CN104691365B - Intelligent remote-control agricultural motor tricycle and control method thereof - Google Patents
Intelligent remote-control agricultural motor tricycle and control method thereof Download PDFInfo
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- CN104691365B CN104691365B CN201510126738.7A CN201510126738A CN104691365B CN 104691365 B CN104691365 B CN 104691365B CN 201510126738 A CN201510126738 A CN 201510126738A CN 104691365 B CN104691365 B CN 104691365B
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Abstract
The invention relates to the technical field of agricultural machinery and discloses an intelligent remote-control agricultural motor tricycle and a control method thereof. The intelligent remote-control agricultural motor tricycle comprises a frame, a steering system, a braking system, a driving system, a control system, a fixing frame, seedling separators, a front wheel support and rear wheel supports. The control method includes that an operator sends control signals to the driving system, the steering system and the braking system correspondingly by the aid of the control system so as to remotely control the agricultural motor tricycle to complete actions of advancing, retreating, steering and braking. The operator is protected from harms of farm chemicals or fertilizers in operation of fertilizing, spraying of farm chemicals and the like. The intelligent remote-control agricultural motor tricycle has the advantages of simple structure, remote control, low cost, applicability to various farming operations such as fertilizing, spraying of farm chemicals, sowing, intertilling and the like, high efficiency, high trafficability, suitableness for various landforms, structural steadiness, safety and reliability.
Description
Technical field
The present invention relates to agricultural machinery technological field, specifically a kind of intelligent distant control three wheeled transport vehicle used for farm and controlling party
Method.
Background technology
At present, the agricultural machinery of walking in farmland that we use generally is required for pilot steering, the machine of pilot steering
Tool typically compares Large heavy, and use cost is high, optional be restricted, poor by property in field walking operation, and easily injury
Crops are damaged more serious by crops when especially turning in field；Working performance is low, holds in operation process simultaneously
Easily make one to be invaded by medicine or fertilizer.In addition, current agricultural vehicle mostly is four-wheel, its structure is more complicated than three-wheel, course changing control
Also more complicated.Therefore it is badly in need of one kind in flexible, light, the efficiency high of field walking, low cost, good by property, the suitability is wide, knot
The simple agricultural machinery of structure.
Content of the invention
The problem to be solved in the present invention be provide a kind of field walking is convenient, the suitability is wide, crop is damaged little and can
The agricultural machinery of remote control and its control method.For solving the above problems, the technical solution used in the present invention is: a kind of intelligence is distant
Control three wheeled transport vehicle used for farm, comprising: vehicle frame, drivewheel, driven pulley, front-wheel support, rear wheel support, fixed mount, seedling distributing device, battery, turn
To system, drive system, illuminator, brake system, control system.
A kind of intelligent distant control three wheeled transport vehicle used for farm, described steering includes: steer motor, steer motor controller, angle
Control device, decelerator, rotating shaft；Described drive system includes: motor, drive motor controller, drive mechanism；Described photograph
Bright system includes: illumination etc., illumination relay；Described brake system includes: brake gear, brake controller；Described control system
System includes: remote-control signal transmitter, master controller；Described rear wheel support is arranged on vehicle frame, and described driven pulley is rotated by first
Axle is arranged on rear wheel support, and described brake gear is installed on the driven wheel, and described brake controller is fixed on vehicle frame；Described
Fixed rotating shaft on front-wheel support, rotating shaft is arranged on vehicle frame, and steer motor is connected with decelerator and is each attached on vehicle frame, turns to
Electric machine controller is fixed on vehicle frame, and decelerator is connected with rotating shaft, and angle controller is arranged on rotating shaft top；Described drivewheel
It is arranged on front-wheel support by the second rotary shaft, fixed mount is fixed on front-wheel support, motor, drive motor controller are solid
It is scheduled on fixed mount, motor is connected with drive mechanism, drive mechanism is connected with drivewheel；Described illuminating lamp is arranged on vehicle frame
On, illumination relay is fixed on vehicle frame；Seedling distributing device is separately mounted on front-wheel support and rear wheel support；Battery, master controller
It is fixed on vehicle frame.
