CN106614474B - Multi-ground-clearance self-steering mechanism for field operation - Google Patents
Multi-ground-clearance self-steering mechanism for field operation Download PDFInfo
- Publication number
- CN106614474B CN106614474B CN201611027499.0A CN201611027499A CN106614474B CN 106614474 B CN106614474 B CN 106614474B CN 201611027499 A CN201611027499 A CN 201611027499A CN 106614474 B CN106614474 B CN 106614474B
- Authority
- CN
- China
- Prior art keywords
- platform
- bearing
- vehicle
- self
- steering
- 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.)
- Active
Links
Images
Classifications
-
- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01M—CATCHING, TRAPPING OR SCARING OF ANIMALS; APPARATUS FOR THE DESTRUCTION OF NOXIOUS ANIMALS OR NOXIOUS PLANTS
- A01M7/00—Special adaptations or arrangements of liquid-spraying apparatus for purposes covered by this subclass
- A01M7/0025—Mechanical sprayers
- A01M7/0032—Pressure sprayers
- A01M7/0042—Field sprayers, e.g. self-propelled, drawn or tractor-mounted
-
- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01M—CATCHING, TRAPPING OR SCARING OF ANIMALS; APPARATUS FOR THE DESTRUCTION OF NOXIOUS ANIMALS OR NOXIOUS PLANTS
- A01M7/00—Special adaptations or arrangements of liquid-spraying apparatus for purposes covered by this subclass
- A01M7/005—Special arrangements or adaptations of the spraying or distributing parts, e.g. adaptations or mounting of the spray booms, mounting of the nozzles, protection shields
- A01M7/0053—Mounting of the spraybooms
- A01M7/0057—Mounting of the spraybooms with active regulation of the boom position
-
- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01M—CATCHING, TRAPPING OR SCARING OF ANIMALS; APPARATUS FOR THE DESTRUCTION OF NOXIOUS ANIMALS OR NOXIOUS PLANTS
- A01M7/00—Special adaptations or arrangements of liquid-spraying apparatus for purposes covered by this subclass
- A01M7/005—Special arrangements or adaptations of the spraying or distributing parts, e.g. adaptations or mounting of the spray booms, mounting of the nozzles, protection shields
- A01M7/0071—Construction of the spray booms
- A01M7/0075—Construction of the spray booms including folding means
-
- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01M—CATCHING, TRAPPING OR SCARING OF ANIMALS; APPARATUS FOR THE DESTRUCTION OF NOXIOUS ANIMALS OR NOXIOUS PLANTS
- A01M7/00—Special adaptations or arrangements of liquid-spraying apparatus for purposes covered by this subclass
- A01M7/0082—Undercarriages, frames, mountings, couplings, tanks
-
- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01M—CATCHING, TRAPPING OR SCARING OF ANIMALS; APPARATUS FOR THE DESTRUCTION OF NOXIOUS ANIMALS OR NOXIOUS PLANTS
- A01M7/00—Special adaptations or arrangements of liquid-spraying apparatus for purposes covered by this subclass
- A01M7/0089—Regulating or controlling systems
Abstract
The invention discloses a multi-ground-clearance self-steering mechanism for field operation, which comprises a vehicle platform, a self-steering travelling mechanism and a control device, wherein the self-steering travelling mechanism consists of two chassis with rotating mechanisms and four tires with hub motors; the slewing mechanism realizes slewing action by a bearing arranged on the vehicle platform, a support column at the lower end of the bearing and a damping component; or the slewing mechanism realizes slewing action by a bearing arranged on the vehicle platform, a chassis platform at the lower end of the bearing and the axle. The device is controlled by a control device to four hub motors, realizes the self steering of the differential speed of the wheels, and has high control precision and small turning radius.
Description
Technical Field
The invention relates to a multi-ground-clearance self-steering mechanism for field operation, and belongs to the field of agricultural machinery application.
Background
With the rapid development of agricultural mechanization, a walking tractor or a wheel-driven walking machine is adopted for operation for a long time, so that the mud feet for paddy field operation become deeper and deeper, the soil environment of the paddy field is damaged on one hand, and the walking tractor operates the paddy field on the other hand, so that the demand on a high-clearance chassis is more and more urgent. The research on the high-clearance spraying walking equipment can fundamentally change the pesticide application method mainly comprising a manual sprayer and a motorized stretcher sprayer in the paddy field, realize automatic control of walking and spraying, and has important significance for improving the pesticide utilization rate, saving water, improving the pesticide application operation efficiency and safety, reducing pesticide residues and guaranteeing grain production. Chinese patent CN103964253A discloses a spiral elevator, which is supported by several sections of nested lifting cylinders, and the required number of sections of the lifting cylinder increases with the increase of the working height, and the size of the lifting cylinder at the bottommost layer increases, so that the structure can realize the reduction of the vertical space, but the horizontal space is still larger, and the reduction of the whole storage space is limited. The invention discloses a Chinese patent CN102146756A (high-clearance self-propelled boom sprayer), which adopts four-wheel hydraulic drive, a hydraulic steering device is arranged between a front axle and a rear axle, the hydraulic steering device can only realize two-wheel steering, the steering radius is large, and the trafficability of a walking chassis cannot be ensured, so that the whole machine cannot meet the field operation requirements of various ground clearances. Aiming at the defects of various spraying traveling devices, the multi-ground-clearance self-steering intelligent spraying machine with four wheels independently driven and the control method are designed, the equipment is controlled by four hub motors through a control device, differential self steering of the wheels is realized, the control precision is high, the turning radius is small, in addition, a spray rod is folded in a five-section mode, the space is saved, and the spraying pesticide application requirements of field crops in different growth periods are met.
Disclosure of Invention
The invention aims to design a multi-ground-clearance self-steering mechanism for field operation. After the spraying mechanism is arranged on the vehicle platform, the requirements of various complex terrains and spraying objects can be met to a great extent, and the spraying machine and the control method can improve the spraying and pesticide applying efficiency.
