CN-122008838-A - Intelligent chassis system of hub motor distributed electric drive tractor

CN122008838ACN 122008838 ACN122008838 ACN 122008838ACN-122008838-A

Abstract

The invention discloses an intelligent chassis system of a hub motor distributed electric drive tractor, which comprises a connection installation assembly of a hub motor and wheels, a multi-mode steering system assembly and a balancing weight position adjusting and operating assembly, wherein a driving structure of directly connecting the hub motor and a rim is adopted, an intermediate transmission device is omitted, a multi-mode steering system with independently controllable front and rear wheels is integrated, and an intelligent counterweight mechanism capable of being automatically adjusted along the longitudinal direction of a frame is configured. The invention solves the technical problems of complex transmission structure, insufficient steering maneuverability of narrow fields, incapability of adapting fixed counterweights to time-varying operation loads and the like of the traditional small and medium-sized electric tractors, simplifies the transmission structure, improves the power transmission efficiency, can realize multi-mode steering switching, optimizes the maneuvering performance, the traction efficiency and the running stability of tractor operation, and provides a reliable hardware foundation for intelligent upgrading of the small and medium-sized electric tractors.

Inventors

WU QIBIN
LIANG JING
Yue caitong
YU KUNJIE
ZHANG XINXIN
LI XIANG

Assignees

郑州大学

Dates

Publication Date: 20260512
Application Date: 20260408

Claims (9)

