CN106080816A - A kind of high-clearance crawler travel equipment for farm work - Google Patents

Abstract

The invention discloses a high-gap crawler walking equipment for field operations. The walking equipment is composed of two crawler-type walking mechanisms driven by hub motors. The crawler-type walking mechanisms on both sides are connected by fixed rods. The top of the crawler-type walking mechanism is equipped with a sprayer lifting mechanism. The spraying mechanism includes a drug mixing device and a spray rod device; each crawler-type walking mechanism is equipped with a trapezoidal bracket assembly inside; the mixing device and the control device are placed on both sides. Inside the trapezoidal bracket assembly, the spray rod device is arranged on the lifting mechanism of the sprayer and connected with the mixing device, and moves up and down with the traction of the lifting mechanism of the sprayer; the control device is connected with the hub motor, the lifting mechanism of the sprayer, and the spraying mechanism respectively. At the same time, the wide spray boom of the device can be adjusted up and down, which can meet the spraying requirements of various crops in different growth periods. At the same time, it does not need human driving through remote control, which reduces the load and improves the automation level.

Description

A high clearance crawler walking equipment for field work

technical field

The invention relates to a spraying machine, in particular to a high-clearance crawler walking equipment used in field operations.

Background technique

my country is a large agricultural country, and the level of crop protection and fertilization operations directly affects the yield of crops. At present, the level of agricultural mechanization and automation in my country is still relatively low, and there is a lack of equipment for efficient pesticide application in the field. At the same time, for crops with complex spraying topography (such as rice and high-stalk crops, etc.), conventional machinery cannot go to the field, so most of them rely on manpower or spraying. The combination of man and machine leads to problems such as low efficiency, high labor intensity, and poor scale effect. The patent application number is CN201520140029.X. The patent crawler self-propelled air-supply sprayer adopts the traditional crawler structure, which has certain adaptability to complex terrain, but the passability is not good, and the spraying range is limited, which cannot meet the spraying requirements of high-stalk crops in the field. . The patent application number is CN201310288169.7. A tractor walking device adopts a triangular crawler structure, which has certain adaptability to complex terrain, but there are still problems such as the center of gravity of the device is too high and the passability cannot adapt to high-stalk crops when used in agricultural applications. Aiming at the disadvantages of field spraying with complex spraying terrain above, a high-gap unmanned intelligent crawler sprayer was designed. The crawler structure and unmanned intelligent control method are adopted to adapt to the influence of complex spraying terrain. In addition, the three-stage height-adjustable long spray boom can meet the spraying needs of field crops in different growth periods.

Contents of the invention

The purpose of the present invention is to design a high-gap crawler walking equipment for field operations, which can adapt to the spraying requirements of large fields and crops with complex spraying topography, and can improve the spraying efficiency of spraying and spraying machines and control methods.

Technical scheme of the present invention is:

The utility model relates to a high-ground-clearance crawler traveling equipment for field operations, which includes a crawler-type traveling mechanism and a control device. The crawler-type traveling mechanism is two crawler-type traveling mechanisms driven by hub motors, and the crawler-type traveling mechanisms on both sides are connected by fixed rods; The crawler-type traveling mechanism is equipped with trapezoidal bracket components inside; the control device is placed inside the trapezoidal bracket components on both sides, and the control device is connected to the hub motor;

The periphery of the trapezoidal support assembly is wrapped by crawlers. The trapezoidal support assembly is a trapezoidal support structure, which is composed of support plates fixedly connected. The wheels fixed on the four sides of the trapezoidal support assembly can cooperate with the crawler belts, and drive the crawler belts through the hub motor drive wheels.

Further, the trapezoidal bracket assembly includes a support horizontal plate, a support slant plate, a hub support bracket, and a hub support horizontal plate. connection; the connection between the support horizontal plate and the support slant plate, the connection between the support horizontal plate and the hub support bracket, the connection between the support slant plate and the hub support horizontal plate, the connection between the hub support bracket and the hub support horizontal plate A through hole for the intermediate shaft to pass through is reserved; one end of the hub supporting bracket close to the supporting horizontal plate is a horizontal plate, and the other end is fixedly connected with a half-mouth-shaped bracket A; the hub supporting horizontal plate is close to the supporting inclined plate. One end is a horizontal plate, and the other end is fixedly connected with a half-mouth-shaped bracket B, and the half-mouth-shaped bracket B of the hub supporting the horizontal plate is engaged with the inner side of the half-mouth-shaped bracket A of the wheel hub supporting bracket, and the two are connected through an intermediate shaft; the hub The bottom of the supporting horizontal plate is fixedly connected with two triangular brackets, and the two sides of the bottom edge of the triangular brackets are reserved with through holes for the intermediate shaft to pass through.

