CN104742734A - Four-wheel drive combined type multifunctional agricultural electric platform car - Google Patents
Four-wheel drive combined type multifunctional agricultural electric platform car Download PDFInfo
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Abstract
The invention relates to a four-wheel drive combined type multifunctional agricultural electric platform car. The four-wheel drive combined type multifunctional agricultural electric platform car is characterized by adopting two modes of a four-wheel drive combined type high frame and a four-wheel drive combined type low frame. A driving system, a combined frame structure and a car control system are arranged inside the electric platform car. The combined frame structure includes two combination modes, namely a high ground clearance mode and a low ground clearance mode. The four-wheel drive combined type multifunctional agricultural electric platform car is driven through electric power and operated through video remote control, has the advantages of being multifunctional and multipurpose, is particularly suitable for insect disease prevention operation of corns and other high crops and transport operations on small lands like greenhouses and in the aright environment, is favorable for the transport operations in the small-space environment and land head reversing operations in the farmland environment, achieves large-load farmland operation, and meanwhile can be remotely controlled for operation and relieve the labor intensity for operators.
Description
Technical field
The invention belongs to a kind of agricultural machinery facility be used in crops laxative and transport in agricultural production, the particularly multifunctional assembled farm-oriented motor-driven platform truck of a kind of four wheel drive.
Background technology
In recent years, agrotechnique develops very fast, agricultural machinery power technology is had higher requirement, but the domestic power of agricultural machinery is in the prior art mainly based on trac. at present, although power reserve is larger, function and system are comparatively perfect, but can not be applicable to fast-developing agriculture requirement under specific condition, as do not completed transport, turnover in space airtight in modern installations agricultural greenhouse.Adopt traditional trac. farmland laxative operation to be easy to cause the situation of poisoning in chaufeur, Chinese medicine even occurs and kills the case of dying.Because rural residents is done manual work to making the phenomenons such as rural laborer is short, labour is nervous, recruitment is expensive serious to city, the field machine engine installation therefore developing environment protection multifunctional is current development modern agriculture problem demanding prompt solution.
Summary of the invention
Instant invention overcomes the defect of above-mentioned existence, object completes the problems such as transport, turnover and crops laxative in confined space for solving in modern installations agricultural greenhouse, provides a kind of performance safety failure-free four wheel drive compound type overhead multifunctional motor-driven platform truck.
Four wheel drive composite multi-function electric platform truck content Description of the present invention:
Four wheel drive composite multi-function electric platform truck of the present invention, it is characterized in that: four wheel drive composite multi-function electric platform truck, adopt the overhead vehicle frame of four wheel drive compound type and four wheel drive compound type lower frame vehicle frame two kinds of forms, be provided with in electric platform car: drive system, combination vehicle shelf structure and vehicle control system; Combination vehicle shelf structure has two kinds of array modes: one is high-clearance mode, another kind is low ground space mode;
The overhead multifunctional motor-driven platform truck of four wheel drive compound type, drive system: be made up of 4 wheel hub motors, crotch assembly, 4 pieces of storage batterys and 4 electric machine controllers, the mode of 4 wheel drive is adopted to drive vehicle, motor is arranged on wheel nave and is structure as a whole by wheel hub motor employing, wheel hub motor is fixedly connected on crotch assembly, crotch assembly is fixed in main body frame, and storage battery, electric machine controller are arranged on the interior below of truss of main body frame; Central process unit master board is arranged on the bottom of main body frame;
Combination vehicle shelf structure: the high-clearance mode be made up of together with overhead connection truss connection main body frame, overhead truss, 2 main body frame are arranged on car body both sides, 2 overhead truss are separately positioned on the top of main body frame, and overhead truss is bolted to connection into high-clearance structure with overhead connection truss;
Vehicle control system: vehicle control system is made up of 5 subsystems and master control unit, video monitoring system, command and control system, steering swivel system and brake system; Master control unit: be made up of the electric machine controller and central process unit master board that are arranged on main body frame, central process unit master board receives data by peripheral data-interface or exports control signal, in central process unit master board, be provided with control logic software, the data-signal received by software process is analyzed through it and is exported the electric machine controller and controllor for step-by-step motor that the control signal of corresponding actions controls to arrange in the bottom of main body frame;
Video monitoring system:, by 4 points of cameras be arranged on main body frame front in front and back wheel or rear, image acquisition figure transmission module be arranged on the main camera at lens supporting structure top and The Cloud Terrace forms, video monitoring system adopts 5 cameras, and adopting panel computer can horizontal direction 360 ° rotation to the main camera of the graphicinformation showing vehicle periphery, vertical direction ± 45 ° rotate;
Command and control system is made up of remote controller and a pair data radio station, and remote controller adopts multi-channel model Digiplex, and in main body frame, upper and remote controller place respectively arranges a data radio station;
Steering swivel system: be made up of crotch assembly and 4 reductor and 4 controllor for step-by-step motor of turning to driven by stepper motors be arranged on bottom main body frame, turn to reductor to be fixed in main body frame, turn to the output shaft of reductor to be connected with the spindle nose of crotch assembly upper end;
Brake system: be made up of butterfly brake assemblies and the pull bar motor be arranged in main body frame.