1. The intelligent chassis system of the hub motor distributed electric drive tractor is characterized by comprising a hub motor and wheel connection installation assembly (A), a multi-mode steering system assembly (B) and a balancing weight position adjustment and control assembly (C); The wheel hub motor and wheel connection installation assembly (A) comprises a left front wheel hub motor wheel installation unit (A1), a right front wheel hub motor wheel installation unit (A2), a right rear wheel hub motor wheel installation unit (A3) and a left rear wheel hub motor wheel installation unit (A4), wherein the four groups of installation units are consistent in structure and are arranged in a mirror symmetry mode, each group of wheel hub motor wheel installation units adopts an outer rotor type wheel hub motor, an outer rotor of the wheel hub motor (2) is directly and fixedly connected with a rim (1) of a corresponding wheel, a hub motor shaft (2-7) of the wheel hub motor (2) is fixedly connected with an outer mounting frame (4) through a hub motor shaft supporting plate (6), the outer mounting frame (4) is hinged with an inner mounting frame (7) fixed on a corresponding axle through an upper end pin shaft (5) and a lower end pin shaft (10), each group of installation units is further integrated with a brake disc (3) coaxially assembled with the wheel hub motor (2), and the brake disc (3) and the outer mounting frame (4) are axially and fixedly connected into a whole; The multi-mode steering system assembly (B) comprises a front steering system assembly (B1) and a rear steering system assembly (B2) which are respectively arranged corresponding to a front axle and a rear axle, the front steering system assembly (B1) and the rear steering system assembly (B2) have the same structure, the output ends of the steering transmission mechanisms are hinged with outer mounting frames corresponding to wheels by adopting a steering transmission mechanism driven by hydraulic cylinders, and the front steering system and the rear steering system are independently controlled by hydraulic oil ways and can be switched into three steering modes of crab steering, splay steering, wherein the crab steering is realized by steering of independent front wheels, the forward and backward wheels are deflected in the same direction, and the reverse direction of the front wheels and the rear wheels is realized; The balancing weight position adjusting and operating assembly (C) is arranged at the front end of the frame, a double-rail sliding mechanism is adopted, the double-rail type balancing weight position adjusting and operating mechanism comprises a balancing weight (19), two parallel sliding rails (20-3) and two electric push rods (21) which are symmetrically arranged left and right, the two sliding rails (20-3) are assembled on the frame (23) in a sliding mode, the balancing weight (19) is fixed at the front end of the sliding rail (20-3), fixed ends of the two electric push rods (21) are hinged with the frame (23), rod ends of the two electric push rods are hinged with the sliding rails (20-3), the two electric push rods (21) are in linkage with a whole tractor control system, and the two electric push rods can synchronously stretch to drive the balancing weight (19) to longitudinally move back and forth along the frame (23).
2. The intelligent chassis system of the hub motor distributed electric drive tractor is characterized in that each group of hub motor wheel mounting units comprises a rim (1), a hub motor (2), a brake disc (3), an outer mounting frame (4), an upper end pin shaft (5), a hub motor shaft supporting plate (6), an inner mounting frame (7), a hub motor shaft fixing nut (8), a baffle piece (9), a lower end pin shaft (10), an inner end bearing (11) and an outer end bearing (12), one side of a hub motor outer rotor (2-2) of the hub motor (2) is provided with a hub motor end bolt (2-1), the hub motor outer rotor is fixedly connected with the rim (1) through the hub motor end bolt (2-1), the other side of the hub motor outer rotor (2-2) is sequentially provided with a hub motor shaft (2-7) and a hub motor end boss (2-3) from the axis outwards, a hub motor shaft end threaded hole (2-4) is formed in the hub motor shaft end boss (2-3), a hub motor shaft key groove (2-5) is formed in the hub motor shaft end boss (2-7), and a hub motor shaft end thread (2-6) is arranged in the shaft end.
3. The intelligent chassis system of the hub motor distributed electric drive tractor, as set forth in claim 2, is characterized in that a brake disc inner cavity (3-1) of the brake disc (3) is sleeved on a boss (2-3) at the end part of the hub motor, a brake disc outer cylinder (3-3) is arranged at the other side of the brake disc inner cavity (3-1), a brake disc mounting hole (3-4) corresponding to the position and the size of a threaded hole (2-4) at the end part of the hub motor is formed in the brake disc outer cylinder (3-3), and a brake disc braking surface (3-2) is outwards extended between the brake disc inner cavity (3-1) and the brake disc outer cylinder (3-3).
4. The intelligent chassis system of the hub motor distributed electric drive tractor as set forth in claim 2, wherein the outer mounting frame (4) comprises a brake caliper mounting bracket (4-1), a bearing retainer ring (4-2), an outer mounting frame bolt hole (4-3), an outer mounting frame pin hole (4-4), a steering gear lifting lug (4-5) and an outer mounting frame inner cavity (4-6), the outer mounting frame (4) is assembled outside a brake disc outer cylinder (3-3) through an inner end bearing (11) and an outer end bearing (12), the bearing retainer ring (4-2) is arranged at the end part of the inner cavity (4-6) of the outer mounting frame, the outer rings of the inner end bearing (11) and the outer end bearing (12) are axially positioned, and the baffle piece (9) is engaged with the brake disc mounting hole (3-4) and the hub motor end threaded hole (2-4) through bolts to axially position the brake disc (3), the outer mounting frame (4) and the hub motor (2) are assembled into a whole, two outer mounting frame bolt holes (4-3) and two outer mounting frame bolt holes (4-4) are respectively arranged on the upper side and the lower side of the outer mounting frame (4) in a mirror image mode, and the brake caliper mounting bracket (4-1) and the steering gear lifting lugs (4-5) are arranged on the left side and the right side of the outer mounting frame (4) relatively.
5. The intelligent chassis system of the hub motor distributed electric drive tractor of claim 2, wherein the hub motor shaft supporting plate (6) is sleeved at a hub motor shaft key groove (2-5) of a hub motor shaft (2-7), the upper end and the lower end of the hub motor shaft supporting plate (6) are provided with internal threaded holes matched with the outer mounting frame bolt holes (4-3), the hub motor shaft supporting plate and the external mounting frame bolt holes are meshed and fixed through bolts, the hub motor shaft supporting plate (6) is connected through keys to limit the rotation of the hub motor shaft (2-7), and a hub motor shaft fixing nut (8) is meshed with the hub motor shaft end threads (2-6) to fix the hub motor (2) in an axial anti-channeling mode.
6. The intelligent chassis system of the hub motor distributed electric drive tractor is characterized in that the inner mounting frames (7) are of a flat U-shaped structure, the two pin holes (7-1) of the inner mounting frames are symmetrically arranged at the upper end and the lower end of the inner mounting frames (7), the inner mounting frames (7) are arranged on the outer sides of the end parts of the outer mounting frames (4), the pin holes (7-1) of the inner mounting frames are concentrically assembled with the pin holes (4-4) of the outer mounting frames and hinged with the pin holes (4-4) of the outer mounting frames through upper end pin shafts (5) and lower end pin shafts (10), the mounting base surfaces (7-2) of the inner mounting frames are arranged on the side surfaces of the inner mounting frames (7), and the mounting base surfaces (7-2) of the inner mounting frames are fixedly connected with corresponding axles.
7. The intelligent chassis system of the hub motor distributed type electric drive tractor is characterized in that the steering transmission mechanism comprises a fish-eye joint bearing (13), a steering straight pull rod (14), a universal joint (15), a steering cylinder push rod (16), a steering cylinder support seat (17) and a steering cylinder (18), the steering cylinder (18) is arranged on a frame through the steering cylinder support seat (17), the steering cylinder push rod (16) is connected with one end of the steering straight pull rod (14) through the universal joint (15), and the other end of the steering straight pull rod (14) is hinged with a steering gear lifting lug (4-5) on the outer mounting frame (4) through the fish-eye joint bearing (13), so that telescopic movement of the steering cylinder push rod (16) is converted into steering deflection movement of wheels.
8. The intelligent chassis system of the hub motor distributed electric drive tractor is characterized by further comprising a sliding rail mounting seat (22), wherein the balancing weight is fixed on a balancing weight mounting base body (20-1) at the front end of a balancing weight position adjusting sliding rail (20), the balancing weight position adjusting sliding rail (20) further comprises an electric push rod connecting lifting lug (20-2) and a sliding rail limiting baffle (20-4), each sliding rail (20-3) is sleeved in a front sliding rail mounting seat and a rear sliding rail mounting seat (22) fixed on a frame (23), sliding bearings are arranged in the sliding rail mounting seats (22), and the sliding rail limiting baffle (20-4) is mounted at the tail end of the sliding rail (20-3).
9. The intelligent chassis system of the hub motor distributed electric drive tractor of claim 8, wherein the two electric push rods (21) are fixedly arranged on the left side and the right side of the frame (23) respectively through electric push rod installation seats (24), and push rod ends of the electric push rods are hinged with electric push rod connecting lifting lugs (20-2) through electric push rod connecting bolts (25).