Further, the crawler-type traveling mechanism includes a hub motor drive wheel, a traveling wheel, a track, a guide wheel, and a support wheel, and the hub motor drive wheel, the travel wheel, the guide wheel, and the support wheel are all assembled on the trapezoidal support assembly through an intermediate shaft. On both sides of the reserved through holes at each connection end, the hub motor drive wheel and the guide wheel are respectively assembled on the intermediate shafts on both sides of the bottom side of the trapezoidal bracket assembly, and the two supporting wheels are assembled on the intermediate shafts on both sides of the upper side of the trapezoidal bracket assembly On the top, 4 walking wheels are assembled in a group of two on the triangular bracket at the bottom of the trapezoidal bracket assembly. The drive wheel of the hub motor and the trapezoidal bracket assembly are connected by a bridge. The drive wheel of the hub motor is installed on the hub support bracket, The wheel hub supports the horizontal plate on the intermediate shaft inside the semi-mouth-shaped bracket; the walking wheel, guide wheel, and support wheel are all double-wheel coaxial structures; , walking wheels, guide wheels, and support wheels are in contact.

Further, the fixed rod connecting frame is a quadrangular pyramid frame, including a support frame and a support horizontal plate. The support horizontal plate at the bottom and the support frame above it form a quadrangular pyramid structure, and the support horizontal plate is a flat plate with a quadrangular structure; from Viewed from the side of the sprayer, the trapezoidal bracket assembly inside the trapezoidal track and the two support frames above form a triangle, that is, it adopts an overall triangular structure with stability and gradually narrows from bottom to top.

Further, the supporting horizontal plate is a metal flat plate, and four triangular iron plates are extended from the lower part of the four corners of the metal flat plate, and the four triangular iron plates are bridged on the intermediate shaft extending from both sides of the support wheel; the supporting horizontal plate and the four triangular iron plates are welded , The upper gear fixing piece and the top plate of the support frame are welded.

Further, the bracing frame on the quadrangular pyramid frame can be replaced by welding the apex of two metal bracing frames to form a triangular bracing frame. The trapezoidal bracket assembly forms a solid triangular structure when viewed from the high-clearance crawler.

Further, the fixed rods include: a main fixed rod connected to the top ends of the two support frames, and two auxiliary fixed rods located on both sides of the lower end of the main fixed rod, and each auxiliary fixed rod is respectively fixed on two sides of the same side of the support frame. At the same time, ensure that the main fixing rod is located directly above the center line of the two auxiliary fixing rods, and that the main fixing rod and the auxiliary fixing rod are arranged in parallel.

Further, the water tank, the medicine tank and the liquid medicine tank of the spraying device can be placed inside the trapezoidal bracket assembly as required.

Further, it also includes cover plates, the cover plates are fixed on both sides of the track, and the size is slightly smaller than that of the track, and the trapezoidal support assembly, water tank, medicine tank, liquid medicine tank, and control devices are all covered, and fixed on the intermediate shaft outside each wheel .

Further, the control device includes an embedded vehicle control unit, and an in-wheel motor drive and a speed sensor respectively connected to the embedded vehicle control unit.

The beneficial effect of the present invention is that a high clearance crawler walking equipment used for field work not only reduces its own weight, but also does not expose the operator to spraying pesticides, improves the operator's operating environment, and at the same time lightens the operating environment of the operator. Operating strength. The crawler drive on the left and right sides is driven by an independent built-in wheel hub motor, which has good sealing performance, reduces parts such as gearboxes, and saves space and weight; water tanks, liquid medicine tanks and other waterway components, as well as vehicle batteries, drivers and other circuit parts are all centralized Inside the trapezoidal crawler on both sides, the center of gravity is lowered, which is different from other crawler walking mechanisms, making the walking more stable. The structure fixed only by three fixed rods at the height of the sprayer makes the middle of the sprayer passable and adapts to various situations. High and low gap crop spraying conditions; the wide spray boom can be adjusted up and down according to the actual height of the crop, which can meet the spraying requirements of various crops in different growth periods. At the end of spraying, the two sides and two sections of the three-section spray boom can be folded inward. The three-section spray boom forms an equilateral triangle structure with a symmetrical center and a relatively stable center of gravity. Unlike other spray booms that are folded backward, the spray boom will not swing up and down, left and right, which is conducive to the walking and transportation of the sprayer; the sprayer uses water Drug separation, real-time mixed drug waterway system, when the sprayer encounters harsh terrain conditions and cannot drive out, it can release the clean water in the water tank to reduce its own burden, which is conducive to coping with harsh terrain conditions and does not pollute the environment; through the invented high ground gap The human-driven intelligent crawler sprayer improves the efficiency of spraying pesticides in the field, reduces labor intensity, has a high level of automation, and has a good scale effect.

Description of drawings

Figure 1 is a schematic diagram of the overall structure of the slope of a high ground clearance unmanned intelligent crawler sprayer;

Figure 2 is a schematic diagram of the front structure of a high ground clearance unmanned intelligent crawler sprayer;

Fig. 3 is a partial structural diagram of the frame of a high ground clearance unmanned intelligent crawler sprayer;

Fig. 4 is a schematic diagram of a chain traction device;

Fig. 5 is a schematic diagram of the connection structure between the inner spray bar and the outer spray bar;

Figure 6 is a schematic diagram of the control system of a high ground clearance unmanned intelligent crawler sprayer.

