CN105684575A - Visual remote control electric mini-tiller electrically driven by four hub motors - Google Patents
Visual remote control electric mini-tiller electrically driven by four hub motors Download PDFInfo
- Publication number
- CN105684575A CN105684575A CN201610102601.2A CN201610102601A CN105684575A CN 105684575 A CN105684575 A CN 105684575A CN 201610102601 A CN201610102601 A CN 201610102601A CN 105684575 A CN105684575 A CN 105684575A
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- China
- Prior art keywords
- rotary blade
- tiller
- motor
- wheel hub
- mini
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
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Classifications
-
- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01B—SOIL WORKING IN AGRICULTURE OR FORESTRY; PARTS, DETAILS, OR ACCESSORIES OF AGRICULTURAL MACHINES OR IMPLEMENTS, IN GENERAL
- A01B33/00—Tilling implements with rotary driven tools, e.g. in combination with fertiliser distributors or seeders, with grubbing chains, with sloping axles, with driven discs
- A01B33/02—Tilling implements with rotary driven tools, e.g. in combination with fertiliser distributors or seeders, with grubbing chains, with sloping axles, with driven discs with tools on horizontal shaft transverse to direction of travel
- A01B33/021—Tilling implements with rotary driven tools, e.g. in combination with fertiliser distributors or seeders, with grubbing chains, with sloping axles, with driven discs with tools on horizontal shaft transverse to direction of travel with rigid tools
-
- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01B—SOIL WORKING IN AGRICULTURE OR FORESTRY; PARTS, DETAILS, OR ACCESSORIES OF AGRICULTURAL MACHINES OR IMPLEMENTS, IN GENERAL
- A01B33/00—Tilling implements with rotary driven tools, e.g. in combination with fertiliser distributors or seeders, with grubbing chains, with sloping axles, with driven discs
- A01B33/08—Tools; Details, e.g. adaptations of transmissions or gearings
- A01B33/082—Transmissions; Gearings; Power distribution
-
- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01B—SOIL WORKING IN AGRICULTURE OR FORESTRY; PARTS, DETAILS, OR ACCESSORIES OF AGRICULTURAL MACHINES OR IMPLEMENTS, IN GENERAL
- A01B33/00—Tilling implements with rotary driven tools, e.g. in combination with fertiliser distributors or seeders, with grubbing chains, with sloping axles, with driven discs
- A01B33/08—Tools; Details, e.g. adaptations of transmissions or gearings
- A01B33/087—Lifting devices; Depth regulation devices; Mountings
-
- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01C—PLANTING; SOWING; FERTILISING
- A01C7/00—Sowing
Abstract
The invention discloses a visual remote control electric mini-tiller electrically driven by four hub motors. The visual remote control electric mini-tiller comprises a power source, a power device, a rotary blade assembly, a driving walking assembly, a tilling depth adjusting assembly, a control device and a carframe. The visual remote control operation mode is adopted for achieving ploughing work, and labor intensity of operators is greatly lowered; meanwhile, a worker is prevented from directly making contact with the mini-tiller, and personnel safety is ensured. According to the mini-tiller, the pure-electric mode is adopted, no pollution is caused, and the mini-tiller is environmentally friendly. Walking and driving adopts the four hub motors, in-situ steering of the mini-tiller can be achieved through speed control, meanwhile, a mechanical steering mechanism is omitted, and the structural design is simplified. The hub motors are located inside wheels, space is saved, and the passing ability of the mini-tiller is improved. In addition, the rotary blade of the mini-tiller is replaced with other tools, other functions can be achieved, the seed sowing function can be achieved by installing a seed arranger and a seed box, and the mini-tiller is multipurpose.
