An omnidirectional articulated four-wheel drive vehicle

Abstract

An omnidirectional articulated four-wheel drive vehicle, characterized in that it comprises a tractor head (1), a driver's cab (2), a vehicle frame (3), a vehicle body (4) and a rear wheel (5), a front wheel (6) is provided on the tractor head (1), the vehicle body (4) is provided on the vehicle frame (3), and the rear wheel (5) is provided below the vehicle frame (3); the front wheel (6) and the rear wheel (5) have the same diameter, the diameter is large, the profile is coarse, the driver's cab (2) is provided on a connecting frame of the tractor head (1), a drive output shaft of the tractor head (1) and the rear wheel (5) are connected by a drive train; the drive train comprises a front drive train (7), a mid-drive train (8), a rear drive train (9) and a rear axle assembly (10) connected in sequence, the tractor head (1) and the driver's cab (2) connected by a front universal joint (11), the driver's cab (2) and the vehicle frame (3) connected by a rear universal joint (12) so that omnidirectional articulation is possible.

Description

Technical field

[0001] The present utility model relates to the field of agricultural machinery, specifically an omnidirectional articulated four-wheel drive vehicle. State of the art

[0002] Tractors occupy an important position in the Chinese agricultural machinery market and are one of the predominant means of transport in current rural areas. However, existing tractors suffer from inefficient operation during transport, low climbing ability, excessive overall length, and a large turning radius. When the ground is concave or uneven, especially in mountainous or hilly terrain, the tractor's front wheels can twist or wobble due to bouncing, resulting in a loss of balance and even excessive turning, potentially leading to a rollover accident. Safety performance is poor, and energy consumption is relatively high.Therefore, since the 1980s, various tractor manufacturers have successively developed articulated-steerable convertible transport vehicles based on their tractors. These vehicles offer increased transport efficiency, relatively low oil consumption, and, along with their relatively safe steering operation, are gaining the attention of most users. However, the design of current articulated tractors is still not perfectly optimized. They cannot allow for omnidirectional articulation, and in mountainous terrain with uneven or concave surfaces, they still cannot operate smoothly and safely, thus failing to meet people's needs. Content of the utility model

[0003] The technical problem to be solved by the present utility model is to eliminate the shortcomings of the aforementioned technology and to provide an omnidirectional articulated four-wheel drive vehicle.

[0004] To solve the above technical problem, the technical solution provided by the present utility model is an omnidirectional articulated four-wheel drive vehicle: comprising a tractor head, a driver's cab, a vehicle frame, a vehicle body and a rear wheel; a front wheel is provided on the tractor head; the vehicle body is provided on the vehicle frame; the rear wheel is provided below the vehicle frame; the front wheel and the rear wheel have the same diameter, the diameter is large, the profile is coarse; the driver's cab is provided on a connecting frame of the tractor head; a drive output shaft of the tractor head and the rear wheel are connected by a drive train;The drivetrain comprises a front drivetrain, a mid-drivetrain, a rear drivetrain and a rear axle assembly, which are connected in sequence; the tractor head and the driver's cab are connected by a front universal joint, the driver's cab and the vehicle frame are connected by a rear universal joint, so that omnidirectional articulation is possible.

[0005] Furthermore, the tractor head is equipped with a diesel engine, a gearbox and a generator; a towing unit is provided between the tractor head and the driver's cab, enabling towing; a belt drive is provided between the diesel engine and the gearbox, and between the diesel engine and the generator.