Among them: 1-hub motor driving wheel; 2-traveling wheel; 3-crawler; 4-guiding wheel; 5-supporting wheel; 6-water tank; 7-medicine box; 8-medicine solution tank; -support frame; 11-support horizontal plate; 12-main fixed rod; 13-auxiliary fixed rod; 14-slotted slide rail; 15-gear; 16-DC brushless motor; 17-inner spray rod; Rod; 19-nozzle; 20-electric push rod; 21-bottom slot of spray bar; 22-rotating shaft; 23-bar slot; 24-cover plate; 25-embedded vehicle control unit; instrument; 28-electronic compass; 29-GPS; 30-speed sensor; 31-liquid level sensor; 32-pressure sensor; 33-nozzle flow meter; 34-remote control; 35-parameter display; 36-image real-time display ;37-mobile phone application; 38-hub motor drive; 39-lifting motor drive; 40-push rod motor drive; 41-water pump drive; 42-water pump; 43-medicine liquid pump drive; - Mixed liquid pump drive; 46- Mixed liquid pump; 47- Solenoid valve drive; 48- Boom solenoid valve; 49- Pumping water flow meter; 50- Spray boom solenoid valve; ; 53-connector; 54-slider with hole; 55-chain;

detailed description

As shown in Figures 1-3, a high-clearance crawler traveling equipment for field operations according to the present invention includes a crawler-type traveling mechanism and a control device;

The crawler-type traveling mechanism is two crawler-type traveling mechanisms driven by hub motors, and the crawler-type traveling mechanisms on both sides are connected by fixed rods; The crawler-type traveling mechanism is equipped with trapezoidal support components inside; the control device is placed inside the trapezoidal support components on both sides, and the control device is connected to the hub motor; the periphery of the trapezoidal support component is wrapped by the crawler belt 3, and the trapezoidal support component 9 is trapezoidal The support structure is composed of support plates fixedly connected, and the wheels fixed on the four sides of the trapezoidal bracket assembly can cooperate with the crawler belt 3, and drive the crawler belt 3 to advance through the hub motor drive wheel 1.

Described trapezoidal bracket assembly 9 comprises support horizontal plate 56, support inclined plate 57, hub support bracket 58, wheel hub support transverse plate 59, described support transverse plate 56, support inclined plate 57, wheel hub support bracket 58, wheel hub support transverse plate 59 Enclosed into a trapezoidal bracket, connected by welding; the connection of the support horizontal plate 56 and the support slant plate 57, the connection of the support horizontal plate 56 and the hub support bracket 58, the connection of the support slant plate 57 and the hub support horizontal plate 59 place, hub supporting bracket 58 and hub supporting horizontal plate 59 are all reserved with a through hole for the intermediate shaft to pass through; one end of said hub supporting bracket 58 close to supporting horizontal plate 56 is a horizontal plate, and the other end is fixedly connected with Half-mouth-shaped bracket A; one end of the hub supporting horizontal plate 59 close to the supporting slant plate 57 is a horizontal plate, and the other end is fixedly connected with a half-mouth-shaped bracket B, and the half-mouth-shaped bracket B of the hub supporting horizontal plate 59 is engaged on the hub The inside of the semi-mouth-shaped bracket A of the support bracket 58 is connected by the intermediate shaft; the bottom of the hub support horizontal plate 59 is fixedly connected to two triangular brackets, and the two sides of the bottom edge of the triangular bracket are reserved for the intermediate shaft to pass through. .

The crawler-type traveling mechanism comprises a hub motor drive wheel 1, a walking wheel 2, a crawler belt 3, a guide wheel 4, and a support wheel 5, and the hub motor drive wheel 1, the travel wheel 2, the guide wheel 4, and the support wheel 5 all pass through the middle The shafts are assembled on both sides of the reserved through-holes of each connection end of the trapezoidal bracket assembly 9, wherein the hub motor drive wheel 1 and the guide wheel 4 are respectively assembled on the intermediate shafts on both sides of the bottom edge of the trapezoidal bracket assembly 9, and the two supporting wheels 5 Assembled on the intermediate shafts on both sides of the upper side of the trapezoidal support assembly 9, 4 traveling wheels 2 each in a group of two, assembled on the triangular support at the bottom of the trapezoidal support assembly 9, the wheel hub motor drive wheel 1 and the trapezoidal support assembly 9 The connection is to adopt a bridging mode, and the hub motor driving wheel 1 is installed on the intermediate shaft inside the semi-mouth-shaped bracket that the hub support bracket 58 and the hub support horizontal plate 59 match; All are double-wheel coaxial structures; the crawler belt 3 wraps the entire trapezoidal support assembly 9 and is in contact with the hub motor drive wheel 1, the running wheel 2, the guide wheel 4, and the support wheel 5.