The technical scheme of the invention is as follows: a multi-ground-clearance self-steering mechanism for field operation comprises a vehicle platform and a self-steering walking mechanism; the lower part of the vehicle platform is sequentially provided with two self-steering travelling mechanisms along the travelling direction, and each self-steering travelling mechanism consists of a slewing mechanism and a tire with a wheel hub motor.
Furthermore, a plurality of sectional materials of the vehicle platform are square metal tubes, the square metal tubes are welded into a frame with a plurality of square blanks, and two square metal plates are respectively fixed on two blanks arranged in the middle positions of two ends of the vehicle platform and used for arranging two self-steering travelling mechanisms.
Further, the slewing mechanism sequentially comprises a double-row tapered roller bearing, a support column and a damping device from top to bottom; the damping device is formed by overlapping a plurality of elastic sheets which have the same width and sequentially increase in length from top to bottom, the thickness of the last elastic sheet is larger than that of other elastic sheets on the upper part of the last elastic sheet, the thicknesses of the other elastic sheets are the same, a rectangular through hole is formed in the center of the elastic sheet, the outer ring or the inner ring of the double-row tapered roller bearing is an integral body, and the two inner rings or the outer rings are respectively and coaxially fixed on the metal plate of the vehicle platform and the top;
the support column upper end is the cylinder, and the lower extreme is the metal rod of cuboid, and the metal rod part passes damping device's rectangle through-hole and with last shell fragment fixed welding, the both sides of last shell fragment and in-wheel motor's fuselage welded fastening.
Further, rotation mechanism includes single-row tapered roller bearing, support column, shock absorber and shock absorber support, and single-row tapered roller bearing's outer lane or inner circle and car platform pass through welded mode and connect, and single-row tapered roller bearing's inner circle or outer lane and the top surface of support column are fixed with one heart, and the shock absorber has three groups altogether, and wherein the one end of three group's shock absorbers is fixed respectively in the symmetry both sides and the bottom side of support column, and the other end is fixed respectively in the both sides and the central point of shock absorber support, and the shock absorber support is a high strength square metal frame that is close with the car width, and the both ends of shock absorber support are fixed with in.
Further, the rotary structure comprises a plane cylindrical bearing, a chassis platform and an axle; the plane cylindrical bearing is composed of a plane retainer assembly with a cylindrical roller and a plane gasket, the inner ring of the plane cylindrical bearing penetrates through a through hole of a metal plate on a vehicle platform and enables the cylindrical roller of the plane cylindrical bearing to be contacted with the bottom of the vehicle platform, a circular groove is formed in the middle of a chassis platform, extending portions which gradually shrink are arranged on the left side and the right side of the chassis platform, the plane retainer assembly of the plane cylindrical bearing and the circular groove of the chassis platform are fixed in a concentric mode, the top of an axle is fixedly connected with the extending portions of the chassis platform and forms an obtuse angle with the chassis platform, the bottom of the axle is fixed with the body of a hub motor, and different height axles can be selected according to operation.
Furthermore, the rotary structure replaces a plane cylindrical bearing with a ball bearing, the ball bearing is formed by installing spherical alloy steel balls between an inner steel ring and an outer steel ring, an outer ring or an inner ring of the ball bearing is concentrically fixed with the chassis platform, and the inner ring or the outer ring of the ball bearing is concentrically fixed with a metal plate of the vehicle platform.
The damping assisting device comprises a damping motor, a worm and gear box and an assisting gear; the worm wheel and the worm are arranged in the worm wheel and worm box, a rotating shaft of the damping motor and the worm are concentrically fixed, the worm and the worm wheel are assembled, and the worm wheel and the assistant gear are concentrically fixed; the auxiliary gear is meshed with an inner gear welded on an inner ring of the ball bearing, the damping motor can be driven by the motor to be connected with the embedded vehicle-mounted control unit, and the embedded vehicle-mounted control unit controls the damping motor to assist the rotation structure to rotate.
The invention discloses a technical scheme of a multi-ground-clearance self-steering intelligent spraying machine, which comprises the following steps: the device comprises a vehicle platform, a self-steering walking mechanism, a controllable lifting spraying device, a power supply device and a control device;
the vehicle platform is a frame formed by welding a plurality of profiles;
the lower part of the vehicle platform is sequentially provided with two self-steering travelling mechanisms along the travelling direction, and each self-steering travelling mechanism consists of a chassis with a rotating mechanism and a tire with a hub motor;
the controllable lifting spraying device comprises a spraying machine lifting mechanism, a medicine mixing device and a spray rod device; the sprayer lifting mechanism is arranged at the tail part of the vehicle platform; the medicine mixing device sends the liquid medicine to the spray rod device; the sprayer lifting mechanism is driven by a screw rod to realize the lifting of the spray rod device;
the power supply device provides a stable voltage power supply for the equipment;
the control device is used for controlling the steering walking of the self-steering walking mechanism, and controlling the lifting of the lifting spraying device, the posture adjustment of the spray rod device and the spraying adjustment.
Furthermore, a plurality of sectional materials of the vehicle platform are square metal tubes, the square metal tubes are welded into a frame with a plurality of square blanks, and two square metal plates are respectively fixed on two blanks arranged in the middle positions of two ends of the vehicle platform and used for arranging two self-steering travelling mechanisms.
Spray rod placing grooves are respectively welded in the front of the vehicle platform and on the left side and the right side of the vehicle platform.
A plurality of limiters are welded at the bottom of the vehicle platform, and a through hole for the fixed central shaft to pass through is reserved at the tail of the vehicle platform.