[0006] The advantage of the present utility model over the prior art is that the present utility model can travel smoothly on concave or uneven ground, especially in mountainous or hilly terrain, saves energy, is stable, does not tip over easily, has good safety, and can make sharp turns. Explanation of the illustrations Fig. Figure 1 shows a structural diagram of an omnidirectional articulated four-wheel drive vehicle of the present utility model. Fig. Figure 2 shows a structural diagram of an omnidirectional articulated four-wheel drive vehicle of the present utility model. Fig. shows a diagram of example 1 of an omnidirectional articulated four-wheel drive vehicle of the present utility model. Fig. shows a diagram of example 2 of an omnidirectional articulated four-wheel drive vehicle of the present utility model. Fig. shows a comparison diagram of an omnidirectional articulated four-wheel drive vehicle of the present utility model and a vehicle with four wheels on the same plane, which are driven down from a high slope into a U-shaped valley. Fig. shows a diagram of a sharp turn of an omnidirectional articulated four-wheel drive vehicle of the present utility model, which is analyzed and represented by means of an energy change. Fig. Figure 1 shows a diagram of an energy saving and vibration resistance principle of an omnidirectional articulated four-wheel drive vehicle of the present utility model, which is analyzed and illustrated by means of an energy change. Fig. shows an exploded view of the energy change of an object sliding down a slope, to illustrate an energy saving and vibration resistance principle. Fig.shows a drawing of the energy consumption of a four-wheeled vehicle on the same level when climbing, for comparison, analysis, and illustration of an energy saving and vibration resistance principle of the present utility model by means of an energy change (during an uphill drive of a front wheel). Fig. shows a drawing of the energy consumption of a four-wheeled vehicle on the same level when climbing, for comparison, analysis, and illustration of an energy saving and vibration resistance principle of the present utility model by means of an energy change (during the uphill travel of a rear wheel). Fig. shows a diagram of an omnidirectional articulated four-wheel drive vehicle of the present utility model for analyzing, comparing, and illustrating an energy saving and vibration resistance principle by means of an energy change (during uphill travel of a front wheel). Fig. shows a diagram of an omnidirectional articulated four-wheel drive vehicle of the present utility model for analyzing, comparing, and illustrating an energy saving and vibration resistance principle by means of an energy change (during the uphill travel of a rear wheel). As shown in the illustrations:

[0007] (1) Tractor head, (2) Driver's cab, (3) Vehicle frame, (4) Vehicle body, (5) Rear wheel, (6) Front wheel, (7) Front drive train, (8) Mid-drive train, (9) Rear drive train, (10) Rear axle assembly, (11) Front universal joint, (12) Rear universal joint, (13) Diesel engine, (14) Gearbox, (15) Generator, (16) Tractor unit, (17) Pulley. Designs

[0008] Example 1: In conjunction with Fig., an omnidirectional articulated four-wheel drive vehicle comprising a tractor head (1), a driver's cab (2), a vehicle frame (3), a vehicle body (4) and a rear wheel (5), a front wheel (6) is provided on the tractor head (1), the vehicle body (4) is provided on the vehicle frame (3), the rear wheel (5) is provided below the vehicle frame (3); the front wheel (6) and the rear wheel (5) have the same diameter, the diameter is large, the profile is coarse, the driver's cab (2) is provided on a connecting frame of the tractor head (1), a drive output shaft of the tractor head (1) and the rear wheel (5) are connected by a drive train; The drive train comprises a front drive train (7), a mid-drive train (8), a rear drive train (9) and a rear axle assembly (10), which are connected in sequence; the tractor head (1) and the driver's cab (2) are connected by a front universal joint (11); the driver's cab (2) and the vehicle frame (3) are connected by a rear universal joint (12), so that omnidirectional articulation is possible.

[0009] The tractor head (1) is equipped with a diesel engine (13), a gearbox (14) and a generator (15), a towing unit (16) is provided between the tractor head (1) and the driver's cab (2), which enables towing, a belt drive (17) is provided between the diesel engine (13) and the gearbox (14), and between the diesel engine (13) and the generator (15).

[0010] I. Construction of a three-dimensional space of movement, analysis, representation of the function of the omnidirectional articulated four-wheel drive vehicle and the four-wheeled vehicle on the same plane by means of changing the vehicle due to a change in terrain: as in Fig. As shown: the yy'-axis represents the vehicle, o represents the universal joint, with o as the starting point a three-dimensional space is created, where oy represents the vehicle head, oy' the vehicle body, through the o-point a total center of gravity of the vehicle is divided into two centers of gravity, namely the vehicle head, the vehicle body.