The fixed rod connecting frame is a quadrangular pyramid frame, including a support frame 10 and a support horizontal plate 11. The support horizontal plate 11 positioned at the bottom and the support frame 10 above it form a quadrangular pyramid structure, and the support horizontal plate 11 is a square structure. Flat plate; viewed from the side of the sprayer, the trapezoidal bracket assembly 9 inside the trapezoidal track and the two support frames 10 above form a triangle, which adopts an overall triangular structure with stability and gradually narrows from bottom to top.

The support horizontal plate 11 is a metal flat plate, and four triangular iron plates extend from the bottom of the four corners of the metal plate, and the four triangular iron plates span the intermediate shafts extending from both sides of the support wheel 5; the support horizontal plate 11 and the four triangular iron plates Welding, the upper gear fixing part 52 and the support frame top plate 51 are welded.

The bracing frame 10 on the described quadrangular pyramid frame can be replaced by two metal bracing frame vertices welding, and forms a triangular bracing frame, and the triangular bracing frame bottom is fixed on the middle position of supporting horizontal plate 11 both sides, makes triangular bracing frame and the bottom The trapezoidal bracket assembly 9 forms a firm triangular structure when viewed from the high clearance crawler running equipment.

Described fixed rod comprises: the main fixed rod 12 that is connected with two supporting frame 10 tops, and two auxiliary fixed rods 13 that are positioned at main fixed rod 12 lower ends both sides, each auxiliary fixed rod 13 is fixed on supporting frame 10 respectively. On the two side columns of the same side; simultaneously ensure that the main fixed rod 12 is located directly above the centerlines of the two auxiliary fixed rods 13, and the main fixed rod 12 and the auxiliary fixed rod 13 are arranged in parallel.

The water tank 6, the medicine tank 7 and the liquid medicine tank 8 of the spraying device can be placed inside the trapezoidal support assembly 9 as required.

The high clearance crawler belt traveling equipment for field work of the present invention also includes a cover plate 24, the cover plate 24 is fixed on both sides of the crawler belt 3, and the size is slightly smaller than the crawler belt 3, and the trapezoidal support assembly 9, the water tank 6, the medicine tank 7, and the liquid medicine tank 8 1. The control devices are all sealed and fixed on the intermediate shaft outside each wheel.

The control device includes an embedded vehicle-mounted control unit 25 , and an in-wheel motor drive 38 and a speed sensor 30 respectively connected to the embedded vehicle-mounted control unit 25 .

The working process of the inventive high-ground-gap unmanned intelligent crawler sprayer will be described in detail below in conjunction with the schematic diagram.

A high-gap unmanned intelligent crawler sprayer, including a sprayer walking device, a sprayer lifting mechanism, a spraying mechanism, and a control device; the sprayer walking device is composed of two crawler-type walking mechanisms driven by hub motors, The crawler-type traveling mechanisms on both sides are connected by fixed rods, and the top of the crawler-type traveling mechanisms on both sides is equipped with a sprayer lifting mechanism. The spraying mechanism includes a mixing device and a spray rod device; each crawler-type traveling mechanism is equipped with There is a trapezoidal bracket assembly; the mixing device and the control device are placed inside the trapezoidal bracket assembly on both sides, the spray rod device is set on the lifting mechanism of the sprayer and connected with the mixing device, and moves up and down with the traction of the lifting mechanism of the sprayer; The control device is respectively connected with the hub motor, the lifting mechanism of the sprayer, and the spraying mechanism to respectively realize the driving control of the hub motor, the lifting control of the lifting mechanism of the sprayer, and the spraying control of the spraying mechanism.

The periphery of the trapezoidal support assembly is wrapped by crawler belts 3. The trapezoidal support assembly 9 is a trapezoidal support structure, which is fixedly connected by support plates.

As shown in Figure 1-2, the crawler-type traveling mechanism includes a hub motor drive wheel 1, a travel wheel 2, a crawler belt 3, a guide wheel 4, and a support wheel 5, and the hub motor drive wheel 1, travel wheels 2, guide wheels 4. The support wheels 5 are all assembled on both sides of the reserved through holes at the connecting ends of the trapezoidal bracket assembly 9 through the intermediate shaft, wherein the hub motor drive wheel 1 and the guide wheel 4 are respectively assembled in the middle of the bottom sides of the trapezoidal bracket assembly 9 On the shaft, two support wheels 5 are assembled on the intermediate shafts on both sides of the upper side of the trapezoidal bracket assembly 9, and 4 traveling wheels 2 are assembled in groups of two each on the triangular bracket at the bottom of the trapezoidal bracket assembly 9, driven by hub motors The connection between the wheel 1 and the trapezoidal support assembly 9 is to adopt a bridging mode, and the hub motor drive wheel 1 is installed on the intermediate shaft inside the semi-mouth-shaped bracket that the hub support bracket 58 and the hub support horizontal plate 59 match; , guide wheel 4, support wheel 5 are all double-wheel coaxial structures; crawler belt 3 wraps whole trapezoidal support assembly 9 periphery, and contacts with hub motor drive wheel 1, walking wheel 2, guide wheel 4, support wheel 5.