A kind of intelligent distant control three wheeled transport vehicle used for farm, described drive mechanism can be sprocket wheel, the chain drive of chain composition, or cone
Tooth, power transmission shaft, the through-drive of travelling gear composition.
A kind of intelligent distant control three wheeled transport vehicle used for farm, described steer motor, motor, illumination lamp power line and battery are even
Connect.
A kind of intelligent distant control three wheeled transport vehicle used for farm, described brake controller, steer motor controller, drive motor controller,
Illumination relay wire is connected with master controller
A kind of intelligent distant control three wheeled transport vehicle used for farm, described brake gear is connected with brake controller wire；Steer motor with
Steer motor controller wire connects；Motor is connected with drive motor controller wire；Illuminating lamp and illumination relay
Device wire connects.
A kind of intelligent distant control three wheeled transport vehicle used for farm, described drivewheel controls steering by steer motor, and steer motor connection subtracts
Fast device is used for increasing torsion, meanwhile, for being accurately controlled steering, in the top setting angle control device of rotating shaft.
A kind of intelligent distant control three wheeled transport vehicle used for farm, described brake gear includes: electric pushrod, a word pump, hydraulic tube, brake lining,
Brake disc, electric pushrod connects a word pump, and a word pump is connected with brake lining by hydraulic tube, and brake lining connects brake disc.
Present invention also offers a kind of control method, it is controlled using following intelligent distant control agricultural vehicle, including vehicle frame, turn
To system, brake system, drive system, control system, fixed mount, seedling distributing device, front-wheel support, rear wheel support, described steering system
System includes: steer motor, steer motor controller, angle controller, decelerator, rotating shaft；Described drive system includes: drives
Motor, drive motor controller, drivewheel, driven pulley, drive mechanism；Described brake system includes: brake gear, brake control
Device；Described control system includes: remote-control signal transmitter, master controller；Described rear wheel support is arranged on vehicle frame, described driven
Wheel is arranged on rear wheel support by the first rotary shaft, and described brake gear is installed on the driven wheel, and described brake controller is fixed
On vehicle frame, fixed rotating shaft on described front-wheel support, rotating shaft is arranged on vehicle frame, and steer motor is connected all fixing with decelerator
On vehicle frame, steer motor controller is fixed on vehicle frame, and decelerator is connected with rotating shaft, and angle controller is arranged on rotating shaft top
End；Drivewheel is arranged on front-wheel support by the second rotary shaft, and fixed mount is fixed on front-wheel support, motor, driving electricity
Machine controller is fixed on fixed mount, and motor is connected with drive mechanism, and drive mechanism is connected with drivewheel, and seedling distributing device is respectively
It is arranged on front-wheel support and rear wheel support, master controller is fixed on vehicle frame.
A kind of intelligent distant control three wheeled transport vehicle used for farm control method, operator operate remote-control signal transmitter, and remote signal is sent out
Emitter sends drive signal, after master controller receipt signal, signal is scaled tach signal, and tach signal is transferred to drive
Galvanic electricity machine controller, tach signal is sent to motor through drive motor controller, and motor rotates, by Chain conveyer or
Through-drive drives drivewheel to rotate, thus driving three wheeled transport vehicle used for farm to advance or retreating.
A kind of intelligent distant control three wheeled transport vehicle used for farm control method, remote-control signal transmitter sends turn signal, and master controller connects
After the collection of letters number, signal is scaled tach signal, and tach signal is transferred to steer motor controller, tach signal is diverted
Electric machine controller is sent to steer motor, and steer motor rotates, and drives rotating shaft rotation by decelerator, thus driving front-wheel support
Rotate, realize three wheeled transport vehicle used for farm and turn to.
A kind of intelligent distant control three wheeled transport vehicle used for farm control method, remote-control signal transmitter sends stop signal, and master controller connects
The collection of letters number, and transmit a signal to brake controller, signal is sent to brake gear through brake controller, the electricity in brake gear
The energising of dynamic push rod pulls a word pump, and oil pressure is passed to brake lining by hydraulic tube by a word pump, and brake disc is held tightly by brake lining, brake disc and
Driven pulley friction eceleration, simultaneously main controller controls motor stop the rotation, and then realize braking.