Description

Intelligent chassis system of hub motor distributed electric drive tractor Technical Field The invention belongs to the technical field of electric tractor chassis, and particularly relates to an intelligent chassis system of a hub motor distributed electric drive tractor. Background With the continuous expansion of the application of electric vehicles in the agricultural field, the distributed electric drive tractor technology is being widely used. The electric tractor has become one of the important directions of modern agriculture development because of the advantages of zero emission, no pollution, high energy utilization efficiency, excellent intelligent control performance and the like. The wheel hub motor distributed electric driving system is adopted to directly mechanically connect the motor with the wheel, compared with a wheel hub driving structure, a wheel hub speed reducing device is omitted, and therefore the whole energy transmission efficiency of the vehicle is improved. In addition, the complex operation working condition of the tractor is oriented, and the intelligent chassis technology is developed to meet the requirement of intelligent agriculture on intelligent development of high-end equipment. At present, the domestic pure electric tractor market takes small and medium-sized products as the leading, and is mainly applied to scenes such as facility agriculture, orchards, greenhouses, pastures and the like. Such application environments place high demands on steering flexibility and intelligent operating level of the tractor. In the prior art, the small and medium-sized electric tractors are driven by adopting the wheel motor to cooperate with the speed reducing mechanism, and the structure not only increases the complexity of a transmission system, but also aggravates the dead weight of the vehicle. In the aspect of steering systems, front wheel steering is still mainly used at present, and an all-wheel steering technology is less adopted, so that the operation maneuverability of the tractor in narrow fields is limited. In the aspect of a counterweight mechanism, a design scheme of fixed weight and fixed installation position is adopted at present, and the adaptability to the change of the operation load of the tractor is poor. In general, the current small and medium-sized tractors have technical limitations in terms of arrangement form, steering mode, counterweight structure and the like of driving motors, and restrict the high-efficiency integration and implementation of intelligent control technology on the whole tractor. Therefore, the intelligent balance weight adjusting device optimizes the connection structure of the hub motor and the wheels, improves the design of a steering system, introduces an intelligent balance weight adjusting function, and has important engineering application value for improving the overall performance of the intelligent chassis of the small and medium-sized tractor. Disclosure of Invention In order to improve the intelligent degree of the medium and small tractor chassis system, the invention designs the hub motor distributed electric drive tractor intelligent chassis system, solves the problems of application of the medium and small tractor in a hub motor, realization of a multi-mode steering system and position adjustment of a balancing weight, and provides a reliable hardware foundation for follow-up intelligent control of the tractor. The intelligent chassis system of the hub motor distributed electric drive tractor comprises a hub motor and wheel connection installation assembly, a multi-mode steering system assembly and a balancing weight position adjustment and control assembly; the wheel hub motor and wheel connection installation assembly comprises a left front wheel hub motor wheel installation unit, a right rear wheel hub motor wheel installation unit and a left rear wheel hub motor wheel installation unit, and the four groups of installation units are identical in structure and are arranged in a mirror symmetry mode; each group of wheel mounting units of the wheel hub motor adopts an outer rotor type wheel hub motor, an outer rotor of the wheel hub motor is directly and fixedly connected with a wheel rim of a corresponding wheel, a wheel hub motor shaft of the wheel hub motor is fixedly connected with an outer mounting frame through a wheel hub motor shaft supporting plate, the outer mounting frame is hinged with an inner mounting frame fixed on a corresponding axle through an upper end pin shaft and a lower end pin shaft to form a steering swing pair, each group of mounting units is also integrated with a brake disc coaxially assembled with the wheel hub motor, and the brake disc is axially and fixedly connected with the wheel hub motor and the outer mounting frame into a whole; The multi-mode steering system assembly comprises a front steering system assembly and a rear steering system assembly which are respectively arranged correspondi