In the spraying mechanism, the medicine mixing device includes a water tank 6, a medicine box 7 and a liquid medicine tank 8, and the water tank 6, the medicine box 7, the liquid medicine box 8, and the control device are fixed on the trapezoidal support assembly 9 inside the trapezoidal track. Inside: the center of gravity is lowered, the sprayer is more stable during walking, and the height of the trapezoidal track is higher, which makes the capacity of the medicine box larger, suitable for field spraying. The water tank 6 is separated from the medicine tank 7, and the output medicinal liquid is mixed in proportion, and the mixed medicinal liquid is pre-stored in the medicinal liquid tank 8. When the spray locomotive encounters harsh terrain conditions and cannot drive out, the water in the water tank can be released to reduce the burden. without polluting the environment.

The spray boom device is a three-stage structure, the inner spray boom 17 is between the crawler-type traveling mechanisms on both sides, the two sides of the inner spray boom 17 are outer spray booms 18, and nozzles 19 are evenly distributed on the spray boom device. The spray mechanism also includes an electric push rod 20, the inner spray rod 17 and the outer spray rod 18 are connected together by a rotating shaft 22, and the two ends of the electric push rod 20 are respectively fixed on the inner spray rod 17 and the outer spray rod above the rotating shaft 22. On the rod 18, the vertically folded outer spray rod 18 is stuck in the spray rod slots 23 at both ends of the main fixed rod; the two ends of the inner spray rod 17 each extend a spray rod bottom groove 21, and the outer spray rod 18 is just stuck in the horizontal position. Boom bottom groove 21.

The advantage of the arrangement of the above-mentioned spray bar device is that it can bear the pressure of the outer spray bars on both sides, and at the same time prevent the outer spray bars 18 from swinging back and forth due to wind and turbulence. The two ends of the electric push rod 20 are respectively fixed on the inner spray rod 17 and the outer spray rod 18. After spraying, the spray rod is lowered to the bottom of the grooved slide rail 14 through the DC brushless motor and the chain gear, and the electric push rod 20 Folding function, the two sections on both sides of the three-section spray boom can be folded inward into the spray boom slot 23. Compared with the way the traditional sprayer boom is folded toward the rear of the sprayer, the three-section spray boom forms an equilateral triangle structure , the center of gravity is relatively stable, which is conducive to the travel and transportation of the sprayer; before spraying, use the electric push rod 20 to level the two outer spray bars, then adjust the spray bars to a suitable height according to the height of the target plant, and then execute spray action.

As shown in Figure 2, the present invention also comprises cover plate 24, and cover plate 24 is fixed on crawler belt 3 both sides, and size is slightly smaller than crawler belt 3, and trapezoidal support assembly 9 and water tank 6, medicine box 7, liquid medicine tank 8, control device All of them are sealed and fixed on the intermediate shaft on the outside of each wheel. The cover plate 24 can better protect the internal mechanism, the water tank and the controller from being polluted and corroded by harsh environments.

As shown in FIG. 3 , an embodiment of the trapezoidal bracket assembly 9 provided by the present invention.

This trapezoidal bracket assembly 9 comprises support horizontal plate 56, support inclined plate 57, wheel hub support bracket 58, wheel hub support transverse plate 59, described support transverse plate 56, support inclined plate 57, wheel hub support bracket 58, wheel hub support transverse plate 59 enclose Form a trapezoidal bracket, connected by welding; the connection of the support horizontal plate 56 and the support slant plate 57, the connection of the support horizontal plate 56 and the hub support bracket 58, the connection of the support slant plate 57 and the hub support horizontal plate 59 1. The hub support bracket 58 and the hub support horizontal plate 59 are all reserved with a through hole for the intermediate shaft to pass through; one end of the hub support bracket 58 near the support horizontal plate 56 is a horizontal plate, and the other end is fixedly connected with a half Mouth-shaped bracket A (for "П" shape); one end of the hub support horizontal plate 59 close to the support slant plate 57 is a horizontal plate, and the other end is fixedly connected with a half-mouth-shaped bracket B, and the half-mouth-shaped support of the hub support horizontal plate 59 Bracket B is engaged on the inner side of the semi-mouth-shaped bracket A of the hub support bracket 58, and the two are connected by an intermediate shaft; the bottom of the hub support horizontal plate 59 is fixedly connected to two triangular brackets, and the bottom sides of the triangular bracket are reserved for the middle The through hole through which the shaft passes.

As shown in Figure 3-4, described sprayer elevating mechanism comprises quadrangular pyramid frame and chain traction device; The support frame 10 forms a quadrangular pyramid structure, and the support horizontal plate 11 is a flat plate with a quadrilateral structure; the support horizontal plate 11 is a metal flat plate, and four triangular iron plates are extended from the lower parts of the four corners of the metal plate, and the four triangular iron plates are connected to the support wheel 5 On the intermediate shaft extending from both sides of the exterior; the support horizontal plate 11 is welded to the four triangular iron plates, and the upper gear fixing part 52 is welded to the support frame top plate 51.