A kind of intelligent distant control three wheeled transport vehicle used for farm control method, remote-control signal transmitter sends illumination sign, and master controller connects
The collection of letters number, and transmit a signal to illumination relay, illumination relay controls illuminating lamp energising or power-off.
It is an advantage of the current invention that: the structure of three-wheel is simple, stable, low cost；Remote manipulation, is being applied fertilizer or is being sprayed
Will not be encroached on by medicine fertilizer Deng personnel during operation；In rotating shaft, setting angle control device makes the steering of machine more accurate；The machine
Device can be used for applying fertilizer, the various farming operations such as spray, sow, efficiency high, and will not weigh crops wounded, can be suitable for variously
Shape, is beneficial to application and the popularization of agricultural machinery.
Brief description
Fig. 1 intelligent distant control three wheeled transport vehicle used for farm structure three-dimensional figure.
Fig. 2 embodiment one agricultural vehicle structure three-dimensional figure.
Fig. 3 embodiment one agricultural vehicle active power drive mechanism side view.
Fig. 4 embodiment two agricultural vehicle structure three-dimensional figure.
Fig. 5 embodiment two agricultural vehicle active power drive mechanism side view.
Fig. 6 control method of the present invention schematic diagram.
In figure: 1. vehicle frame 2. front-wheel support 3. rear wheel support 4. drivewheel 5. driven pulley, 6. seedling distributing device 7. brake dress
Put 8. brake controller, 9. rotating shaft, 10. steer motor, 11. steer motor controller, 12. decelerator 13. Angle ambiguity dress
Put 14. battery, 15. motor, 16. drive motor controller, 17. fixed mount, 18. sprocket wheel, 19. chain 20. sprocket wheel
21. travelling gear, 22. power transmission shaft, 23. conical tooth, 24. conical tooth, 25. uni-drive gear box 26. tapered gearbox 27. illuminates
Lamp 28. illumination relay 29. master controller.
Specific embodiment
Below in conjunction with the accompanying drawings and specific embodiment is described in further details to the present invention, but the present invention is not only limited to
This.
Embodiment one
As shown in Figure 1, Figure 2, Figure 3 shows, two rear wheel supports 3 are arranged on vehicle frame 1, and two driven pulleys 5 are by rotary shaft respectively
It is arranged on two rear wheel supports 3, two brake gears 7 are separately mounted on two driven pulleys 5；Two brake controllers 8 are solid
It is scheduled on and be connected with brake gear 7 with wire on vehicle frame 1；Fixed rotating shaft 9 on front-wheel support 2, rotating shaft 9 is arranged on vehicle frame 1, subtracts
Fast device 12 is connected with rotating shaft 9, and rotating shaft 9 top is installed with angle controller 13, and steer motor 10 is connected with decelerator 12
On vehicle frame 1, steer motor controller 11 and steer motor 10 wire are fastened on vehicle frame 1, motor 15 with drive
Electric machine controller 16 wire is fastened on fixed mount 17, and fixed mount 17 is fixed on front-wheel support 2, and sprocket wheel 18 is fixed on
In the rotary shaft of motor 15, drivewheel 4 is arranged on front-wheel support 2 by rotary shaft, and sprocket wheel 20 passes through axle and drivewheel 4
Fixing, sprocket wheel 18 is connected with chain 19 with sprocket wheel 20, and illuminating lamp 27 is arranged on vehicle frame 1 front end, and illumination relay 28 is fixed on
It is connected with illuminating lamp 27 with wire on vehicle frame 1；Battery 14, master controller 29 are fixed on vehicle frame 1, motor 15, steering electricity
Machine 10, illuminating lamp 27 are connected with battery 14 with power line, and drive motor controller 16, steer motor controller 11, brake control
Device 8, illumination relay 28 are connected with master controller 29 with wire respectively, and seedling distributing device 6 is separately mounted to front-wheel support 2 and is propped up with trailing wheel
On frame 3.
