Active forestry vehicle chassis

Abstract

The utility model relates to a kind of active forest vehicle chassis, including front frame body and rear frame body connected by space adjusting mechanism, and space adjusting mechanism includes pitch adjusting mechanism, yaw adjusting mechanism and roll adjusting mechanism;Roll adjusting mechanism includes roll driving part and roll rotating frame, and roll driving part is used to drive roll rotating frame relative to front frame body and rotate in vertical plane;Wheel is installed in the left and right sides of front / or frame body by one-to-one corresponding independent suspension system;The utility model will be between the three degrees of freedom hinged structure of front frame body and rear frame body All be set to the form of active control, greatly reduce the complexity of control system, improve the reliability of whole machine control system.Can break the limit that maximum obstacle height is wheel radius, greatly improve chassis obstacle height, realize vehicle chassis "step" driving function.

Description

Technical Field

[0001] This utility model relates to the field of forestry equipment technology, specifically to an active forestry vehicle chassis. Background Technology

[0002] Forestry vehicle chassis are fundamental to modern forestry mechanized afforestation, tending, thinning, and selective logging, and are a prerequisite for achieving automation and intelligence in modern forestry. Forestry areas present harsh driving conditions, often featuring slopes, obstacles, deep depressions, and steep elevations, making it difficult for ordinary forestry vehicle chassis to adapt to these road conditions.

[0003] Therefore, the development of vehicle chassis specifically designed for the complex terrain of forest areas has become an inevitable requirement. For example, the "Forestry Chassis and Forestry Vehicle" disclosed in patent number CN115320305B, in which the front and rear vehicle frames are connected by a pitch adjustment mechanism, is used to adjust the pitch of the front vehicle frame relative to the rear vehicle frame (X-axis), and this pitch adjustment is achieved through active control. It also includes a yaw drive mechanism, which drives the front vehicle frame to actively yaw left or right relative to the rear vehicle frame in the horizontal plane (Y-axis); the wheels are rotatably mounted on the vehicle frame via corresponding variable amplitude adjustment mechanisms.

[0004] However, the chassis uses active control in the up-down and left-right directions, but passive rotation in the front-back direction (Z-axis). As a result, each luffing regulator on the chassis needs to be actively controlled in coordination with the passive rotation in the front-back direction. The large number of luffing regulators leads to a complex control system, and too many control components can also cause problems such as low reliability of the control system. Utility Model Content

[0005] To address the shortcomings of existing technologies, this utility model provides an active forestry vehicle chassis to solve the aforementioned problems.

[0006] This utility model provides the following technical solution:

[0007] An active forestry vehicle chassis includes a front frame and a rear frame connected by a space adjustment mechanism, wherein the space adjustment mechanism includes a pitch adjustment mechanism, a yaw adjustment mechanism and a roll adjustment mechanism.

[0008] The roll adjustment mechanism includes a roll drive and a roll rotating frame. The roll drive is used to drive the roll rotating frame to rotate relative to the front frame in a vertical plane.

[0009] It also includes four wheels, two of which are mounted on the left and right sides of the front frame via a one-to-one independent suspension system, and the other two wheels are mounted on the left and right sides of the rear frame via a one-to-one independent suspension system.

[0010] This utility model has the following beneficial technical effects:

[0011] This invention sets the three-degree-of-freedom articulated structure (space adjustment mechanism) between the front and rear vehicle frames to be actively controlled. In this way, only the torsion of the three-degree-of-freedom articulated structure needs to be actively controlled and coordinated with the independent suspension system of the wheels to achieve good adhesion of the vehicle to the obstacle road surface on one side, which greatly reduces the complexity of the control system and improves the reliability of the whole machine control system.

[0012] At the same time, it can realize active torsional adjustment of the front and rear frames, so that one of the two wheels of the front frame is lifted off the ground and in a "suspended" position. In conjunction with the chassis to move forward, it can break through the limitation that the maximum obstacle crossing height is the wheel radius, greatly improve the obstacle crossing height of the chassis, and realize the "stepping" driving function of the vehicle chassis. Attached Figure Description

[0013] Figure 1 This is a first-view three-dimensional structural diagram of the present invention;

[0014] Figure 2 This is a two-dimensional structural diagram of the present invention from a second perspective;

[0015] Figure 3 This is a schematic diagram of the space adjustment mechanism of this utility model.

[0016] The attached figures are labeled as follows:

[0017] 100. Front frame; 200. Rear frame; 300. Pitch adjustment mechanism; 400. Yaw adjustment mechanism; 500. Roll adjustment mechanism; 501. Roll drive component; 502. Roll swivel frame; 600. Wheel; 700. Independent suspension system. Detailed Implementation

[0018] The technical solutions of the present utility model will be clearly and completely described below with reference to the accompanying drawings of the embodiments. Obviously, the described embodiments are only some embodiments of the present utility model, and not all embodiments. Based on the embodiments of the present utility model, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the protection scope of the present utility model.

