII extends along the vertical direction, two single side wheel rod suspension frames are arranged along the left and right directions, and the front wheel, the middle wheel and the rear wheel arranged along the front and back directions are installed on the single side wheel rod suspension frame, the single side wheel rod suspension frame includes the connecting rod II hinged with the frame through the hinge II, the connecting rod I installing the front wheel, the connecting rod V installing the middle wheel, the connecting rod VI installing the rear wheel and the telescopic mechanism extending along the front and back directions, the front end of connecting rod II is hinged with connecting rod I through the hinge I, the rear end of connecting rod II is hinged with connecting rod V through the hinge IV, the end, away from the middle wheel, of connecting rod V is hinged with connecting rod VI through the hinge V, the hinge IV is located between the middle wheel and the hinge V, and the hinge II is located between the hinge I and the hinge IV, the support rod is fixed on connecting rod II, the support rod is hinged with one end of the telescopic mechanism through the hinge III, the other end of the telescopic mechanism is hinged with connecting rod VII through the ball hinge, and the hinge points of the telescopic mechanism of two single side wheel rod suspension frames and connecting rod VII are located on the left and right sides of the rotation axis of connecting rod VII respectively.

[0007] The single-sided wheel suspension design allows the chassis to maintain a level position by adjusting the position of the ball joint relative to hinge III via a telescopic mechanism when traveling on uneven surfaces.

[0008] As an optimization, link VII is connected to the chassis via a rotary magnetorheological damper. The housing of the rotary magnetorheological damper is fixed to the chassis, and the rotating shaft of the rotary magnetorheological damper is connected to link VII. This optimization scheme, by setting up a rotary magnetorheological damper, dampens the rotation of link VII, thereby improving the chassis's vibration reduction effect.

[0009] As an optimization, the front, middle, and rear wheels are all drive wheels. This optimized solution, by configuring all wheels as drive wheels, improves the chassis's load-bearing capacity and mobility, meeting higher transportation requirements.

[0010] As an optimization, hinge I and hinge V are respectively connected to a servo motor. This optimized design enables hinge I and hinge V to rotate actively, improving the chassis's steering flexibility.

[0011] As an optimization, the connection point between the support rod and connecting rod II is located at hinge II. This optimization scheme makes frame adjustment more convenient by placing the support rod at hinge II, that is, at the rotation center of connecting rod II.

[0012] The beneficial effects of this utility model are as follows:

[0013] 1. With the action of two single-sided wheel suspensions, all wheels can maintain maximum contact with the ground, thereby improving the traction performance of the chassis when traveling on complex road surfaces.

[0014] 2. When driving on uneven roads, the electric push rod can make fine adjustments to the attitude of the frame, so that the load on the frame can be kept as level as possible.

[0015] 3. The damping of the rotary magnetorheological damper can be adjusted by the current, so that the chassis can obtain the best vibration reduction performance when driving on different road conditions. Attached Figure Description

[0016] Figure 1 This is a schematic diagram of the structure of this utility model (in the figure, the left is the front and the right is the rear).

[0017] Figure 2 for Figure 1 A top view (in the image, the top is the rear, and the bottom is the front);

[0018] Figure 3 This is a schematic diagram of the present invention without frame leveling;

[0019] Figure 4The utility model discloses a schematic diagram of the frame leveling of the vehicle.

[0020] As shown in the figure:

[0021] 1, front wheel, 2, connecting rod I, 3, hinge I, 4, frame, 5, hinge III, 6, connecting rod II, 7, hinge II, 8, push rod body, 9, electric push rod, 10, connecting rod IV, 11, spherical hinge, 12, hinge V, 13, connecting rod VI, 14, hinge IV, 15, rear wheel, 16, connecting rod V, 17, middle wheel, 18, connecting rod VII, 19, rotary magneto rheological damper. DETAILED DESCRIPTION

[0022] In order to clearly illustrate the technical features of the scheme, the scheme will be described below through specific embodiments.

[0023] As Figure 1 And 2 An agricultural six-wheel drive chassis shown in the figure, including frame 4, and connecting rod VII 18 and two single side wheel rod suspensions installed on the frame, two single side wheel rod suspensions are arranged along the left and right directions, are respectively located on the left and right sides of the frame, and the two single side wheel rod suspensions are oppositely arranged. The wheels installed on each single side wheel rod suspension are front wheels 1, middle wheels 17 and rear wheels 15 arranged along the front and rear directions, and the wheels on the two single side wheel rod suspensions are oppositely arranged, forming a six-wheel structure type.

