The invention discloses a four-wheel-drive deformation wheel control method and system, and the method comprises the steps: obtaining a signal of a deformation angle of a left front wheel, commanding a left drive valve to be closed, and commanding two left wheels to stop rotating; the deformation oil cylinders of the four deformation wheels act at the same time when the deformation valve plate is controlled to pass oil; when a signal indicating that the deformation oil cylinder stretches out to complete the deformation action is received, a first gear shifting valve is instructed to be communicated with oil to enable a left front wheel gear shifting oil cylinder to stretch out to drive motor power gear shifting; when a signal after the gear shifting action is completed is received, the left driving valve is instructed to rotate through oil; a signal of the deformation angle of the left rear wheel is obtained, and after a left driving valve is instructed to stop rotating, a switching oil cylinder of the left rear wheel is instructed to act for gear shifting; instructing a landing leg valve to control four landing leg oil cylinders to stretch out; a deformation valve plate is instructed to control deformation oil cylinders of four wheels to act at the same time, and the deformation process is completed; the technical problems that four deformation wheels of a novel four-wheel-drive deformation wheel chassis need specific deformation angles under the control of two handles, and the ground contact angles are consistent after the four wheels are deformed are solved.

    本发明公开了一种四驱变形轮控制方法及系统,包括:获取左侧前轮变形角度的信号,指令左驱动阀关闭,左侧两轮停转;控制变形阀片通油,四个变形轮的变形油缸同时动作;当接收变形油缸伸出完成变形动作后的信号时,指令换挡阀一通油使左前轮换挡油缸伸出进行驱动马达动力换挡;当接收换挡动作完成后的信号时,指令左驱动阀通油转动;获取左后轮变形角度的信号,指令左驱动阀停转后,指令左后轮的切换油缸动作进行换挡动作;指令支腿阀控制四个支腿油缸伸出;指令变形阀片同时控制四个轮的变形油缸动作,完成变形过程;解决了新式四驱变形轮底盘在两个手柄控制下的四个变形轮需要特定变形角度以及四轮变形后触地角度一致的技术难题。


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    Title :

    Four-wheel-drive deformation wheel control method and system


    Additional title:

    一种四驱变形轮控制方法及系统


    Contributors:
    DOU LINRUI (author) / ZHANG ZHONGHAI (author) / ZHANG JIGUANG (author) / LI MING (author) / LYU WEIXIANG (author) / WANG PENG (author) / YAN ZHIXIA (author)

    Publication date :

    2022-06-07


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Chinese


    Classification :

    IPC:    B62D MOTOR VEHICLES , Motorfahrzeuge