Furthermore, the sprayer lifting mechanism comprises two parallel and vertically arranged < '> shaped fixing supports, the vertexes of the two <' > shaped fixing supports are connected through a fixing transverse plate A, and a fixing central shaft is arranged below two sides of the fixing transverse plate A; the upper tail ends of the two <' > shaped fixing supports are connected through a fixing transverse plate B, a lifting control motor and a transmission gear chain are arranged on the fixing transverse plate B, and the lifting control motor is fixed on the fixing transverse plate B through a flange structure; a screw rod and a screw pair are arranged between the upper tail end and the lower tail end of the two <' > shaped fixing brackets;
the spray rod device comprises an inner spray rod, a main spray rod, a tail end spray rod and a rotary control component group, all the spray rods are made of rigid hollow antirust materials, and the spray rods are connected through hoses to form a water channel for spraying liquid medicine; the inner spray rod of the spray rod device is connected with the wire pair, the two ends of the inner spray rod are respectively provided with a main spray rod, the outer sides of the two ends of the main spray rod are respectively provided with a tail end spray rod, and spray nozzles are uniformly distributed on each section of spray rod; the two ends of the inner spray rod are provided with rotary control component groups, the inner spray rod is connected with the main spray rod through a primary rotating shaft with a gear, the main spray rod is connected with the tail spray rod through a secondary rotating shaft with a gear, and the main spray rod and the tail spray rod horizontally rotate under the driving of the rotary control component groups;
can place on the car platform as required and mix medicine device, including atomizer's water tank, medical kit, liquid medicine case, the water tank is separated with the medical kit, and the output liquid medicine mixes in proportion, and in the mixed liquid medicine prestores the liquid medicine case, when the spraying locomotive meets the unfavorable topography condition and can't go out, can discharge the water of water tank and subtract burden.
Further, the screw rod and the screw pair can be replaced by a ball screw.
Further, the rotation control component group comprises a rotation control motor, a gear box and a transmission gear chain A, a driving gear concentric with the rotating shaft is fixed at the tail end of the rotating shaft of the rotating control motor and vertically extends downwards into the gear box, is assembled with a reduction gear in a gear box, four gears are arranged in the gear box, one is a driving gear at the tail end of a rotating shaft of a rotating control motor, the other is a driven gear with the upper end connected with a rotating shaft gear A, the rotary control motor drives the driving gear to rotate, the driving gear is meshed with the first-stage reduction gear, the first-stage reduction gear is meshed with the second-stage reduction gear, the second-stage reduction gear is meshed with the driven gear, and the driven gear drives the rotating shaft gear A to rotate; the four gears rotate around the center line of each gear, the rotating center lines of the four gears are perpendicular to the center line of the inner spray rod and are vertically located on the center line of the inner spray rod, two ends of the transmission gear chain A are respectively matched with the rotating shaft gear A and the rotating shaft gear B to be arranged above the main spray rod, and the gear box is connected to the position below the tail end of the inner spray rod in a welding mode.
Furthermore, two < "> type fixed bolster's of sprayer elevating system upper end and fixed diaphragm B's both ends have double-phase through-hole with the same size, supply the lead screw to pass and fixed by toothed shaft A, the output shaft of lift control motor passes through the flange structure perpendicularly downwards and fixes in the middle of fixed diaphragm B, flange structure inside has the pivot B of concentric fixed with the output shaft of lift control motor, pivot B outer lane has the gear, its gear and the assembly of transmission toothed chain B, the both ends of transmission toothed chain B and the pivot A at lead screw top assemble, make the rotation of lift control motor ability control lead screw rotatory, reach the mesh that the silk pair goes up and down.
Further, when the multi-ground-clearance self-steering intelligent spraying machine does not need spraying operation, the main spray rod and the tail end spray rod can be vertically folded through the rotating shaft and horizontally placed in the spray rod placing grooves on the two sides of the vehicle platform and in front of the vehicle platform.
Furthermore, the power supply device is a gasoline power generation and supply device which is fixed on the vehicle platform and comprises a gasoline engine, a gasoline engine protective frame, a generator, a three-phase rectifier bridge, a filter capacitor, a battery pack and a rectifier inverter;
a rotating shaft of the gasoline engine is connected with a rotating shaft of a generator, the generator generates electricity and then is rectified and filtered by a three-phase rectifier bridge and a filter capacitor to become single-phase direct current, and one part of the single-phase direct current is stored in a battery pack; the other part provides a stable voltage power supply for the vehicle-mounted control unit, so that the vehicle-mounted control unit controls the hub motor drive, the lifting control motor drive, the rotation control motor drive, the water pump motor drive, the liquid medicine pump motor drive, the mixed liquid pump motor drive and the electromagnetic valve drive; and the other part of the power supply is converted into three-phase alternating current through a rectifying inverter to provide the three-phase alternating current for the hub motor, the lifting control motor, the rotation control motor, the water suction pump motor, the liquid medicine pump motor and the liquid mixing pump motor.
Further, the control device is respectively fixed on the self-steering travelling mechanism and the controllable lifting spraying device and comprises an embedded vehicle-mounted control unit, a gyroscope, a GPS, a height sensor arranged on an inner spray rod, a speed sensor and a hub motor drive which are arranged on a tire, a corner sensor arranged on a slewing mechanism, a liquid level sensor and a pumping flowmeter which are arranged in the medicine mixing device, a nozzle flowmeter arranged on the spray rod, a lifting control motor drive, a rotation control motor drive, a water pumping pump motor drive, a medicine liquid pump motor drive, a mixed liquid pump motor drive and an electromagnetic valve drive;
the gyroscope, the GPS, the corner sensor, the height sensor, the speed sensor, the liquid level sensor, the water pumping flowmeter and the nozzle flowmeter are all connected with the embedded vehicle-mounted control unit;
the hub motor drive, the lifting control motor drive, the rotation control motor drive, the water pump motor drive, the liquid medicine pump motor drive, the mixed liquid pump motor drive and the electromagnetic valve drive are all connected with the embedded vehicle-mounted control unit through a CAN bus;
the in-wheel motor in the tire links to each other with the in-wheel motor drive, the lift control motor links to each other with the lift control motor drive, the rotation control motor links to each other with the rotation control motor drive, the suction pump that sets up in the water tank links to each other with the suction pump motor drive, the liquid medicine pump that sets up in the medicine tank links to each other with the liquid medicine pump motor drive, the mixed liquid pump that sets up in the liquid medicine tank links to each other with mixed liquid motor pump drive, the spray lance solenoid valve that sets up on the spray lance links to each other with the solenoid.