Description
Technical field
The invention belongs to agricultural mechanical equipment field, relate to a kind of tiller, be specifically related to the visualization remote control electric tiller that a kind of four wheel hub motor electricity drive。
Background technology
Along with the fast development of warmhouse booth planting patterns, it is badly in need of meeting the agricultural machinery of warmhouse booth working environment。Due to the limitation in warmhouse booth space, large farm machinery wherein cannot operation, it is necessary to be suitable for the miniaturization of warmhouse booth working environment, multi-functional agricultural machinery。And small-scale agricultural machinery few in number, it is common to diesel engine or gasoline engine for power, the indoor soil of canopy, plant and air all can be caused serious pollution, directly influence the quality of canopy indoor crops and the healthy of operating personnel。
Summary of the invention
In order to solve above-mentioned technical problem, the electric micro-cultivator of the Remote of a kind of view-based access control model provided by the invention operation, this tiller have simple in construction, volume little, pollution-free, can the feature such as remote visualization manipulation。
The technical solution adopted in the present invention is: the visualization remote control electric tiller that a kind of four wheel hub motor electricity drive, it is characterised in that: include power supply, power set, rotary blade assembly, drive walking assembly, tilling depth adjusting part, control device and vehicle frame；
Described power supply is made up of the first lithium battery group and the second lithium battery group, and the first lithium battery group powers to four wheel hub motors, and the second lithium battery group is powered to rotary blade drive motor；
Described power set are driven motor to form by four wheel hub motors and a rotary blade, provide power for tiller walking and operation；
Described rotary blade assembly includes worm reduction box, rotary blade and cutter shaft；After the energising of rotary blade drive motor, impart power to cutter shaft by worm reduction box and make rotary blade rotary motion；
Described driving walking assembly is made up of four wheels, and wheel is built with wheel hub motor；
Described tilling depth adjusting part is made up of electronic screw mandrel slide unit and rotary blade connecting plate；Rotary blade couples through the slide block of rotary blade connecting plate with electronic screw mandrel slide unit, and electronic screw mandrel slide unit is coupled with vehicle frame by slide unit base；The slide block lifting controlling electronic screw mandrel slide unit can realize the lifting of rotary blade, thus controlling the rotary tillage degree of depth of tiller；
Described control device is made up of control chamber, control to as if four wheel hub motors, rotary blade drive motor and photographic head；
Described rotary blade drive motor is fixedly mounted on described rotary blade connecting plate by support of motor plate, and described photographic head is fixedly mounted on described vehicle frame, and described four wheels are fixedly mounted on described vehicle frame。
As preferably, described rotary blade is also configured with mud guard, blocks for next the loosening the soil by spin-up, it is prevented that loosens the soil and disorderly spatters。
As preferably, described wheel hub motor is permanent magnet brushless direct current hub motor。
As preferably, described electronic screw mandrel slide unit includes screw mandrel, optical axis, ram platen, slide block, slide unit base, motor support, motor；Ram platen one side is connected with rotary blade connecting plate, and another side is connected with slide block；Leading screw and optical axis are supported by two ends and are fixedly mounted on slide unit base, slide block is set in by feed screw nut and linear bearing on leading screw and optical axis, leading screw is connected with motor by shaft coupling, motor is fixed on slide unit base by motor support, and slide unit base is connected with vehicle frame by bolt。
As preferably, four wheel hub motor axles are fixedly mounted on described vehicle frame each through motor shaft supporting seat and nut。
The present invention, by adopting the mode of operation of visual remote control to realize ploughing work, is greatly reduced the labor intensity of operator；The personnel that simultaneously avoid directly contact tiller, it is ensured that personal security。Tiller of the present invention adopts pure electronic mode, pollution-free, has environment friendly。Hoofing part adopts four wheel hub motors, and Negotiation speed controls to realize the pivot stud of tiller, meanwhile, eliminates mechanical steering gear, simplifies structural design。Wheel hub motor is positioned at wheel, saves space, improves the property passed through of tiller。Additionally, the rotary blade changing tiller is the function that other facility can realize other, sowing function can be realized as loaded onto feed mechanism for seed and kind case, it is achieved a tractor serves several purposes。
Accompanying drawing explanation
Fig. 1: the structure chart of the embodiment of the present invention；