The concrete control method of this invention is: operator's operation remote-control signal transmitter, and remote-control signal transmitter sends
Signal is scaled tach signal after master controller 29 receipt signal, and tach signal is transferred to motor by drive signal
Controller 16, tach signal is sent to motor 15 through drive motor controller 16, and motor 15 rotarily drives sprocket wheel 18
Rotate, movable sprocket 20 is carried by chain 19, sprocket wheel 20 drives drivewheel 4 to rotate by rotary shaft, and motor 15 rotates forward
Band movement machine advances, and reversion then carries movement machine to retreat；Remote-control signal transmitter sends turn signal, master controller 29 receipt signal
Afterwards signal is scaled tach signal, and tach signal is transferred to steer motor controller 11, the diverted motor of tach signal
Controller 11 is sent to steer motor 10, and steer motor 10 rotates, and drives rotating shaft 9 to rotate by decelerator 12, thus before driving
Wheel support 2 rotates, and realizes three wheeled transport vehicle used for farm go to action；Remote-control signal transmitter sends stop signal, and master controller 29 receives
Signal, transmits a signal to brake controller 8, and signal is sent to brake gear 7, the electricity in brake gear 7 through brake controller 8
The energising of dynamic push rod pulls a word pump, and oil pressure is passed to brake lining by hydraulic tube by a word pump, and brake disc is held tightly by brake lining, brake disc and
Driven pulley friction eceleration, the motor 15 of master controller 29 control simultaneously stops the rotation, and then realizes braking maneuver.Remote signal
Emitter sends illumination sign, and master controller 29 receipt signal is simultaneously transferred to illumination relay 28, and illumination relay 28 controls photograph
Bright lamp 27 is energized or power-off.
Embodiment two
As shown in Figure 4, Figure 5, this embodiment and the difference of embodiment one are the transmission side that drivewheel 4 drives
Formula uses shaft transmission and is driven.Rotating shaft 9 is fixed on fixed mount 17, and fixed mount 17 is fixed on front-wheel support 2,
Uni-drive gear box 25 is fixed on front-wheel support 2, and motor 15 is fixed on uni-drive gear box 25, and the first of travelling gear 21
Individual gear is fixed in the rotary shaft of motor 15, fixed power transmission shaft 22 on the gear of travelling gear 21 least significant end, transmission
Axle 22 through front-wheel support 2, the fixed conical tooth in bottom 23, conical tooth 24 is arranged on drivewheel 4 by rotary shaft,
Engage with conical tooth 23, tapered gearbox 26 covers on conical tooth 23, on conical tooth 24.When motor 15 rotates, by passing
Moving gear 21 drives power transmission shaft 22 to rotate, and when power transmission shaft 22 rotates, the conical tooth 23 of bottom drives conical tooth 24 to rotate, from
And drive drivewheel 4 to rotate.Other concrete operation methods are identical with embodiment one.
Above content is only citing made for the present invention and illustrates, affiliated those skilled in the art are to being retouched
The specific embodiment stated is made various modifications or supplements or substituted using similar mode, without departing from the structure of invention
Or surmount scope defined in the claims, protection scope of the present invention all should be belonged to.
Claims (9)
1. a kind of intelligent distant control three wheeled transport vehicle used for farm, including vehicle frame, steering, brake system, drive system, control system；Its
It is characterised by, also include fixed mount, seedling distributing device, front-wheel support, rear wheel support, described steering includes: steer motor, steering
Electric machine controller, angle controller, decelerator, rotating shaft；Described drive system includes: motor, drive motor controller,
Drivewheel, driven pulley, drive mechanism；Described brake system includes: brake gear, brake controller；Described control system includes:
Remote-control signal transmitter, master controller；Described rear wheel support is arranged on vehicle frame, and described driven pulley is arranged on by the first rotary shaft
On rear wheel support, described brake gear is installed on the driven wheel, and described brake controller is fixed on vehicle frame, described front-wheel support
Upper fixed rotating shaft, rotating shaft is arranged on vehicle frame, and steer motor is connected with decelerator and is each attached on vehicle frame, steer motor control
Device is fixed on vehicle frame, and decelerator is connected with rotating shaft, and angle controller is arranged on rotating shaft top；Drivewheel is by the second rotary shaft
It is arranged on front-wheel support, fixed mount is fixed on front-wheel support, motor, drive motor controller are fixed on fixed mount
On, motor is connected with drive mechanism, and drive mechanism is connected with drivewheel, and seedling distributing device is separately mounted to front-wheel support and trailing wheel
On support, master controller is fixed on vehicle frame.