Four wheel drive compound type lower frame multifunctional motor-driven platform truck is low ground space structure, combination vehicle shelf structure: the low ground space mode be made up of main body frame and low ground space connection truss, 2 main body frame are arranged on car body both sides, middle by the connection of low ground space connection truss.
The multifunctional assembled farm-oriented motor-driven platform truck of four wheel drive of the present invention, a kind of with driven by power and video frequency remote-control operation farmland operation platform truck, there is multi-functional, broad-spectrum feature, be particularly suitable for and the hauling operation under Small burden, the closed environments such as the operation of the prevention and elimination of disease and pests of the high-tech crops such as corn and greenhouse; Be beneficial to the hauling operation of little space environment and the edge of a field commutation operation of farm environment, realize the farmland operation under larger load, can operate by long-distance remote control simultaneously, reduce the labour intensity of operator.
Accompanying drawing explanation
Fig. 1 is four wheel drive compound type overhead multifunctional motor-driven platform truck structural representation;
Fig. 2 is four wheel drive compound type overhead multifunctional motor-driven platform truck lateral plan;
Fig. 3 is four wheel drive compound type lower frame multifunctional motor-driven platform truck structural representation;
Fig. 4 is four wheel drive compound type lower frame multifunctional motor-driven platform truck lateral plan;
Fig. 5 is four wheel drive compound type lower frame multifunctional motor-driven platform truck birds-eye view;
In figure: 1 is wheel hub motor, 2 is crotch assemblies, 3 is point cameras, 4 is main body frame, 5 is overhead truss, 6 is lens supporting structures, 7 is The Cloud Terraces, 8 is main cameras, 9 is storage batterys, 10 is electric machine controllers, 11 is central process unit master boards, 12 is butterfly brake assemblies, 13 is overhead connection truss, 14 is bolts, 15 is turn to reductor, 16 controllor for step-by-step motor, 17, pull bar motor, 18, image acquisition figure transmission module, 19 is data radio stations, 20 is that low ground space connects truss.
Detailed description of the invention
Four wheel drive composite multi-function electric platform truck of the present invention realizes like this, four wheel drive composite multi-function electric platform truck, adopt the overhead vehicle frame of four wheel drive compound type and four wheel drive compound type lower frame vehicle frame two kinds of forms, be provided with in electric platform car: drive system, combination vehicle shelf structure and vehicle control system; Combination vehicle shelf structure has two kinds of array modes: one is high-clearance mode, another kind is low ground space mode, illustrates below in conjunction with accompanying drawing.
Embodiment 1
See Fig. 1, Fig. 2, it is the overhead multifunctional motor-driven platform truck of four wheel drive compound type, drive system: be made up of 4 wheel hub motors 1, crotch assembly 2,4 pieces of storage batterys 9,4 electric machine controllers 10, adopt the mode of 4 wheel drive to drive vehicle, wherein wheel hub motor 1 motor is arranged on the structure that wheel nave is integrated.Wheel hub motor 1 is fixed on crotch assembly 2 and is fixedly connected with, and crotch assembly 2 is arranged in main body frame 4, and storage battery 9, electric machine controller 10 are arranged on the interior below of truss of main body frame; Central process unit master board 11 is arranged on the interior below of truss of main body frame 4, and central process unit master board is arranged on the bottom of main body frame; The bottom that storage battery 9 is placed on main body can lower the center of gravity, and improves vehicle and travels or stability when turning to, be beneficial to again lay, attended operation.