[0011] The universal joint can cause the omnidirectional articulated four-wheel drive vehicle to move as follows: 1. In the case of vehicle yy', oy, oy' can move around the xx-axis around the universal joint o, bending upwards, downwards, left, right; 2. oy, oy' can move around the zz'-axis, each in a leftward, rightward, or horizontally bending direction; 3. The xx'-axis of the two wheels of the vehicle head, the xx'-axis of the two wheels of the vehicle body can move around the yy'-axis, rising upwards and lowering downwards on a left and right side respectively. 4. Even more complex combinations of movements can be carried out between them, which are automatically adapted to the needs of different complex road conditions in order to allow four wheels to travel together on four, three, two, one plane, namely “omnidirectionally”. (The front and rear four-wheel drive share a front and rear drive; the diameter of the front and rear wheels is the same and large; the profile is coarse). Here are examples to illustrate the main function:

[0012] Example 1: As in Fig.As shown, the total weight of the vehicle (m1 + m2) is shown, the vehicle head is m1, the vehicle body is m2, assuming that a right wheel of the vehicle head oy hits an obstacle, rises by h, the vehicle head oy is bent upwards about the xx'-axis over the universal joint o, a center of gravity O1 of the vehicle head has risen by h / 2, at this time both wheels ox, ox' of the vehicle head are rotated about an oy semi-axis so that it is higher on the right, lower on the left, four wheels are still on the ground, the driving force is maintained, the obstacle has been crossed, a "soft oscillation" occurs in the whole vehicle;When a right rear wheel hits the obstacle, the right rear wheel is also rotated around an oy' half-axis with the right wheel high and the left wheel low, the rear center of gravity O2 of the vehicle body m2 has only increased by h / 2 overall, the four wheels always contact the ground, and the "soft oscillation" occurs again in the vehicle body.

[0013] Compare this case to a vehicle with four wheels on the same plane: if one wheel has risen, only one pair of wheels on a diagonal contact the ground, the other two wheels are suspended, separated from the ground, and lose their driving force; the two adjacent wheels on the same side, i.e., the front and rear wheels, each contact the ground once; the entire vehicle experiences a gradient of h / 2 twice, resulting in a "hard oscillation" twice.

[0014] In the universal joint o of the vehicle yy', the vehicle head oy and the vehicle body oy' are rotated around the xx' axis and articulated upwards and downwards; simultaneously, both wheels of the vehicle head and both wheels of the vehicle body are rotated around the oy' axis and articulated upwards and downwards, so that all four wheels can remain in contact with the ground at all times under any road conditions, providing four-wheel drive. Compared to a four-wheeled vehicle on the same plane, the omnidirectional articulated vehicle has a higher ability to overcome obstacles and drive off-road. In the omnidirectional articulated four-wheel drive vehicle, all four wheels are always in contact with the ground, the driving force is maintained at all times, and it features energy saving, vibration damping, and stabilization.It can also ensure that the center of gravity is maintained, a storage area is not exceeded, the vehicle body is kept upright, and the vehicle does not tip over when the vehicle load is located at a high center of gravity.

[0015] Example 2: as in Fig. , Fig.As shown, the case is on a U-shaped valley floor: (1) the omnidirectional articulated four-wheel drive vehicle impacts downwards from a valley head onto the valley floor; at the location of the universal joint o, the vehicle head oy is rotated upwards about the xx'-axis; an impact force has become an upward impact force; part of an impact energy has been consumed; the energy that occurs with the further downward impact of the vehicle body oy' about the xx'-axis is the energy by which the vehicle head is driven to propel itself; when m2 crosses the valley floor, the energy of m2 again drives m2 to propel itself. In this process, a collision of the whole (m1+m2) is avoided; instead, the separation as m1, m2 leads to two independent collisions. Part of the collision energy is converted into driving energy for locomotion; the energy is saved without colliding with or breaking the drive shaft and without damaging the gearbox. II Sharp turning capability of the omnidirectional articulated four-wheel drive vehicle: (as shown in Fig. 6)

[0016] Assuming that the weight of the vehicle head of the four-wheeled vehicle on the same plane and the omnidirectional articulated four-wheel drive vehicle is m1, the weight of the vehicle body is m2, a turning radius is R, a velocity is V, and a centripetal force is F n is a physical formula F n = mV 2 / R is: The centripetal force of the vehicle with four wheels on the same plane: F x1 = (m1+m2)V 2 / R if F n1 ≦ F f (Friction force) = N·(m1+m2) (N is coefficient of friction) , it can bend. (if F n1 > F f(1) Assuming that the omnidirectional articulated four-wheel-drive vehicle is still a whole, the total centripetal force is the same as that of the vehicle with four wheels on the same plane. The vehicle head oy bends, oy is rotated (articulated) about an zz'-axis at the o-point, F n-Kopf = m1V 2 / R, then the vehicle body turns, F n-Karosserie = m2V 2 / R.