Fig. 2: the upward view of the embodiment of the present invention；
Fig. 3: the electronic screw mandrel slide unit structure chart of the embodiment of the present invention；
Fig. 4: the body frame structure for automotive figure of the embodiment of the present invention；
Fig. 5: the control principle drawing of the embodiment of the present invention。
Detailed description of the invention
Understand for the ease of those of ordinary skill in the art and implement the present invention, below in conjunction with drawings and Examples, the present invention is described in further detail, should be appreciated that enforcement example described herein is merely to illustrate and explains the present invention, be not intended to limit the present invention。
Ask for an interview Fig. 1, Fig. 2, Fig. 3 and Fig. 4, the visualization remote control electric tiller that a kind of four wheel hub motor electricity provided by the invention drive, including power supply, power set, rotary blade assembly, drive walking assembly, tilling depth adjusting part, control device and vehicle frame 7；Power supply is made up of the first lithium battery group 5 and the second lithium battery group 11, and the first lithium battery group 5 powers to four wheel hub motors, and the second lithium battery group 11 powers 9 to rotary blade drive motor；Power set are driven motor 9 to form by four permanent magnet brushless direct current hub motors and a rotary blade, provide power for tiller walking and operation；Rotary blade assembly includes mud guard 2, worm reduction box 12 and rotary blade 13 and cutter shaft；After rotary blade drive motor 9 energising, impart power to rotary ploughing cutter shaft by worm reduction box 12, make rotary blade 13 rotary motion being contained on axle；Mud guard 2 blocks for loosening the soil of spin-up being come, it is prevented that loosens the soil and disorderly spatters。Driving walking assembly to be made up of four wheels 4, wheel 4 is built with wheel hub motor；Tilling depth adjusting part is made up of electronic screw mandrel slide unit 8 and rotary blade connecting plate 3；Electronic screw mandrel slide unit 8 includes screw mandrel 801, optical axis 802, ram platen 803, slide block 804, slide unit base 805, motor support 806, motor 807；Ram platen 803 one side is connected with rotary blade connecting plate 3, and another side is connected with slide block 804；Leading screw 801 and optical axis 802 are supported by two ends and are fixedly mounted on slide unit base 805, slide block 804 is set in by feed screw nut and linear bearing on leading screw 801 and optical axis 802, leading screw 801 is connected with motor 807 by shaft coupling, motor 807 is fixed on slide unit base 805 by motor support 806, and slide unit base 805 is connected with vehicle frame 3 by bolt；Rotary blade 13 couples with the slide block of electronic screw mandrel slide unit 8 through worm reduction box 12 and rotary blade connecting plate 3, and electronic screw mandrel slide unit 8 is coupled with vehicle frame 7 by slide unit base；The slide block lifting controlling electronic screw mandrel slide unit 8 can realize the lifting of rotary blade 13, thus controlling the rotary tillage degree of depth of tiller；Control device to be made up of control chamber 6, control to as if four AC permanent magnet wheel hub motors, rotary blade drive motor 9 and photographic head 10；Rotary blade drive motor 9 is fixedly mounted on rotary blade connecting plate 3 by support of motor plate 1, and photographic head 10 is fixedly mounted on vehicle frame 7, and four wheel hub motors are fixedly mounted on vehicle frame 7 each through motor shaft supporting seat 15 and nut 14。
Asking for an interview Fig. 5, the canopy room remote control electric tiller of the present embodiment controls system and is made up of vehicle-mounted end control system and remote manipulator。Wherein vehicle-mounted end control system is made up of vehicle-mounted master controller and traveling controller, facility controller and machine vision controller, and all controller modules all pass through CAN connection and realize mutual communication。
Vehicle-mounted master controller is responsible for the coordination of whole system and is controlled, and receives the order from remote control end, order passes to administrative control device, facility controller and machine vision controller module。Traveling controller receives the instruction from vehicle-mounted master controller, it is achieved to road wheel hub motor control。Facility controller receives the instruction from vehicle-mounted master controller, controls the duty of brshless DC motor and motor, thus regulating rotating speed and the tilling depth of rotary blade, thus realizing the control to agricultural machinery and implement。Machine vision controller receives from vehicle-mounted master controller instruction, it is achieved to image scene collection and transmission。
Remote control end includes wireless instructions and sends and wireless image receiver module。The wireless signal wherein adopting 2.4GHz sends command operating tiller to vehicle-mounted main control end, adopts the image that the wireless signal receiver device vision module of 5.8GHz is passed back。