The technical scheme of the method is that before spraying, a transmission toothed chain is driven by a rotary control motor to unfold a main spray rod and a tail end spray rod from two sides and the front part of a vehicle platform to the rear part and place the main spray rod and the tail end spray rod on the same straight line, the height of a target plant is obtained according to a height sensor, the spray rod is adjusted to a proper spraying distance through a lifting control motor, then the advancing and the direction of the spraying machine are controlled through a spraying task obtained in an embedded vehicle-mounted control unit, and spraying actions are executed at the same time;
in the spraying process, the walking equipment effectively and reasonably controls the driving direction, the speed and the spraying height of the hub motor and the lifting control motor according to information collected by a gyroscope, a GPS (global positioning system), a height sensor, a speed sensor and a corner sensor, and the embedded vehicle-mounted control unit controls the driving of a water pump motor, the driving of a liquid medicine pump motor, the driving of a mixed liquid pump motor and the driving of a spray rod solenoid valve according to information returned by a liquid level sensor and a nozzle flowmeter, and controls the medicine mixing process and the spraying process of the equipment; the water pumping flowmeter is used for detecting the water quantity pumped by the water pumping pump in real time, and the embedded vehicle-mounted control unit controls the liquid medicine pump to pump a certain liquid medicine quantity according to the water quantity pumped by the water pumping pump to carry out a liquid medicine mixing process so as to mix water and liquid medicine according to a certain proportion;
after spraying, the spray rods control the transmission toothed chain and the gear box through the rotary control motor to enable the main spray rods and the tail end spray rods to be placed in the spray rod placement grooves on the two sides and the front portion of the vehicle platform.
The invention has the beneficial effects that the multi-ground-clearance self-steering intelligent spraying machine and the control method thereof are characterized in that the vehicle platform takes a rectangular metal frame as a main body and is formed by welding a plurality of square metal pipes, the medicine mixing device and the gasoline power generation and supply device can be placed on the vehicle platform as required, the weight of the vehicle platform can be effectively reduced, the space utilization rate of the vehicle platform can be improved, the tail part of the vehicle platform is provided with a through hole which can be assembled, and the multi-purpose of the walking equipment can be realized by assembling devices with different functions. The gasoline power generation and supply device has the characteristics of simple power generation, stable power supply, low noise, low discharge capacity, light weight, low pollution, light and convenient operation and high cost performance, and can be used in numerous power supply devices. The novel self-steering travelling mechanism can select different axle heights according to actual conditions, so that the spraying machine can adapt to the operation with multiple ground clearances; the independent embedded hub motor is used as a power source for the wheel to travel, the hub motor technology is also called as the wheel built-in motor technology, and the wheel built-in motor technology is mainly characterized in that a power device, a transmission device and a braking device are integrated into a hub, so that the mechanical part of an electric vehicle can be greatly simplified. Meanwhile, the self-steering walking mechanism taking the slewing mechanism as the core is initiated at home, various slewing bearings can be adopted as a main body of the slewing structure, the requirements of different operating environments on axial force and radial force of the slewing structure are met, the friction force in the power transmission process of the walking device during steering is reduced by the bearings in a rolling mode, the transmission efficiency of mechanical power can be greatly improved, the vehicle-mounted control unit performs independent driving differential control on four hub motors of two groups of slewing mechanisms, so that the self-steering of the slewing structure can be realized due to differential of wheels on two sides of the slewing structure, the walking device with the structure has the advantages of extremely small turning radius, almost in-situ steering, high control precision, good control direction while ensuring the flexibility of the walking of the device, and the self-steering walking device is a great innovation of agricultural automatic walking devices. The lifting control mechanism drives the screw rod and screw pair through the rotary control motor, so that the spray rod can be adjusted up and down according to the actual height of crops, the control is simple, the height adjustment is accurate, and the spraying requirements of various crops in different growth periods can be met; controllable lift atomizer has the spray lance of five segmentations, through the gear box, the one-level pivot, the steerable spray lance of transmission chain gear and second grade pivot carries out the horizontal rotation, make the trafficability characteristic in the middle of the sprayer good, adopt on-vehicle control unit control to spray the liquid medicine automatically, no longer need the people to drive, not only alleviateed the self weight of sprayer, and can not make the operator expose in spraying the pesticide in addition, improve operator's operational environment, its operating strength of greatly reduced, embody people-oriented core and develop the appearance. Spray rod placing grooves are respectively welded in the front, the left side and the right side of the vehicle platform, when spraying is finished, four sections of two sides of the five-section spray rod can be folded inwards to be attached to the edges of the two sides and the front part of the vehicle platform, and the spraying machine can walk favorably; the sprayer adopts a water-drug separation and real-time drug mixing waterway system, and when the sprayer cannot be driven out when meeting the harsh terrain condition, clear water in a water tank can be released to reduce the load of the sprayer, so that the sprayer is favorable for coping with the harsh terrain condition and does not pollute the environment; by the multi-ground-clearance self-steering intelligent spraying machine, the spraying and pesticide applying efficiency in a field is improved, the labor intensity is greatly reduced, the automation level is high, and the scale effect is good.