Described chain traction device is arranged in the quadrangular pyramid frame, comprises band grooved slide rail 14, gear 15, DC brushless motor 16, chain 55; Band grooved slide rail 14 comprises band hole slide block 54 and chute, and the lower end of chute The support horizontal plate 11 is fixed vertically through the connector 53, the upper end of the chute is fixed on the top plate 51 of the support frame, the slider 54 with a hole is installed on the slide rail 14 with a hole, and the round hole in the middle of the slider 54 with a hole is used to place the sprayer. Rod; the gear 15 is located on one side of the grooved slide rail 14, the upper gear 15 is fixed on the upper gear fixture 52, and the lower gear 15 is coaxially connected with the DC brushless motor, and the centers of the two gears are on the same vertical line. On the line, the DC brushless motor 16 is fixed on the support horizontal plate 11 at the bottom.

As an embodiment of the present invention, the support frame 10 on the quadrangular pyramid frame can also be welded with two metal support frames to form a triangular support frame. , so that the triangular support frame and the lower trapezoidal support assembly 9 form a firm triangular structure viewed from the side.

The heads of two support frames 10 on each side are connected, and two rods extend from the bottom to span the two sides of the support wheel. The bottoms of the two support frames 10 are spliced together with support horizontal plates. It forms a quadrangular pyramid in space and has stability. Viewed from the side of the sprayer, the trapezoidal bracket assembly 9 on the inside of the trapezoidal track and the two support frames 10 above form a triangle, which adopts an overall triangular structure, which has stability and gradually narrows from bottom to top, making it more stable when walking.

The crawler-type walking mechanism on both sides of the present invention is the same, and is connected with two auxiliary fixed rods 13 by a main fixed rod 12, and the two ends of the main fixed rod 12 are respectively connected with the joints of the two support frames 10 heads on each side , the two ends of the auxiliary fixing rod 13 are respectively fixed on the two side columns of the support frame 10 on each side, and the mechanisms on both sides can be connected together more firmly through the 3 fixing rods and the 10 fixing points on the top, so that it has stability when walking .

As shown in Figure 4, it is a chain traction grooved slide rail, including a grooved slide rail 14, a connector 53, a slide block with holes 54, a chain 55; a support horizontal plate 11; a gear 15; a brushless DC motor 16; a support frame Top plate 51; upper gear fixing member 52; wherein, the upper end of the grooved slide rail 14 is fixed on the center of the support frame top plate 51, the lower end is fixed on the middle part of the support horizontal plate 11 through a base, and the holed slide block 54 is installed on the grooved slide rail 14 , the middle hole of the slider 54 with holes is used for placing the spray rod, the upper gear fixing part 52 is welded with the top plate 51 of the support frame, and the DC brushless motor 16 is fixed on the support horizontal plate 11, which is biased relative to the grooved slide rail 14 On one side, the DC brushless motor 16 drives the gear 15 to rotate, the chain 55 is connected with the perforated slider 54, and then drives the perforated slider 54 to move up and down, and the devices on both sides are kept synchronous, which drives the three-stage spray boom to move up and down .

As an embodiment of the present invention, the crawler belt 3 of the sprayer is driven by the wheel hub motor gear 1, and the height of the trapezoidal track is about 1.2 meters; The additional reduction box structure saves the space and weight of the whole machine, adapts to the walking requirements of various complex terrains, and meets the height requirements of crop spraying with high ground clearance.

The spray rod is a three-stage structure. The inner spray rod 17 is made of titanium alloy material, which is not easy to deform and has a strong supporting capacity. 18 fully unfolded up to 5.5 meters; due to the long length of the outer spray boom, the use of titanium alloy can not only meet the strength requirements, but also reduce its own weight, and will not be deformed due to excessive weight; moreover, the inner spray boom and the outer spray boom are fully extended Up to 5.5 meters, suitable for field crop spraying operations. Traditionally, it is folded backwards, but the center of gravity of the present invention is concentrated on the crawler belt, and the stability is high, and the gravitational bearing capacity of each section of the spray boom is small.

The inner spray bar 17 passes through the perforated slider 54 of the grooved slide rail 14 on both sides, and the spray bar can move up and down within a certain range (1.2m-1.8m) driven by the DC brushless motor 16 and the gear 15 , and the DC brushless motor 16 has a self-locking function; it has better applicability to crops with high ground gaps (such as late rice and high-stalk crops, etc.).