Concrete operations flow process is as follows:
1. press the RPB that travelling control is relevant, remote control end sends operational order to vehicle-mounted main controller, vehicle-mounted main controller receives and sends corresponding control signal by CAN to traveling controller after the operational order of remote control end, control the operating of each wheel hub motor, it is achieved the startup of whole car body, stopping, speed governing and turn to；
2. after tiller advances to operating area, press the RPB that facility control, operational order is sent to vehicle-mounted master controller, vehicle-mounted master controller receives and sends corresponding control signal by CAN to facility controller after the operational order of remote control end, such as rotary tillage start and stop, rotary blade severity control etc.；
3. press video and control RPB, operational order is sent to vehicle-mounted master controller, vehicle-mounted master controller receives and sends instruction by CAN to machine vision controller after the operational order of remote control end, realize image scene collection, and pass image back remote control end display screen by the wireless channel of 5.8GHz and show, it is achieved to tiller visualized operation。
Although this specification more employs the terms such as support of motor plate 1, mud guard 2, rotary blade connecting plate 3, wheel the 4, first lithium battery group 5, control chamber 6, vehicle frame 7, electric threaded shaft slide unit 8, rotary blade drive motor 9, photographic head the 10, second lithium battery group 11, worm reduction box 12, rotary blade 13, nut 14, motor supporting base 15, screw mandrel 801, optical axis 802, slider bottom plate 803, slide block 804, slide unit base 805, motor support 806, motor 807, but is not precluded from using the probability of other terms。Using these terms to be only used to describe more easily the essence of the present invention, it is all contrary with spirit of the present invention for being construed as any additional restriction。
It should be appreciated that the part that this specification does not elaborate belongs to prior art。
Should be understood that; the above-mentioned description for preferred embodiment is comparatively detailed; therefore the restriction to scope of patent protection of the present invention can not be thought; those of ordinary skill in the art is under the enlightenment of the present invention; under the ambit protected without departing from the claims in the present invention; can also making replacement or deformation, each fall within protection scope of the present invention, the scope that is claimed of the present invention should be as the criterion with claims。
Claims (5)
1. the visualization remote control electric tiller that a wheel hub motor electricity drives, it is characterised in that: include power supply, power set, rotary blade assembly, drive walking assembly, tilling depth adjusting part, control device and vehicle frame (7)；
Described power supply is made up of the first lithium battery group (5) and the second lithium battery group (11), first lithium battery group (5) is powered to four wheel hub motors, and the second lithium battery group (11) is powered to rotary blade drive motor (9)；
Described power set are driven motor (9) to form by four wheel hub motors and a rotary blade, provide power for tiller walking and operation；
Described rotary blade assembly includes worm reduction box (12), rotary blade (13) and cutter shaft；After rotary blade drive motor (9) energising, impart power to cutter shaft by worm reduction box (12) and make rotary blade (9) rotary motion；
Described driving walking assembly is made up of four wheels (4), and wheel (4) is built with wheel hub motor；
Described tilling depth adjusting part is made up of electronic screw mandrel slide unit (8) and rotary blade connecting plate (3)；Rotary blade (13) couples through the slide block of rotary blade connecting plate (3) with electronic screw mandrel slide unit (8), and electronic screw mandrel slide unit (8) is coupled with vehicle frame (7) by slide unit base；The slide block lifting controlling electronic screw mandrel slide unit (8) can realize the lifting of rotary blade (13), thus controlling the rotary tillage degree of depth of tiller；
Described control device is made up of control chamber (6), control to as if four wheel hub motors, rotary blade drive motor (9) and photographic head (10)；
Described rotary blade drive motor (9) is fixedly mounted on rotary blade connecting plate (3) by support of motor plate (1), described photographic head (10) is fixedly mounted on described vehicle frame (7), and described four wheels (4) are fixedly mounted on described vehicle frame (7)。
2. the visualization remote control electric tiller that four wheel hub motor electricity according to claim 1 drive, it is characterised in that: described rotary blade (13) is also configured with mud guard (2), blocks for next the loosening the soil by spin-up, it is prevented that loosens the soil and disorderly spatters。
3. the visualization remote control electric tiller that four wheel hub motor electricity according to claim 1 drive, it is characterised in that: described wheel hub motor is permanent magnet brushless direct current hub motor。