[0024] Connecting rod VII 18 is rotatably connected with the frame, and the rotation axis of connecting rod VII 18 extends vertically, and the two ends of connecting rod VII 18 extend to the left and right sides of the frame respectively. In order to improve the damping performance, the connecting rod VII 18 of the embodiment is connected with the frame through the rotary magneto rheological damper 19, and the rotary magneto rheological damper 19 is a prior art, and the internal structure thereof will not be described again. When installed, the shell of the rotary magneto rheological damper 19 is fixedly connected with the frame 4, the rotating shaft of the rotary magneto rheological damper 19 is connected with the connecting rod VII 18, and the damping of the rotary magneto rheological damper can be adjusted by current, so that the chassis can obtain the best damping performance when driving on different road conditions.

[0025] The single side wheel rod suspension includes connecting rod II 6 hingedly connected with the frame through hinge II 7, connecting rod I 2 for installing the front wheel, connecting rod V 16 for installing the middle wheel, connecting rod VI 13 for installing the rear wheel, and a telescopic mechanism extending in the front and rear directions. The telescopic mechanism of the embodiment is an electric push rod 9, the push rod body 8 of the electric push rod extends forward, the housing rear end of the electric push rod is fixedly connected with connecting rod IV 10, and connecting rod IV 10 extends backward. By arranging connecting rod IV 10, the length of the telescopic mechanism is increased, the electric push rod is connected with the connecting rod VII (18) conveniently, and the connecting rod IV 10 can be regarded as a part of the telescopic mechanism.

[0026] The lower end of the connecting rod II 6 is rotatably connected with the front wheel 1 through the hinge I 3, the rear end of the connecting rod II 6 is rotatably connected with the connecting rod V 16 through the hinge IV 14, the end of the connecting rod V 16 away from the middle wheel is rotatably connected with the connecting rod VI 13 through the hinge V 12, the hinge IV 14 is located between the middle wheel 17 and the hinge V 12, the hinge II 7 is located between the hinge I 3 and the hinge IV 14, and the rotation shaft of the hinge II 7 is fixed on the frame 4.

[0027] The lower end of the connecting rod II 6 is rotatably connected with the front wheel 1 through the hinge I 3, the rear end of the connecting rod II 6 is rotatably connected with the connecting rod V 16 through the hinge IV 14, the end of the connecting rod V 16 away from the middle wheel is rotatably connected with the connecting rod VI 13 through the hinge V 12, the hinge IV 14 is located between the middle wheel 17 and the hinge V 12, the hinge II 7 is located between the hinge I 3 and the hinge IV 14, and the rotation shaft of the hinge II 7 is fixed on the frame 4.

[0028] The lower end of the connecting rod II 6 is rotatably connected with the front wheel 1 through the hinge I 3, the rear end of the connecting rod II 6 is rotatably connected with the connecting rod V 16 through the hinge IV 14, the end of the connecting rod V 16 away from the middle wheel is rotatably connected with the connecting rod VI 13 through the hinge V 12, the hinge IV 14 is located between the middle wheel 17 and the hinge V 12, the hinge II 7 is located between the hinge I 3 and the hinge IV 14, and the rotation shaft of the hinge II 7 is fixed on the frame 4.

[0029] The lower end of the connecting rod II 6 is rotatably connected with the front wheel 1 through the hinge I 3, the rear end of the connecting rod II 6 is rotatably connected with the connecting rod V 16 through the hinge IV 14, the end of the connecting rod V 16 away from the middle wheel is rotatably connected with the connecting rod VI 13 through the hinge V 12, the hinge IV 14 is located between the middle wheel 17 and the hinge V 12, the hinge II 7 is located between the hinge I 3 and the hinge IV 14, and the rotation shaft of the hinge II 7 is fixed on the frame 4.

[0030] The lower end of the connecting rod II 6 is rotatably connected with the front wheel 1 through the hinge I 3, the rear end of the connecting rod II 6 is rotatably connected with the connecting rod V 16 through the hinge IV 14, the end of the connecting rod V 16 away from the middle wheel is rotatably connected with the connecting rod VI 13 through the hinge V 12, the hinge IV 14 is located between the middle wheel 17 and the hinge V 12, the hinge II 7 is located between the hinge I 3 and the hinge IV 14, and the rotation shaft of the hinge II 7 is fixed on the frame 4.

[0031] The lower end of the connecting rod II 6 is rotatably connected with the front wheel 1 through the hinge I 3, the rear end of the connecting rod II 6 is rotatably connected with the connecting rod V 16 through the hinge IV 14, the end of the connecting rod V 16 away from the middle wheel is rotatably connected with the connecting rod VI 13 through the hinge V 12, the hinge IV 14 is located between the middle wheel 17 and the hinge V 12, the hinge II 7 is located between the hinge I 3 and the hinge IV 14, and the rotation shaft of the hinge II 7 is fixed on the frame 4.

[0032] 1. Straight walking: the hinges I 3 and V 12 are reset, the end faces of the front wheels 1, the middle wheels 17 and the rear wheels 15 on both sides of the frame 4 are parallel to the forward direction, when all the wheels rotate counterclockwise at the same speed, the chassis moves forward, and when all the wheels rotate clockwise at the same speed, the chassis moves backward.