Drawings
FIG. 1 is an overall schematic view of a high clearance self-steering smart sprayer;
FIG. 2 is a top view of a high clearance self-steering smart sprayer;
FIG. 3 is a schematic structural diagram of a sprayer lifting mechanism of a self-steering intelligent sprayer;
FIG. 4 is a schematic structural view of a rotary control member set;
FIG. 5 is a schematic view of embodiment 1 of a multi-ground clearance self-steering smart sprayer;
FIG. 6 is a schematic view of a supporting column of the swing mechanism in embodiment 1;
FIG. 7 is a schematic view of a multi-clearance self-steering traveling mechanism with shock absorbing according to embodiment 2;
FIG. 8 is a schematic view of embodiment 3 of a high clearance self steering traveling mechanism;
FIG. 9 is a schematic view of the slewing mechanism of a high clearance self-steering mechanism;
FIG. 10 is a modified schematic view of a high clearance self steering travel mechanism;
FIG. 11 is a block diagram of the assembly of the damping cooperative means;
FIG. 12 is a schematic view of a low clearance self-steering bogie;
FIG. 13 is a schematic diagram of a multiple ground clearance self-steering smart sprayer power system;
fig. 14 is a flow chart of a multiple ground clearance self-steering intelligent sprayer control.
Wherein: 1-a tire; 2-vehicle bridge; 3-turning a platform; 4-a spray rod placing groove; 5-a tail end spray rod; 6-a main spray rod; 7-a transmission toothed chain; 8-a screw rod; 9-a gearbox; 10-fixing a bracket; 11-a rotating control motor; 12-wire pair; 13-flange configuration; 14-a lift control motor; 15-liquid medicine box; 16-a medicine chest; 17-a rotation angle sensor; 18-a water tank; 19-a battery pack; 20-a generator; 21-gasoline engine; 22-a gasoline engine frame; 23-a stopper; 24-a hub motor; 25-a through hole; 26-a chassis platform; 27-fixing the central shaft; 28-inner spray bar; 29-a geared rotating shaft a; 30-a drive gear; 31-a primary reduction gear; 32-gearbox housing; 33-a secondary reduction gear; 34-a driven gear; 35-a nozzle; 36-a ball bearing; 37-three-phase bridge; 38-rotating shaft B with gear; 39-single row tapered roller bearing; 40-cylindrical rollers; 41-filter capacitance; 42-planar cylindrical bearings; 43-double row tapered roller bearing; 44-support columns; 45-a damping device; 46-a spring support; 47-a shock absorber; 48-a rectifying inverter; 49-vehicle control unit; 50-a gyroscope; 51-GPS; 52-a height sensor; 53-speed sensor; 54-a liquid level sensor; 55-a water pumping flowmeter; 56-nozzle flow meter; 57-hub motor drive; 58-lifting control motor drive; 59-rotating control motor drive; 60-water pump motor drive; 61-the liquid medicine pump motor drive; 62-hybrid pump motor drive; 63-water pump; 64-a liquid medicine pump; 65-a liquid mixing pump; 66-electromagnetic valve driving; 67-solenoid valve; 68-internal gear; 69-a damping motor; 70-a worm gear; 71-a worm; 72-a cooperating gear; 73-worm gear box.
Detailed Description
The working process of the inventive high-ground-clearance unmanned intelligent track sprayer is specifically described below by combining a schematic diagram.
As shown in fig. 1-2, the multi-ground-clearance self-steering intelligent sprayer comprises a vehicle platform 3, a self-steering walking chassis, a controllable lifting spraying device, a gasoline power generation and supply device and a control device;
the self-steering walking mechanism consists of two chassis with rotating mechanisms and four tires with hub motors 24; the slewing mechanism realizes slewing action by a bearing arranged on the vehicle platform 3, a support column at the lower end of the bearing and a damping component; or the slewing mechanism realizes the slewing action by the bearing arranged on the vehicle platform 3, the chassis platform 26 at the lower end of the bearing and the vehicle axle 2.
The controllable lifting spraying device comprises a spraying machine lifting mechanism, a spray rod device and a pesticide mixing device, and the tail part of the vehicle platform 3 is provided with the spraying machine lifting mechanism of the controllable lifting spraying device; the spray rod device comprises an inner spray rod 28, a main spray rod 6, a tail end spray rod 5 and a rotary control component group, all the spray rod devices are made of rigid hollow antirust materials, and all the spray rods are connected through hoses to form a water channel for spraying liquid medicine; the medicine mixing device and the power supply device are arranged on the vehicle platform 3. The medicine mixing device which can be placed on the vehicle platform 3 according to requirements comprises a water tank 18, a medicine box 16 and a liquid medicine box 15, wherein the water tank 1 and the medicine box 16 are separated, output liquid medicines are mixed in proportion, and the mixed liquid medicines are pre-stored in the liquid medicine box 15 and provide liquid medicines for the lifting spraying device;
the gasoline power generation and supply device comprises a gasoline engine 21, a gasoline engine protective frame 22, a generator 20, a three-phase rectifier bridge 37, a filter capacitor 41, a battery pack 19 and a rectifier inverter 48; the rotating shaft of the gasoline engine 21 is connected with the rotating shaft of the generator 20, the generator 20 generates electricity, the electricity is rectified and filtered by the three-phase rectifier bridge 37 and the filter capacitor 41 to form single-phase direct current, one part of the direct current is stored in the battery pack 19, one part of the direct current is used for providing a stable voltage power supply for the control device, and the other part of the direct current is converted into three-phase alternating current by the rectifier inverter 48 to provide three-phase alternating current for the hub motor 24, the lifting control motor 14, the rotation control motor 11, the water suction pump motor 63, the liquid medicine.