As shown in Figure 6, a high ground clearance unmanned intelligent crawler sprayer control system, the camera is used to collect the image information of the crops in front of the sprayer in real time, and the control unit transmits it to the real-time image display screen for the operator to observe the spraying The characteristics of the environment in front of the aircraft. The gyroscope is mainly used to detect the deviation information of the attitude angle of the spray locomotive caused by the uneven ground, and transmit it to the parameter display screen through the control unit. In the same way, the electronic compass and GPS are mainly used to measure the heading angle and position information of the spray locomotive, and transmit them to the parameter display screen through the control unit as the basis for the operator to control the driving direction of the spray locomotive. The height sensor is mainly used to measure the height information of the crops, and the control unit controls the brushless DC motor based on this information, so that the spraying of the spray boom is at an appropriate height. The speed sensor, liquid level sensor, pressure sensor, and nozzle flowmeter are used to measure the traveling speed of the spray locomotive, the liquid level of the chemical tank, the water pressure of the spray bar and the flow rate of the nozzle spray. Control the hub motor drive wheel, water pump, liquid medicine pump, and mixed liquid pump. The pumping flowmeter is used to detect the amount of water pumped by the pump in real time, and the control unit controls the pump to pump a certain amount of liquid medicine according to the water pumped by the pump to carry out the mixing process, so that the water and the liquid medicine are mixed according to a certain ratio. The spray boom is a three-section structure, and each part corresponds to a solenoid valve. The combination of the mixed liquid pump and the solenoid valve makes the water pressure in the spray boom stable. The mobile phone application is connected to the embedded vehicle control unit through the 4G network, which is used for the remote observation of the spray condition and the control of the spraying process; the remote control is connected to the embedded vehicle control unit through 2.4G, and the image on the remote control can be displayed in real time The real-time images of the crops in front of the spray locomotive and various information on the parameter display are transmitted back, and the spray locomotive is remotely controlled.

The working process of the control system of the high-gap unmanned intelligent crawler sprayer: before starting to spray, level the two outer spray booms through the electric push rod, and then adjust the spray boom to a suitable height through the DC brushless motor according to the height of the target plant , and then control the forward direction of the sprayer through the remote control, and perform the spraying action at the same time; during the spraying process, the operator can effectively and reasonably control the forward direction of the sprayer according to the information collected by the camera, gyroscope, electronic compass, GPS, etc. According to the information returned by the speed sensor, liquid level sensor, pressure sensor, nozzle flow meter, etc., the unit controls the hub motor drive wheel, water pump, liquid medicine pump, mixed liquid pump, and solenoid valve, and controls the speed of the sprayer and the mixing process. And control the spraying process. The pumping flowmeter is used to detect the amount of water pumped by the pump in real time, and the control unit controls the pump to pump a certain amount of liquid medicine according to the water pumped by the pump to carry out the mixing process, so that the water and the liquid medicine are mixed according to a certain ratio. The spray boom is a three-section structure, and each part corresponds to a solenoid valve. The combination of the mixed liquid pump and the solenoid valve makes the water pressure in the spray boom stable. After the spraying is over, the spray boom is lowered to the bottom of the slide rail with grooves through the DC brushless motor and the gear, and the two sections on both sides of the three-section spray boom can be folded inward into the spray boom slot through the folding action of the electric push rod. , The three-section spray boom forms an equilateral triangle structure, which is conducive to the travel and transportation of the sprayer.

In the description of this specification, references to the terms "one embodiment," "some embodiments," "exemplary embodiments," "example," "specific examples," or "some examples" are intended to mean that the implementation A specific feature, structure, material, or characteristic described by an embodiment or example is included in at least one embodiment or example of the present invention. In this specification, schematic representations of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials or characteristics described may be combined in any suitable manner in any one or more embodiments or examples.

Although the embodiments of the present invention have been shown and described, those skilled in the art can understand that various changes, modifications, substitutions and modifications can be made to these embodiments without departing from the principle and spirit of the present invention. The scope of the invention is defined by the claims and their equivalents.

Claims (10)

1. the high-clearance crawler travel equipment for farm work, it is characterised in that include crawler type walking mechanism and control Device processed；

Described crawler type walking mechanism is two crawler type walking mechanisms with In-wheel motor driving, the crawler-type traveling of both sides Mechanism is connected by fixing bar；The crawler type walking mechanism top of both sides is equipped with fixing bar link, each crawler-type traveling machine Trapezoid support assembly it is each equipped with inside structure；Control device be placed in inside the trapezoid support assembly of both sides, described control device with Wheel hub motor is connected；

Described trapezoid support assembly is peripheral to be wrapped up by crawler belt (3), and trapezoid support assembly (9) is trapezoidal supporting construction, by gripper shoe Being composed of a fixed connection, the wheel of trapezoid support assembly Four built in boundaries can coordinate with crawler belt (3), is taken turns by In-wheel motor driving (1) crawler belt (3) is driven to advance.