[0017] Obviously, m1V 2 / R < (m1+m2)V 2 / R, m2V 2 / R < (m1+m2)V 2When the vehicle head and body turn, the required centripetal force is less than the centripetal force required when turning the entire vehicle. When the entire vehicle can turn, the turning radius of the omnidirectional articulated four-wheel drive vehicle is smaller when the vehicle head and body turn than when turning the entire vehicle. The speed is higher, allowing for sharp turns. Each turn is performed at high speed. Furthermore, the differential of the omnidirectional articulated four-wheel drive vehicle is significantly redesigned, allowing for a larger differential compensation range and better adapting to sharp turns at high speed.

[0018] The omnidirectional articulated four-wheel drive vehicle can make sharp turns and is more suitable for driving on various complex road conditions.

[0019] III. Analysis and presentation of an energy saving and vibration resistance principle of the omnidirectional articulated four-wheel drive vehicle by means of energy change: 1. The work done in pulling an object from the bottom of a slope to the top of the slope is equal to the increased potential energy of the object: F ziehen ·L = mgh (the work to overcome the frictional force is not included). As in Fig. As shown, the potential energy released during the descent, which has become kinetic energy, is also mgh. 2. As in Fig. shown, 1) when the object descends, an impact force is generated, at the valley floor a counter-impact force F is generated for the object m. gegenThe impact force generated, which does work for tires, steel plates, springs and the ground, is converted into heat energy. 2) F gegen and the gravitational force mg are combined to form a resistance force of the object m during the second ascent: F Widerstand = F Widerstandsüberwindung . 3) The work done during the second ascent of the object is F Widerstandsüberwindung · L2+mgh2. 3. Energy consumption of a four-wheeled vehicle on the same level during a single bump: As in Fig. As shown, the weight of the vehicle head and the vehicle body is m1 and m2 respectively, the center of gravity of (m1+m2)g is O, the height of the slope is h, and the length of the slope is L. from the principle of Fig. It can be concluded that: 1) Front wheel bump: When the front wheel hits a slope with a height of h, the center of gravity O has risen by h / 2, the energy consumption during a single bump is: Fresistance overcoming⋅L+(m1+m2)gh / 2 2) For the same reason, it can be concluded that the energy consumption during a single bump is Fresistance overcoming⋅L+(m1+m2)gh / 2 Given: a) Usually, the chance of a wheel bouncing is highest, b) when the wheel rises by h, the center of gravity O has risen by h / 2, the increased gravitational force is (m1+m2)g. 3) The energy consumption during a single bump of the front and rear wheel is: (1)+(2), by 2Fresistance overcoming⋅L+(m1+m2)gh 4. Energy consumption of the omnidirectional articulated four-wheel drive vehicle during a single bump: As in Fig. As shown, the bumping is ended independently of the front and rear wheels due to the omnidirectional articulation function. 1) Energy consumption of the front wheel: Ffront - resistance overcome ⋅ L + m1gh / 2 As is basically the case in Fig. shown is F Vorder-Widerstandsüberwindungthe composition of the counterforce of m1g, which participated in the impact force of the front wheel, is determined because (m1+m2)g > m1g, (m1+m2)g > m2g, is in principle in Fig. Analysis has shown that the resistance force generated by (m1+m2)g is greater than the resistance force generated by m1g or m2g separately. 2) For the same reason, the energy consumption of the rear wheel FBehind−resistance overcoming⋅L+m2gh / 2 The energy consumption of the front and rear wheels during a single bump: through (4) + (5) it is FFront resistance overcoming⋅L+m1gh / 2+FBehind resistance overcoming⋅L+m2gh / 2=FFront resistance overcoming⋅L+FBehind resistance overcoming⋅L+(m1+m2)gh / 2 Comparison: Fovercoming resistance(total)>Ffront resistance overcoming, Fovercoming resistance(total)>Frear resistance overcoming, (m1+m2)gh>(m1+m2)gh / 2, namely (3)>(6).