The vehicle platform 3 is characterized in that a plurality of sections are square metal pipes and are welded into 3 x 5 square blank spaces, two square metal plates are fixed on the blank spaces of the second row and the fourth row of the second row respectively, spray rod accommodating grooves 4 are welded on the right front side and the left side and the right side of the vehicle platform respectively, 8 limiting stoppers 23 are welded on the bottom of the vehicle platform 3, and a through hole 25 for a fixed central shaft 27 to pass through is reserved at the tail of the vehicle platform 3. The spray rod placing grooves 4 and 8 mechanical limiters 23 are respectively arranged in the front, the left side and the right side of the vehicle platform 3 and are fixed at the bottom of the vehicle platform 3 and are connected with the vehicle platform 3 in a welding mode.
As shown in fig. 3, the controllable lifting spraying device comprises a spraying machine lifting mechanism, a spray rod device and a pesticide mixing device;
the sprayer lifting mechanism is assembled in a through hole 25 of the vehicle platform 3 through a fixed central shaft 27 and comprises two parallel < "> type fixed brackets 10, the fixed central shaft 27, a lifting control motor 14, a transmission gear chain 7, a flange structure 13, a screw rod 8 and a screw pair 12, the vertexes of the two <" > type fixed brackets 10 are connected through a fixed transverse plate A, the fixed central shaft 27 is arranged below two sides of the fixed transverse plate A, two through holes with the same size are formed in the upper and lower tail ends of the two < "> type fixed brackets 10 and two ends of the fixed transverse plate B, the screw rod 8 passes through and is fixed by a rotating shaft A with a gear, and the screw rod 8 and the screw pair 12 can be replaced by a ball screw rod; the lifting control motor 14 is a brushless direct current motor, an output shaft of the lifting control motor 14 is fixed in the middle of the fixed transverse plate B through a flange structure 13 vertically downwards, a rotating shaft B concentrically fixed with the output shaft of the lifting control motor 14 is arranged in the flange structure 13, a gear is arranged on the outer ring of the rotating shaft B, the gear is assembled with a transmission toothed chain B7, two ends of the transmission toothed chain B7 are assembled with a rotating shaft A at the top of the screw rod 8, so that the lifting control motor 14 can rotate to control the rotation of the screw rod 8, and the purpose of lifting the screw pair 12 is achieved;
the spray rod device is a five-section spray rod and comprises an inner spray rod 28, a main spray rod 6, a tail end spray rod 5 and a rotary control component group, all the spray rod devices are made of rigid hollow antirust materials, and the spray rods are connected through hoses to form a water channel for spraying liquid medicine; an inner spray rod 28 of the spray rod device is connected with a wire pair 12, two ends of the inner spray rod 28 are respectively provided with a main spray rod 6, and the outer sides of two ends of the main spray rod 6 are respectively provided with a tail spray rod 5; the tail end spray rod 5 and the main spray rod 6, the main spray rod 6 and the inner spray rod 28 are respectively connected through a primary rotating shaft 29 with a gear and a secondary rotating shaft 38 with a gear; the body of the rotary control motor 11 is fixed on the inner spray rod 28, only the rotating shaft of the motor can rotate, and the rotary control motor is assembled with the gear boxes 9 welded below the two tail ends of the inner spray rod to achieve a certain speed reduction effect; in this embodiment, the fixing central shaft 27 and the fixing bracket 10 are connected by welding.
As shown in fig. 4, the rotation control assembly set includes a rotation control motor 11, a gear box 9, and a transmission gear chain a7, wherein a driving gear 30 concentric with the rotation shaft is fixed at the end of the rotation shaft of the rotation control motor 11, and vertically extends downward into the gear box 9, and is assembled with a reduction gear in the gear box 9, the gear box 9 has four gears in total, one is a driving gear 30 at the end of the rotation shaft of the rotation control motor 11, the other is a driven gear 34 connected with a first rotation shaft 29 at the upper end, and a first reduction gear 31 and a second reduction gear 33 having a certain reduction ratio, the centers of rotation of the first reduction gear 31 and the second reduction gear 33 are fixed on the upper and lower walls of the gear box 9, the rotation control motor 11 drives the driving gear 30 to rotate, the driving gear 30 is engaged with the first reduction gear 31, the first reduction gear 31 is engaged with the second reduction gear 33, the driven gear 34 drives the primary rotating shaft 29 to rotate; the four gears rotate around the center line of each gear, the rotating center lines of the four gears are perpendicular to the center line of the inner spray rod 28 and are vertically positioned on the center line of the inner spray rod 28, two ends of the transmission gear chain A7 are respectively matched with the primary rotating shaft A29 and the secondary rotating shaft 38 and are arranged above the main spray rod, and the gear box 9 is connected to the position below the tail end of the inner spray rod 28 through welding.
Example 1
As shown in fig. 5-6, the self-steering walking chassis includes a turning mechanism and a tire 1;
the vehicle platform 3 is a metal frame formed by welding a plurality of square metal tubes and two square metal plates, the weight of the vehicle platform can be effectively reduced, the square metal tubes are welded into square spaces of 3 multiplied by 5, the two square metal plates are fixed on the spaces of the second row and the fourth row of the second row, spray rod placing grooves 4 are respectively welded in the right front and the left side and the right side of the vehicle platform 3, 8 limiters 23 are welded at the bottom of the vehicle platform 3, and a through hole 25 for a fixed central shaft 27 to pass through is reserved at the tail part of the vehicle platform 3;
the wheel 1 is a herringbone pattern agricultural tire, other tires such as a common non-pattern tire and the like can be selected according to the requirement of a driving road surface, and a hub motor 24 is arranged in a hub;
the slewing mechanism comprises a double-row tapered roller bearing 43, a support column 44 and a damping device 45; the damping device 45 is formed by arranging a plurality of elastic sheets with the same width and gradually changed length, except that the last elastic sheet is thicker, the thicknesses of other elastic sheets are the same, a proper rectangular through hole is formed in the center of the elastic sheet, and the outer ring (or the inner ring) of the double-row tapered roller bearing 43 is a whole. Two inner rings (or outer rings) are respectively coaxially and concentrically fixed on the top surfaces of a metal plate of the vehicle platform and a support column 45, the support column 44 is a metal rod with a cylinder at the upper end and a cuboid at the lower end, the metal rod part penetrates through a rectangular through hole of the damping device 45 and is fixedly welded with the last elastic sheet, and two sides of the last elastic sheet are fixedly welded with the body of the hub motor 24.