[0019] Example: An active forestry vehicle chassis, which is an improvement on the "Forestry Chassis and Forestry Vehicle" disclosed in patent number CN115320305B.

[0020] like Figures 1-3 As shown, it includes a front frame 100 and a rear frame 200, which are connected by a space adjustment mechanism.

[0021] like Figure 3 As shown, the space adjustment mechanism includes a pitch adjustment mechanism 300, a yaw adjustment mechanism 400, and a roll adjustment mechanism 500; the pitch adjustment mechanism 300, the yaw adjustment mechanism 400, and the roll adjustment mechanism 500 do not affect each other.

[0022] The structure of the pitch adjustment mechanism 300 is the same as the "pitch adjustment mechanism" disclosed in patent number CN115320305B, "Forestry Chassis and Forestry Vehicle". This solution will not repeat the details. The pitch adjustment mechanism 300 is used to drive the front frame 100 to actively adjust its pitch relative to the rear frame 200, that is, to rotate and swing the front frame 100 upwards or downwards relative to the rear frame 200 in the vertical plane (e.g., ...). Figure 3 (As shown by the red line in the image, the vehicle rotates around the X-axis), which means that the front frame 100 and the rear frame 200 can actively adjust their pitch by tilting and floating up and down according to the terrain conditions. This not only effectively buffers and reduces external vibrations, but also helps the forestry chassis to climb over obstacles such as slopes.

[0023] The structure of the deflection adjustment mechanism 400 is the same as that of the "deflection drive mechanism and rotary hinge shaft" in the "Forestry Chassis and Forestry Vehicle" disclosed in patent number CN115320305B, and will not be described again in this solution. The deflection adjustment mechanism 400 is used to drive the front frame 100 to swing left or right relative to the rear frame 200 in the horizontal plane (e.g., Figure 3 (As shown by the blue line in the image, rotate around the Y-axis).

[0024] The roll adjustment mechanism 500 includes a roll drive 501 and a roll swivel frame 502, such as Figure 3 As shown by the magenta lines, the roll drive 501 is rotatably connected to the front frame 100 around the Z-axis. The roll drive 501 can be a motor mounted on the front frame 100. The output end of the roll drive 501 can be directly connected to the rotation shaft of the roll rotating frame 502, or the output end of the roll drive 501 can be connected to the rotation shaft of the roll rotating frame 502 through a reduction mechanism. This enables the roll rotating frame 502 to be driven to twist relative to the front frame 100 in the vertical plane by actively controlling the roll drive 501.

[0025] like Figure 2 As shown, the left and right sides of the front frame 100 are equipped with corresponding wheels 600 through a one-to-one independent suspension system 700, and the wheels 600 on the left and right sides of the front frame 100 are connected by a differential transmission; the left and right sides of the rear frame 200 are equipped with corresponding wheels 600 through a one-to-one independent suspension system 700, and the wheels 600 on the left and right sides of the rear frame 200 are connected by a differential transmission.

[0026] The pitch adjustment mechanism 300, yaw adjustment mechanism 400, and roll adjustment mechanism 500 can all achieve active adjustment control. By changing the three degrees of freedom between the front frame 100 and the rear frame 200 from passive terrain adaptation to active adjustment control, the wheels 600 can achieve a "stepping" function when crossing obstacles. Specifically, under conditions where the approach and departure angles of the wheeled chassis are sufficiently large, the maximum obstacle-crossing height is only the radius of the wheel 600. By changing the torsional degree of freedom of the three-degree-of-freedom articulated structure to active motor control, active torsional adjustment of the front and rear frames can be achieved. This allows one of the two wheels 600 of the front frame 100 / rear frame 200 to lift off the ground and be in a "suspended" position. Combined with the forward movement of the chassis, the limitation of the maximum obstacle-crossing height being the radius of the wheel 600 can be broken, greatly increasing the obstacle-crossing height of the chassis and realizing the "stepping" driving function of the vehicle chassis.

[0027] The embodiments described above merely illustrate specific implementations of this utility model, and while the descriptions are detailed, they should not be construed as limiting the scope of this utility model patent. It should be noted that those skilled in the art can make various modifications and improvements without departing from the concept of this utility model, and these modifications and improvements all fall within the protection scope of this utility model.

Claims

1. An active forestry vehicle chassis, comprising a front frame (100) and a rear frame (200) connected by a spatial adjustment mechanism, wherein the spatial adjustment mechanism includes a pitch adjustment mechanism (300), a yaw adjustment mechanism (400), and a roll adjustment mechanism (500), characterized in that: The roll adjustment mechanism (500) includes a roll drive (501) and a roll rotating frame (502). The roll drive (501) is used to drive the roll rotating frame (502) to rotate relative to the front frame (100) in a vertical plane. It also includes four wheels (600), two of which are mounted on the left and right sides of the front frame (100) via a one-to-one independent suspension system (700), and the other two wheels (600) are mounted on the left and right sides of the rear frame (200) via a one-to-one independent suspension system (700).

Images