2. according to claim 1 a kind of intelligent distant control three wheeled transport vehicle used for farm it is characterised in that described drive mechanism be sprocket wheel,
The chain drive of chain composition, or cone tooth, power transmission shaft, the through-drive of travelling gear composition.
3. according to claim 1 a kind of intelligent distant control three wheeled transport vehicle used for farm it is characterised in that described steer motor controller,
Drive motor controller, brake controller are connected with master controller by wire.
4. according to claim 1 a kind of intelligent distant control three wheeled transport vehicle used for farm it is characterised in that described drivewheel pass through turn to electricity
Machine controls steering, and steer motor connection reducer is used for increasing torsion, simultaneously in the top setting angle control device of rotating shaft.
5. according to claim 1 a kind of intelligent distant control three wheeled transport vehicle used for farm it is characterised in that described brake gear includes: electricity
Dynamic push rod, a word pump, hydraulic tube, brake lining, brake disc, electric pushrod connects a word pump, and a word pump passes through hydraulic tube with brake lining even
Connect, brake lining connects brake disc.
6. a kind of intelligent distant control three wheeled transport vehicle used for farm control method is it is characterised in that controlled using following intelligent distant control agricultural vehicle
System, props up including vehicle frame, steering, brake system, drive system, control system, fixed mount, seedling distributing device, front-wheel support, trailing wheel
Frame, described steering includes: steer motor, steer motor controller, angle controller, decelerator, rotating shaft；Described driving
System includes: motor, drive motor controller, drivewheel, driven pulley, drive mechanism；Described brake system includes: brake
Device, brake controller；Described control system includes: remote-control signal transmitter, master controller；Described rear wheel support is arranged on car
On frame, described driven pulley is arranged on rear wheel support by the first rotary shaft, and described brake gear is installed on the driven wheel, described stops
Vehicle controller is fixed on vehicle frame, fixed rotating shaft on described front-wheel support, and rotating shaft is arranged on vehicle frame, steer motor and deceleration
Device connection is each attached on vehicle frame, and steer motor controller is fixed on vehicle frame, and decelerator is connected with rotating shaft, angle controller
It is arranged on rotating shaft top；Drivewheel is arranged on front-wheel support by the second rotary shaft, and fixed mount is fixed on front-wheel support, drives
Motor, drive motor controller are fixed on fixed mount, and motor is connected with drive mechanism, and drive mechanism is with drivewheel even
Connect, seedling distributing device is separately mounted on front-wheel support and rear wheel support, and master controller is fixed on vehicle frame, operator pass through remote control
Signal projector sends control signal, and master controller is scaled operative signals after accepting signal, and be sent to respective drive system,
Steering, brake system remote control agricultural vehicle complete to advance or retrogressing, go to action, braking maneuver.
7. according to claim 6 a kind of intelligent distant control three wheeled transport vehicle used for farm control method it is characterised in that operator operation
Remote-control signal transmitter sends drive signal, after master controller receipt signal, signal is scaled tach signal, and rotating speed is believed
Number it is transferred to drive motor controller, tach signal is sent to motor through drive motor controller, motor rotates, lead to
Cross the through-drive drive drivewheel rotation of sprocket wheel, the chain drive of chain composition or cone tooth, power transmission shaft, travelling gear composition, from
And drive three wheeled transport vehicle used for farm to advance or retreat.