[0033] 2. Steering walking: the hinges I 3 on both sides of the frame 4 are turned clockwise by an acute angle α, at the same time, the hinges V 12 on both sides of the frame 4 are turned counterclockwise by an acute angle α, the chassis turns right; the hinges I 3 on both sides of the frame 4 are turned counterclockwise by an acute angle α, at the same time, the hinges V 12 on both sides of the frame 4 are turned clockwise by an acute angle α, the chassis turns left; no matter left or right, the greater the acute angle α, the greater the steering amplitude.

[0034] 3. Uneven road walking: for the uphill working condition as shown in Figure 3 Fig. 3, it is assumed that the slope surface extends infinitely on both sides in the direction perpendicular to the paper, and for the example road surface, all the wheels will automatically conform to the ground under the action of the two single-sided wheel bar suspensions and the gravity of the vehicle, but this will make the frame 4 in an inclined state; on this basis, the extension amount of the push rod body 8 of the electric push rod 9 on both sides of the frame 4 is reduced by energization, the distance between the hinge III 5 and the spherical hinge 11 is shortened, the spherical hinge 11 on both sides of the frame 4 drives the frame to rotate counterclockwise around the horizontal axis of the hinge II 7 through the rotary magnetorheological damper 19 fixed to the frame, so that the upper end surface of the frame 4 is restored to the horizontal state as shown in Figure 4 Fig. 4; for the downhill working condition, only the extension amount of the push rod body 8 of the electric push rod 9 on both sides of the frame 4 is increased by energization, the distance between the hinge III 5 and the spherical hinge 11 is increased, and the spherical hinge 11 on both sides of the frame 4 drives the frame to rotate clockwise around the horizontal axis of the hinge II 7 through the rotary magnetorheological damper 19 fixed to the frame, so that the horizontal state of the upper end surface of the frame 4 is restored; in addition, by adjusting the coil current of the rotary magnetorheological damper 19, the damping torque when the connecting rod VII 18 moves can be changed, thereby playing a damping role.

[0035] Of course, the above description is not limited to the above examples, and the technical features not described in the utility model can be realized by or using existing technology, which will not be described here; the above embodiments and drawings are only used to illustrate the technical scheme of the utility model and are not a limitation on the utility model, and the utility model has been described in detail with reference to the preferred embodiments, and those skilled in the art should understand that changes, modifications, additions or replacements made by those skilled in the art within the essential scope of the utility model do not deviate from the purpose of the utility model, and should also belong to the protection scope of the claims of the utility model.

Claims

1. An agricultural six-wheel drive chassis, characterized in that: Includes a frame, and a link VII (18) mounted on the frame and two single-sided wheel suspensions, wherein the link VII (18) is rotatably connected to the frame and the axis of rotation of the link VII (18) extends vertically; Two single-sided wheel suspensions are arranged in the left-right direction. A front wheel, a middle wheel and a rear wheel are installed on the single-sided wheel suspension in the front-rear direction. The single-sided wheel suspension includes a link II (6) that is hinged to the frame via a hinge II (7), a link I (2) that mounts the front wheel, a link V (16) that mounts the middle wheel, a link VI (13) that mounts the rear wheel, and a telescopic mechanism that extends in the front-rear direction. The front end of the connecting rod II (6) is hinged to the connecting rod I (2) via hinge I (3), and the rear end of the connecting rod II (6) is hinged to the connecting rod V (16) via hinge IV (14). The end of the connecting rod V (16) away from the middle wheel is hinged to the connecting rod VI (13) via hinge V (12). Hinge IV (14) is located between the middle wheel and hinge V (12), and hinge II (7) is located between hinge I (3) and hinge IV (14). A support rod is fixed on the connecting rod II (6). The support rod is hinged to one end of the telescopic mechanism via hinge III (5). The other end of the telescopic mechanism is hinged to the connecting rod VII (18) via ball joint (11). The hinge points of the telescopic mechanisms of the two single-sided wheel suspensions and the connecting rod VII (18) are located on the left and right sides of the rotation axis of the connecting rod VII (18), respectively.

2. The agricultural six-wheel drive chassis according to claim 1, characterized in that: Link VII (18) is connected to the frame via a rotary magnetorheological damper (19). The outer shell of the rotary magnetorheological damper (19) is fixed to the frame (4). The rotating shaft of the rotary magnetorheological damper (19) is connected to link VII (18).

3. The agricultural six-wheel drive chassis according to claim 1, characterized in that: The front, middle, and rear wheels are all drive wheels.

4. The agricultural six-wheel drive chassis according to claim 1, characterized in that: The hinge I (3) and hinge V (12) are respectively connected to the servo motor.

5. The agricultural six-wheel drive chassis according to claim 1, characterized in that: The connection point between the support rod and the connecting rod II (6) is located at the hinge II (7).

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