Example 2
As shown in fig. 7, the swing mechanism includes a single-row tapered roller bearing 39, a support pillar 44, a damper 47 and a shock-absorbing bracket 46, an outer ring or an inner ring of the single-row tapered roller bearing 39 is connected with the vehicle platform 3 by welding, the inner ring or the outer ring of the single-row tapered roller bearing 39 is concentrically fixed with the top surface of the support pillar 44, the damper 47 has three sets, wherein one end of the damper is respectively fixed at two symmetrical sides and below of the support pillar 44, the other end of the damper is respectively fixed at two sides and a central position of the shock-absorbing bracket 46, the shock-absorbing bracket 46 is a high-strength square metal frame with a width similar to the vehicle, and two ends of the shock-absorbing bracket 46 are fixed.
As shown in fig. 8, the self-steering traveling mechanism includes a turning mechanism and a tire 1 with a hub motor 24;
the revolution structure comprises a plane cylindrical bearing 42, a chassis platform 26 and an axle 2; the plane cylindrical bearing 42 is composed of a plane retainer component with a cylindrical roller 40 and a plane washer, the inner ring of the plane cylindrical bearing 42 passes through the through hole of the vehicle platform 3 and enables the cylindrical roller 40 of the plane cylindrical bearing 42 to be contacted with the bottom of the vehicle platform 3, a circular groove is arranged in the middle of the chassis platform 26, gradually contracted extending parts are arranged at the left side and the right side of the chassis platform 26, the plane retainer component of the plane cylindrical bearing 42 is concentrically fixed with the circular groove of the chassis platform 26, the axle 2 is made of metal, the top of the axle 2 is fixed with the extending part of the chassis platform 26 and forms an obtuse angle with the chassis platform 26, and the bottom of the axle 2 is fixed with the body of the hub motor; since the height of the axle 2 is high from the ground, the present embodiment is suitable for high-clearance work.
Example 4
As shown in FIG. 9, the revolving structure is formed by replacing the plane cylindrical bearing 42 with a ball bearing 36, wherein the ball bearing 36 is formed by installing spherical alloy steel balls between an inner steel ring and an outer steel ring, an outer ring or an inner ring of the ball bearing 36 is concentrically fixed with the chassis platform 26, and an inner ring or an outer ring of the ball bearing 36 is concentrically fixed with the square steel plate of the vehicle platform 3. In the present embodiment, the platform 3 and the inner steel ring of the ball bearing 36 are connected by welding.
As a further modification of the present embodiment, as shown in fig. 10 to 11, in the swing structure, the internal gear and the inner race of the ball bearing 36 are welded, and the damping cooperative device and the internal gear are mounted directly above the internal gear; the damping cooperative device comprises a damping motor 69, a worm gear box 73 and a cooperative gear 72; the worm gear box 73 is internally provided with a worm wheel 70 and a worm 71, a rotating shaft of the damping motor is concentrically fixed with the worm 71, the worm 71 is assembled with the worm wheel 70, and the worm wheel 70 is concentrically fixed with the cooperating gear 72; the damping assisting device has a self-locking function, when one tire of the assisting rotary structure is lifted off the ground, the worm and gear can lock the rotary structure, and meanwhile, the damping motor 69 can be connected with the embedded vehicle-mounted control unit 49 through motor driving, so that the damping motor can be controlled to assist the rotary structure to steer.
Example 5
As shown in fig. 12, the structure is similar to the self-steering traveling mechanism of embodiment 3, except that the height of the axle 2 is relatively low. The whole self-steering traveling mechanism is suitable for low-clearance operation occasions.
As shown in fig. 13, the gasoline power generation and supply device is fixed on the vehicle platform 3, and includes a gasoline engine 21, a gasoline engine protection frame 22, a generator 20, a three-phase rectifier bridge 37, a filter capacitor 41, a battery pack 19, and a rectifier inverter 48; a rotating shaft of the gasoline engine (21) is connected with a rotating shaft of the generator (20), the generator (20) generates electricity, and then the electricity is rectified and filtered by the three-phase rectifier bridge 37 and the filter capacitor 41 to become single-phase direct current, and one part of the single-phase direct current is stored in the battery pack 19; the other part provides a stable voltage power supply for the vehicle-mounted control unit 49, so that the vehicle-mounted control unit 49 controls the hub motor drive 57, the lifting control motor drive 58, the rotation control motor drive 59, the water pump motor drive 60, the medicine liquid pump motor drive 61, the mixed liquid pump motor drive 62 and the electromagnetic valve drive 66; and the other part of the alternating current is converted into three-phase alternating current through a rectifying inverter 48, and the three-phase alternating current is provided for the hub motor 24, the lifting control motor 14, the rotation control motor 11, the water suction pump motor 63, the liquid medicine pump motor 64 and the liquid mixing pump motor 65.