Wheel hub motor 1 adopts single line brushless hub electric motor or the built-in planetary reducer of brushless hub electric motor two kinds of forms, single line brushless hub electric motor, has that moment of torsion is large, consumption of current is little, the feature that work efficiency is high; The built-in planetary reducer of brushless hub electric motor, has that moment of torsion is large, the feature of work efficiency wide ranges compact structure.Two kinds of motors can adopt any one.
4 wheel hub motors 1 are controlled by 4 corresponding electric machine controllers 10, and the size controlling electric current by electric machine controller 10 controls the drive torque of wheel hub motor 1 and the moving velocity of voltage and vehicle and output torque.
Combination vehicle shelf structure: the high-clearance mode formed together with being connected with overhead connection truss 13 by main body frame 4, overhead truss 5,2 main body frame 4 are arranged on car body both sides, 2 overhead truss 5 are separately positioned on the top of main body frame 4, and overhead truss 5 is fixedly connected into high-clearance structure with the overhead truss 13 that connects by bolt 14.
Vehicle control system: vehicle control system is made up of 5 subsystems and master control unit, video monitoring system, command and control system, steering swivel system and brake system.
Master control unit: be made up of the electric machine controller 10 and central process unit master board 11 that are arranged on main body frame 4, central process unit master board 11 receives data by peripheral data-interface or exports control signal.In central process unit master board 11, copy is provided with independently developed control logic software.The data-signal received by software process is analyzed through it and is exported the electric machine controller 10 and controllor for step-by-step motor 16 that the control signal of corresponding actions controls to arrange in the bottom of main body frame 4.Controlled the curtage of supply motor by electric machine controller 10, control the speed of advancing or the forward-reverse of vehicle; The drive motor that also can control both sides by controlling electric machine controller runs with different speed or direction, reaches the object of glide steering, differential steering.Controlled the angle turning to reductor to rotate by control step electric machine controller 10, control turning to of vehicle, four wheels can the certain angle of each autorotation, realizes omnidirectional and turns to or pivot stud.
Video monitoring system: by 4 points of cameras 3 on main body frame 4 front be arranged in front and back wheel or rear, image acquisition figure transmission module 18 and be arranged on the main camera 8 at lens supporting structure 6 top, The Cloud Terrace 7 forms and adopts the panel computer of long-range setting to show the graphicinformation of vehicle periphery, video monitoring system adopts 5 cameras, main camera 8 is arranged on the The Cloud Terrace 7 at lens supporting structure 6 top, can the surrounding environment of conduct monitoring at all levels vehicle; Whether four points of cameras are for observing the position of wheel walking in the centre of crop or the position at vehicle cross slide type determination vehicle.Video monitoring system adopts 5 cameras, and adopts panel computer can horizontal direction 360 ° rotation to the main camera 8 of the graphicinformation showing vehicle periphery, and vertical direction ± 45 ° rotate, and adopt the panel computer that Android system is housed as video display unit (VDU).The video data of camera is transmitted by image acquisition figure transmission module 18, then passes to long-range panel computer to show the graphicinformation of vehicle periphery, is convenient to teleoperator controls vehicle traveling according to peripheral information.
Command and control system: command and control system is made up of remote controller and a pair data radio station, remote controller adopts multi-channel model Digiplex, main body frame 4 respectively arranges a data radio station 19 with remote controller place, and remote controller can be formed by the transformation of the control handle of game machine, encoded formation control data.Vehicle is controlled by the remote control handle on remote controller; Also can directly adopt multi-channel model Digiplex to control, data are passed to central process unit master control board 11 on vehicle by the data radio station 19 be arranged in main body frame 4 by control data, and central process unit master control board 11 sends control signal to control vehicle.Can long-distance remote control vehicle by data radio station 19, distance can reach more than 10km.