8. according to claim 6 a kind of intelligent distant control three wheeled transport vehicle used for farm control method it is characterised in that remote signal transmitting
Device sends turn signal, after master controller receipt signal, signal is scaled tach signal, and tach signal is transferred to steering
Electric machine controller, the diverted electric machine controller of tach signal is sent to steer motor, and steer motor rotates, and is driven by decelerator
Rotating shaft rotates, thus driving front-wheel support to rotate, realizing three wheeled transport vehicle used for farm and turning to.
9. according to claim 6 a kind of intelligent distant control three wheeled transport vehicle used for farm control method it is characterised in that remote signal transmitting
Device sends stop signal, master controller receipt signal, and transmits a signal to brake controller, and signal sends through brake controller
To brake gear, the electric pushrod energising in brake gear pulls a word pump, and oil pressure is passed to brake lining by hydraulic tube by a word pump,
Brake disc is held tightly by brake lining, brake disc and driven pulley friction eceleration, and main controller controls motor stops the rotation simultaneously, and then
Realize braking.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510126738.7A CN104691365B (en) | 2015-03-23 | 2015-03-23 | Intelligent remote-control agricultural motor tricycle and control method thereof |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510126738.7A CN104691365B (en) | 2015-03-23 | 2015-03-23 | Intelligent remote-control agricultural motor tricycle and control method thereof |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN104691365A CN104691365A (en) | 2015-06-10 |
| CN104691365B true CN104691365B (en) | 2017-02-01 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201510126738.7A Active CN104691365B (en) | 2015-03-23 | 2015-03-23 | Intelligent remote-control agricultural motor tricycle and control method thereof |
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Families Citing this family (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104925165A (en) * | 2015-06-30 | 2015-09-23 | 合肥多加农业科技有限公司 | Remotely-controlled three-wheel agricultural locomotive with high passing ability |
| CN105144942A (en) * | 2015-10-09 | 2015-12-16 | 秦广泉 | Seedling-separating device for agricultural machine |
| CN107855946A (en) * | 2017-11-30 | 2018-03-30 | 无锡市日升机械厂 | Distance type Mobile sand blasting machine |
| CN113284334A (en) * | 2021-06-21 | 2021-08-20 | 格力电器（武汉）有限公司 | Receiving head testing device and receiving head testing system |
Family Cites Families (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US4403673A (en) * | 1981-01-06 | 1983-09-13 | Douglas Ball | Powered vehicle |
| FR2893299B1 (en) * | 2005-11-17 | 2007-12-28 | Frema Sarl | MOTORIZED VEHICLE WITH THREE WHEELS, PARTICULARLY AGRICULTURAL TYPE OF TRACTOR TYPE STACKER. |
| CN104335996A (en) * | 2013-08-09 | 2015-02-11 | 河南豪丰机械制造有限公司 | Remote-controlled self-propelled plant protection pesticide sprayer |
| CN104002890A (en) * | 2014-06-11 | 2014-08-27 | 河南农业大学 | Rear wheel track setting system for three-wheel high-frame field operation vehicle |
| CN204070259U (en) * | 2014-08-26 | 2015-01-07 | 合肥多加农业科技有限公司 | A kind of novel agricultural plant protection car |
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2015
- 2015-03-23 CN CN201510126738.7A patent/CN104691365B/en active Active
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Address after: Springfield Park 237000 Anhui city in Lu'an Province Economic Development Zone Applicant after: Anhui one tree machinery Science and Technology Ltd. Address before: The Internet industry park, Baohe Industrial District of Hefei City, Anhui province 230000 3 4 storey Applicant before: Anhui one tree machinery Science and Technology Ltd. |
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Effective date of registration: 20160930 Address after: Tibet road in Baohe District of Hefei city in Anhui province 230000 No. 2232 Binhu Pearl District 17 room 3304 Applicant after: Qin Shaoen Address before: Springfield Park 237000 Anhui city in Lu'an Province Economic Development Zone Applicant before: Anhui one tree machinery Science and Technology Ltd. |
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