4. the visualization remote control electric tiller that four wheel hub motor electricity according to claim 1 drive, it is characterised in that: described electronic screw mandrel slide unit (8) includes screw mandrel (801), optical axis (802), ram platen (803), slide block (804), slide unit base (805), motor support (806), motor (807)；Ram platen (803) one side is connected with rotary blade connecting plate (3), and another side is connected with slide block (804)；Leading screw (801) and optical axis (802) are supported by two ends and are fixedly mounted on slide unit base (805), slide block (804) is set in by feed screw nut and linear bearing on leading screw (801) and optical axis (802), leading screw (801) is connected with motor (807) by shaft coupling, motor (807) is fixed on slide unit base (805) by motor support (806), and slide unit base (805) is connected with vehicle frame (3) by bolt。
5. the visualization remote control electric tiller that four wheel hub motor electricity according to claim 1 drive, it is characterised in that: four wheel hub motor axles are fixedly mounted on described vehicle frame (7) each through motor shaft supporting seat (15) and nut (14)。
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610102601.2A CN105684575A (en) | 2016-02-24 | 2016-02-24 | Visual remote control electric mini-tiller electrically driven by four hub motors |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610102601.2A CN105684575A (en) | 2016-02-24 | 2016-02-24 | Visual remote control electric mini-tiller electrically driven by four hub motors |
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| Publication Number | Publication Date |
|---|---|
| CN105684575A true CN105684575A (en) | 2016-06-22 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201610102601.2A Pending CN105684575A (en) | 2016-02-24 | 2016-02-24 | Visual remote control electric mini-tiller electrically driven by four hub motors |
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| CN (1) | CN105684575A (en) |
Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106171088A (en) * | 2016-07-10 | 2016-12-07 | 邱艳 | A kind of farmland operation ploughs tooth depth precise adjusting device |
| CN107258115A (en) * | 2017-07-27 | 2017-10-20 | 杭州中艺生态环境工程有限公司 | A kind of ecological soil improved device for improving coastal mud soil greening seedling survival rate |
| CN108693806A (en) * | 2018-05-16 | 2018-10-23 | 合肥亿福自动化科技有限公司 | A kind of automatic transplanting mechanism |
| CN108738436A (en) * | 2018-07-12 | 2018-11-06 | 湖北工业大学 | The modular multi-function agricultural robot of weeding between strain is sowed in a kind of canopy room rotary tillage |
| CN109168509A (en) * | 2018-10-27 | 2019-01-11 | 西北农林科技大学 | A kind of orchard fertilizer apparatus and its working method |
| CN106342469B (en) * | 2016-10-28 | 2019-03-22 | 洛阳理工学院 | A kind of intelligent grass-removing |
| CN109863849A (en) * | 2019-04-19 | 2019-06-11 | 长春奢爱农业科技发展有限公司 | A kind of horticultural management handling device |
| CN110249722A (en) * | 2019-04-09 | 2019-09-20 | 丰疆智能科技股份有限公司 | Crawler belt type miniature ploughing machine and its assembly method |
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| CN204796143U (en) * | 2015-07-20 | 2015-11-25 | 北京市农业机械试验鉴定推广站 | Automatic small -size vegetable transplanting machine commutates |
| CN205389331U (en) * | 2016-02-24 | 2016-07-27 | 湖北工业大学 | Four -wheel drives visual remote controlled electric and ploughs machine a little |
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| CN201467633U (en) * | 2009-07-20 | 2010-05-19 | 福建省烟草公司南平市公司 | Novel rotary tillage banking machine |
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Cited By (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106171088A (en) * | 2016-07-10 | 2016-12-07 | 邱艳 | A kind of farmland operation ploughs tooth depth precise adjusting device |
| CN106342469B (en) * | 2016-10-28 | 2019-03-22 | 洛阳理工学院 | A kind of intelligent grass-removing |
| CN107258115A (en) * | 2017-07-27 | 2017-10-20 | 杭州中艺生态环境工程有限公司 | A kind of ecological soil improved device for improving coastal mud soil greening seedling survival rate |
| CN108693806A (en) * | 2018-05-16 | 2018-10-23 | 合肥亿福自动化科技有限公司 | A kind of automatic transplanting mechanism |
| CN108738436A (en) * | 2018-07-12 | 2018-11-06 | 湖北工业大学 | The modular multi-function agricultural robot of weeding between strain is sowed in a kind of canopy room rotary tillage |
| CN108738436B (en) * | 2018-07-12 | 2023-09-15 | 湖北工业大学 | Modularized multifunctional agricultural robot for weeding among rotary tillage seeding plants in greenhouse |
| CN109168509A (en) * | 2018-10-27 | 2019-01-11 | 西北农林科技大学 | A kind of orchard fertilizer apparatus and its working method |
| CN110249722A (en) * | 2019-04-09 | 2019-09-20 | 丰疆智能科技股份有限公司 | Crawler belt type miniature ploughing machine and its assembly method |
| CN109863849A (en) * | 2019-04-19 | 2019-06-11 | 长春奢爱农业科技发展有限公司 | A kind of horticultural management handling device |
| CN109863849B (en) * | 2019-04-19 | 2021-08-20 | 长春奢爱农业科技发展有限公司 | Handling device for gardening management |
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Application publication date: 20160622 |
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