Steering swivel system: be made up of crotch assembly 2 and 4 reductor 15 and 4 controllor for step-by-step motor 16 of turning to driven by stepper motors be arranged on bottom main body frame 4.
Vehicular turn mode has two kinds: one for glide steering mode, is realized turning to or pivot stud by the poor or bilateral contrarotation of the electromotor velocity of the left and right sides; During this kind of mode of operation, central process unit master board 11 sends different tach signals to 4 electric machine controllers 10, four wheel hub motors 1 carry out work with different speed or different directions, by the velocity contrast of both sides wheel hub motor 1, realize the object of Vehicular turn or pirouette.Two turn to for omnidirectional, send control signal, pass to controllor for step-by-step motor 16 by central process unit master board 11, the angle that the control of controllor for step-by-step motor 16 turns to reductor 15 to rotate
Degree or step number, turn to reductor 15 to drive crotch assembly 2 to rotate corresponding angle relative to car body, realizes the object turned to.Four turn to reductor 15 to control respectively, and each wheel independently can rotate according to the program preset, and can realize pivot stud and omnidirectional turns to.Turn to reductor 15 to be fixed in main body frame 4, turn to the output shaft of reductor 15 to be connected with the spindle nose of crotch assembly 2 upper end.
Brake system: be made up of butterfly brake assemblies 12 and the pull bar motor 17 be arranged in main body frame 4, butterfly brake assemblies 12 adopts the standardized product of the marketization, is operated during work by the pull bar motor 17 be arranged in main body frame 4.
Embodiment 2
See Fig. 3 ~ Fig. 5, being four wheel drive compound type lower frame multifunctional motor-driven platform truck, is low ground space structure, and during employing low ground space structure, general vehicle uses as platform truck, and 2 main body frame 4 are arranged on both sides, and centre connects truss 20 by low ground space and connects.There are many groups in the hole that is connected and fixed of main body frame 4, coupled position can be determined as required, to meet the needs of different operating.
The present invention owing to adopting ripe control element and advanced hub driven motor and single line motor or planetary speed reduction hub motor in a large number, and does not have speed reduction gearing, and make complete machine structure simple, complete machine cost is lower; Because platform adopts the motor of four wheel drive and employing to have larger output torque, farmland transport capacity strengthens greatly; This platform truck, powerful, can long-distance video manipulation, omnidirectional turns to, differential steering, as the platform truck of the flexible Application at Small burden, can also may be used for the scaoffold car of special requirement again, as corn borer prevent and treat time, expansion is extremely strong; Owing to have employed driven by power, make it the feature being also provided with environmental protection and energy saving He can carrying out work at particular encapsulated environment.
Claims (2)
1. a four wheel drive composite multi-function electric platform truck, it is characterized in that: four wheel drive composite multi-function electric platform truck, adopt the overhead vehicle frame of four wheel drive compound type and four wheel drive compound type lower frame vehicle frame two kinds of forms, be provided with in electric platform car: drive system, combination vehicle shelf structure and vehicle control system; Combination vehicle shelf structure has two kinds of array modes: one is high-clearance mode, another kind is low ground space mode; The drive system of the overhead multifunctional motor-driven platform truck of four wheel drive compound type: be made up of 4 wheel hub motors (1), crotch assembly (2), 4 pieces of storage batterys (9) and 4 electric machine controllers (10), the mode of 4 wheel drive is adopted to drive vehicle, motor is arranged on wheel nave and is structure as a whole by wheel hub motor (1) employing, wheel hub motor (1) is fixedly connected on crotch assembly (2), crotch assembly (2) is fixed in main body frame (4), and storage battery (9), electric machine controller (10) are positioned at the truss below of main body frame (4); Vehicle control system: central process unit master board (11) is arranged on the bottom of main body frame (4);
Combination vehicle shelf structure: connected the high-clearance mode formed together by main body frame (4), overhead truss (5) and overhead connection truss (13), 2 main body frame (4) are arranged on car body both sides, 2 overhead truss (5) are separately positioned on the top of main body frame (4), and overhead truss (5) is fixedly connected into high-clearance structure with the overhead truss (13) that connects by bolt (14);