High-clearance crawler travel equipment for farm work the most according to claim 1, it is characterised in that described trapezoidal Carriage assembly (9) includes supporting transverse slat (56), supporting swash plate (57), hub support support (58), hub support transverse slat (59), institute State support transverse slat (56), support swash plate (57), hub support support (58), hub support transverse slat (59) are encircled into trapezoid support, Connected by welding manner；Described support transverse slat (56) and the junction of support swash plate (57), support transverse slat (56) and wheel hub prop up Support support (58) junction, support swash plate (57) and the junction of hub support transverse slat (59), hub support support (58) and The junction of hub support transverse slat (59) is all reserved with the through hole passed for jackshaft；Described hub support support (58) is near propping up One end of support transverse slat (56) is transverse slat, and the other end is fixed with half mouthful of shape support A；Described hub support transverse slat (59) is near supporting tiltedly One end of plate (57) is transverse slat, and the other end is fixed with half mouthful of shape support B, half mouthful of shape support B engaging of hub support transverse slat (59) Inside half mouthful of shape support A of hub support support (58), the two is connected by jackshaft；Described hub support transverse slat (59) end Portion is fixing connects two A-frames, and both sides, A-frame base are reserved with the through hole passed for jackshaft.

High-clearance crawler travel equipment for farm work the most according to claim 2, it is characterised in that described crawler belt Formula walking mechanism includes In-wheel motor driving wheel (1), road wheel (2), crawler belt (3), directive wheel (4), supports wheel (5), described takes turns Hub motor driving wheel (1), road wheel (2), directive wheel (4), support wheel (5) are all assemblied in trapezoid support assembly by jackshaft (9) the reserved through hole both sides of each connection end, wherein In-wheel motor driving wheel (1) is respectively assembled at trapezoidal with directive wheel (4) On the jackshaft of the both sides, base of carriage assembly (9), two support wheel (5) and are assemblied in the both sides, top of trapezoid support assembly (9) Jackshaft on, 4 road wheel (2) each two one group, be assemblied on the A-frame on trapezoid support assembly (9) base, wheel hub Motor driving wheel (1) is to use cross-over mode with the connection of trapezoid support assembly (9), and In-wheel motor driving wheel (1) is arranged on wheel On the jackshaft inside half mouthful of shape support that hub supports support (58), hub support transverse slat (59) matches；Described road wheel (2), directive wheel (4), support wheel (5) are all two-wheel coaxial configurations；Crawler belt (3) wraps up peripheral for whole trapezoid support assembly (9), And contact with In-wheel motor driving wheel (1), road wheel (2), directive wheel (4), support wheel (5).

High-clearance crawler travel equipment for farm work the most according to claim 1, it is characterised in that described fixing Bar link is rectangular pyramid frame, including bracing frame (10), supports transverse slat (11), be positioned at the support transverse slat (11) of bottom with on it Bracing frame (10) the composition rectangular pyramid structure in face, described support transverse slat (11) is the flat board of quadrilateral structure；From spraying machine side Seeing, the trapezoid support assembly (9) inside trapezoidal crawler belt is combined into a triangle with two bracing frames (10) of top, i.e. uses Overall three-legged structure, has stability, becomes narrow gradually from top to bottom.

High-clearance crawler travel equipment for farm work the most according to claim 4, it is characterised in that described support Transverse slat (11) is metal plate, and four triangle iron plates are extended in bottom, metal plate corner, and four triangle iron plates are connected across support On the jackshaft that wheel (5) both sides external is extended；Support transverse slat (11) and four triangle iron plate welding, gear fixture (52) Weld with bracing frame top board (51).

High-clearance crawler travel equipment for farm work the most according to claim 4, it is characterised in that described four ribs Bracing frame (10) available two metal supporting frames summits welding in cone frame substitutes, and forms triangle support frame, and triangle props up Support bottom is fixed on the centre position supporting transverse slat (11) both sides so that triangle support frame and the trapezoid support assembly of bottom (9) in terms of high-clearance crawler travel equipment, firm triangular structure is formed.

High-clearance crawler travel equipment for farm work the most according to claim 4, it is characterised in that described fixing Bar includes:

The master being connected with two bracing frame (10) tops fixes bar (12), and is positioned at the two of main fixing bar (12) both sides, lower end Individual auxiliary fixes bar (13), and each auxiliary is fixed bar (13) and is separately fixed on two side columns of bracing frame (10) same side； The fixing bar (12) of guarantee master is positioned at the surfaces of two fixing bar (13) centrages of auxiliary simultaneously, and master fixes bar (12) and auxiliary Fixing bar (13) parallel setting.

High-clearance crawler travel equipment for farm work the most according to claim 1, it is characterised in that described trapezoidal Carriage assembly (9) is internal can place the water tank (6) of sprayer unit, medicine-chest (7), spray tank (8) as required.

High-clearance crawler travel equipment for farm work the most according to claim 8, it is characterised in that also include lid Plate (24), cover plate (24) is fixed on crawler belt (3) both sides, is slightly smaller in size than crawler belt (3), by trapezoid support assembly (9) and water tank (6), medicine-chest (7), spray tank (8), control device all cover, be fixed on each take turns outside jackshaft on.

High-clearance crawler travel equipment for farm work the most according to claim 1, it is characterised in that described control Device processed includes embedded onboard control unit (25), and the wheel hub electricity being connected respectively with embedded onboard control unit (25) Machine drives (38), velocity sensor (30).