[0020] This means that when encountering bumps, the omnidirectional articulated four-wheel drive vehicle is more energy-efficient, vibration-damping, and stable compared to a vehicle with four wheels on the same plane. 5. Summary

[0021] Based on the above analysis, it is formulated in a table: entry Functional relationship Vehicle type Vehicle with four wheels on the same level Relationship Omnidirectional articulated four-wheel drive vehicle 1 Gravity involved in the beating of the front wheel (m1+m2)g / 2 > m1g / 2 2 Gravity involved in the beating of the rear wheel (m1+m2)g / 2 > m2g / 2 3 Compound sum of gravitational forces participating in the beating of the front and rear wheels (m1+m2)g > m1g / 2 + m2g / 2 = (m1+m2)g / 2 4 Composite resistance force from the impact force and gravity during each strike Fig. 2F Total resistance > F vorder-Widerstand +FHi n ter-resistance 5 Against the work performed with striking power 2F Gesamtwiderstand ·L > (F VorderWiderstand + F Hinter-Widerstand) ·L 6 Work done against gravity to reach the summit (m1+m2)gh / 2 +(m1+m2)gh / 2 =(m1+m2)gh > m1gh / 2 + m2gh / 2=(m1+m2)gh / 2 5+6 Work performed during a single ascent of the same slope by both types of vehicles 2F Gesamtwiderstand ·L +(m1+m2)gh > (F Vorder-Widerstand +F Hinter-Widerstand )·L +(m1+m2)gh / 2 1. Under identical conditions, a four-wheeled vehicle traveling on the same level consumes more energy than an omnidirectional articulated four-wheel drive vehicle over any bump. This aligns with a test result from the Guangxi Region Agricultural Machinery Identification Station (China's Subtropical Agricultural Machinery Identification Station): "Compared to other tractors with the same horsepower under the same conditions, an omnidirectional articulated vehicle saves 25% of energy." 2. When encountering bumps, the omnidirectional articulated four-wheel drive vehicle consumes less energy, saves energy, dampens vibrations, and is stable. 3. The omnidirectional articulated four-wheel drive vehicle has a stronger working capability (transport, off-road driving), is more flexible, and can drive on rough, trackless hills, a river stone bank, etc. 4. The omnidirectional articulated four-wheel drive vehicle can have a smaller steering radius and make sharp turns. 5. When driving uphill, it can climb the slope at approximately 50°, and can be used as a combat transport vehicle for fighters, transporting a class of fighters, as a car, racing car, tank, tractor, etc.

[0022] The specific functions of the omnidirectional articulated four-wheel drive vehicle can be used on any four-wheeled vehicle (four-wheel drive required). It is a completely innovative concept for four-wheeled vehicles, a revolutionary vehicle with disruptive characteristics.

Claims

[1] An omnidirectional articulated four-wheel drive vehicle, characterized by , that it comprises a tractor head (1), a driver's cab (2), a vehicle frame (3), a vehicle body (4) and a rear wheel (5), a front wheel (6) is provided on the tractor head (1), the vehicle body (4) is provided on the vehicle frame (3), the rear wheel (5) is provided below the vehicle frame (3); the front wheel (6) and the rear wheel (5) have the same diameter, the diameter is large, the profile is coarse, the driver's cab (2) is provided on a connecting frame of the tractor head (1), a drive output shaft of the tractor head (1) and the rear wheel (5) are connected by a drive train; the drive train comprises a front drive train (7), a mid-drive train (8), a rear drive train (9) and a rear axle assembly (10) connected in sequence, the tractor head (1) and the driver's cab (2) connected by a front universal joint (11), the driver's cab (2) and the vehicle frame (3) connected by a rear universal joint (12) so that omnidirectional articulation is possible. [2] An omnidirectional articulated four-wheel drive vehicle according to claim 1, characterized by , that a diesel engine (13), a gearbox (14) and a generator (15) are provided on the tractor head (1), a drawbar assembly (16) is provided between the tractor head (1) and the driver's cab (2) to enable pulling, and the drive is provided by a pulley (17) between the diesel engine (13) and the gearbox (14) and between the diesel engine (13) and the generator (15).

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