Vehicle control system: vehicle control system is made up of 5 subsystems and master control unit, video monitoring system, command and control system, steering swivel system and brake system; Master control unit: be made up of the electric machine controller (10) and central process unit master board (11) that are arranged on main body frame (4), central process unit master board (11) receives data by peripheral data-interface or exports control signal, in central process unit master board (11), be provided with control logic software, the data-signal received by software process is analyzed through it and is exported the electric machine controller (10) and controllor for step-by-step motor (16) that the control signal of corresponding actions controls to arrange in the bottom of main body frame (4);
Video monitoring system: by 4 points of cameras (3) be arranged on (4) front of main body frame in front and back wheel or rear, image acquisition figure transmission module (18) be arranged on the main camera (8) at lens supporting structure (6) top and The Cloud Terrace (7) forms, video monitoring system adopts 5 cameras, and adopt the graphicinformation of the panel computer display vehicle periphery of long-range setting, main camera (8) can horizontal direction 360 ° rotation, and vertical direction ± 45 ° rotate;
Command and control system is made up of remote controller and a pair data radio station (19), and remote controller adopts multi-channel model Digiplex, and in main body frame (4), upper and remote controller place respectively arranges a data radio station (19);
Steering swivel system: by crotch assembly (2) be arranged on 4 of main body frame (4) bottom and driven by stepper motorsly turn to reductor (15) and 4 controllor for step-by-step motor (16) to form, turn to reductor (15) to be fixed in main body frame (4), turn to the output shaft of reductor (15) to be connected with the spindle nose of crotch assembly (2) upper end;
Brake system: be made up of butterfly brake assemblies (12) and the pull bar motor (17) be arranged in main body frame (4).
2. four wheel drive composite multi-function electric platform truck according to claim 1, it is characterized in that: described four wheel drive compound type lower frame multifunctional motor-driven platform truck is low ground space structure, combination vehicle shelf structure: the low ground space mode be made up of main body frame (4) and low ground space connection truss (20), 2 main body frame (4) are arranged on car body both sides, and centre connects truss (20) by low ground space and connects.
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| CN201510143102.3A CN104742734B (en) | 2015-03-30 | 2015-03-30 | A kind of multifunctional assembled farm-oriented motor-driven platform truck of four-wheel drive |
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| CN201510143102.3A CN104742734B (en) | 2015-03-30 | 2015-03-30 | A kind of multifunctional assembled farm-oriented motor-driven platform truck of four-wheel drive |
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Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN105365602A (en) * | 2015-11-20 | 2016-03-02 | 湖北工业大学 | Four-wheel driven pure-electric micro-ploughing machine powder system and control method of same |
| CN108407702A (en) * | 2018-05-16 | 2018-08-17 | 王凡 | Small-size multifunction sugarcane field transport vehicle |
| CN111272221A (en) * | 2020-02-28 | 2020-06-12 | 南京慧瞳作物表型组学研究院有限公司 | Five-dimensional data acquisition vehicle for field crop phenotype |
| CN111559359A (en) * | 2020-04-08 | 2020-08-21 | 安徽舒州农业科技有限责任公司 | Hybrid safety braking device and method based on agricultural machinery |
| CN112377792A (en) * | 2020-12-18 | 2021-02-19 | 朱玲英 | Security monitor convenient to adjust and used for artificial intelligence equipment |
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| CN204586511U (en) * | 2015-03-30 | 2015-08-26 | 钟长瑞 | The multifunctional assembled farm-oriented motor-driven platform truck of a kind of four wheel drive |
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Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN105365602A (en) * | 2015-11-20 | 2016-03-02 | 湖北工业大学 | Four-wheel driven pure-electric micro-ploughing machine powder system and control method of same |
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| CN111559359A (en) * | 2020-04-08 | 2020-08-21 | 安徽舒州农业科技有限责任公司 | Hybrid safety braking device and method based on agricultural machinery |
| CN111559359B (en) * | 2020-04-08 | 2022-04-12 | 安徽舒州生态农业科技股份有限公司 | Hybrid safety braking device and method based on agricultural machinery |
| CN112377792A (en) * | 2020-12-18 | 2021-02-19 | 朱玲英 | Security monitor convenient to adjust and used for artificial intelligence equipment |
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