As shown in fig. 14, the control device includes an embedded vehicle-mounted control unit 49, a gyroscope 50, a GPS51, a height sensor 52 provided on the inner spray rod 28, a speed sensor 53 provided on the tire 1, a hub motor drive 57, a rotation angle sensor 17 provided on the rotation mechanism, a liquid level sensor 54 provided in the medicine mixing device, a water pumping flow meter 55, a nozzle flow meter 56 provided on the spray rod, a lift control motor drive 58, a rotation control motor drive 59, a water pumping pump motor drive 60, a medicine liquid pump motor drive 61, a mixture liquid pump motor drive 62, and an electromagnetic valve drive 66;
the gyroscope 50, the GPS51, the rotation angle sensor 17, the height sensor 52, the speed sensor 53, the liquid level sensor 54, the water pumping flowmeter 55 and the nozzle flowmeter 56 are all connected with the embedded vehicle-mounted control unit 49;
the hub motor drive 57, the lifting control motor drive 58, the rotation control motor drive 59, the water pump motor drive 60, the liquid medicine pump motor drive 61, the mixed liquid pump motor drive 62 and the electromagnetic valve drive 66 are all connected with the embedded vehicle-mounted control unit 49 through CAN buses;
the in-wheel motor 24 in the tire 1 is connected with an in-wheel motor drive 57, the lifting control motor 14 is connected with a lifting control motor drive 58, the rotation control motor 11 is connected with a rotation control motor drive 59, a water suction pump 63 arranged in the water tank 18 is connected with a water suction pump motor drive 60, a medicine liquid pump 64 arranged in the medicine box 16 is connected with a medicine liquid pump motor drive 61, a mixed liquid pump 65 arranged in the medicine liquid box 15 is connected with a mixed liquid motor pump drive 62, and a spray rod electromagnetic valve 67 arranged on a spray rod is connected with an electromagnetic valve drive 47.
The vehicle-mounted control unit is arranged near a gasoline power generation and supply device at the front part of the vehicle platform, the gyroscope and the GPS are arranged beside the vehicle-mounted control unit, the water pumping flow meter is respectively arranged at the water outlets of the water tank, the medicine box and the liquid medicine box, the height sensor is arranged at the bottom of the inner spray rod, the speed sensors are respectively arranged at the four hub motors, the liquid level sensors are respectively arranged in the water tank, the medicine box and the liquid medicine box, and the nozzle flow meter is arranged at each nozzle; the gyroscope, the GPS, the water pumping flowmeter, the height sensor, the speed sensor, the liquid level sensor and the nozzle flowmeter are all directly connected with the embedded vehicle-mounted control unit;
the hub motor drive, the lifting control motor drive, the rotation control motor drive, the water pump motor drive, the liquid medicine pump motor drive, the mixed liquid pump motor drive and the electromagnetic valve drive are all connected with the embedded vehicle-mounted control unit through a CAN bus;
wheel hub motor in the tire links to each other with wheel hub motor drive, and the lift control motor links to each other with the lift control motor drive, and the rotation control motor links to each other with the rotation control motor drive, and the suction pump links to each other with the suction pump motor drive, and the medicine liquid pump links to each other with medicine liquid pump motor drive, and the mixed liquid pump links to each other with mixed liquid motor pump drive, and the spray lance solenoid valve links to each other with the solenoid valve drive.
The control motors are all direct current brushless motors, the tires are herringbone pattern agricultural tires, and other tires such as common non-pattern tires and the like can be selected according to the requirements of a running road surface.
In the description herein, references to the description of the term "one embodiment," "some embodiments," "an illustrative embodiment," "an example," "a specific example," or "some examples" or the like mean that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the invention. In this specification, the schematic representations of the terms used above do not necessarily refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples.
While embodiments of the invention have been shown and described, it will be understood by those of ordinary skill in the art that: various changes, modifications, substitutions and alterations can be made to the embodiments without departing from the principles and spirit of the invention, the scope of which is defined by the claims and their equivalents.
Claims (1)
1. A multi-ground-clearance self-steering mechanism for field operation is characterized by comprising a vehicle platform (3) and a self-steering travelling mechanism; the lower part of the vehicle platform (3) is sequentially provided with two self-steering travelling mechanisms along the travelling direction, and each self-steering travelling mechanism consists of a slewing mechanism and a tire (1) with a wheel hub motor (24); the vehicle-mounted control unit (49) carries out independent driving differential control on four hub motors (24) of the two groups of slewing mechanisms, so that the slewing mechanisms can realize self-steering of the slewing mechanisms due to differential speed of wheels on two sides; the slewing mechanism realizes slewing action by a bearing arranged on the vehicle platform (3), a support column at the lower end of the bearing and a damping component; or the rotary mechanism realizes the rotary action by the bearing arranged on the vehicle platform (3), the chassis platform (26) at the lower end of the bearing and the vehicle axle (2); the plurality of profiles of the vehicle platform (3) are square metal tubes and are welded into a frame with a plurality of square blanks, and two square metal plates are respectively fixed on two blanks arranged in the middle positions of two ends of the vehicle platform and used for arranging two self-steering travelling mechanisms;
the slewing mechanism sequentially comprises a double-row tapered roller bearing (43), a support column (44) and a damping device (45) from top to bottom; the damping device (45) is formed by overlapping a plurality of elastic sheets which have the same width and sequentially increase in length from top to bottom, the thickness of the last elastic sheet is larger than that of other elastic sheets on the upper part of the last elastic sheet, the thicknesses of the other elastic sheets are the same, a rectangular through hole is formed in the center of the elastic sheet, an outer ring or an inner ring of the double-row tapered roller bearing (43) is a whole, and the two inner rings or the two outer rings are respectively and coaxially fixed on the metal plate of the turning platform (3) and the top surface of the supporting; the upper end of the supporting column (44) is a cylinder, the lower end of the supporting column is a cuboid metal rod, part of the metal rod penetrates through the rectangular through hole of the damping device (45) and is fixedly welded with the last elastic sheet, and two sides of the last elastic sheet are fixedly welded with the body of the hub motor (24);
or the slewing mechanism comprises a single-row tapered roller bearing (39), a support column (44), shock absorbers (47) and a shock absorption support (46), wherein an outer ring or an inner ring of the single-row tapered roller bearing (39) is connected with the vehicle platform (3) in a welding mode, the inner ring or the outer ring of the single-row tapered roller bearing (39) is concentrically fixed with the top surface of the support column (44), the shock absorbers (47) are three groups, one ends of the three groups of shock absorbers are respectively fixed on two symmetrical sides and the bottom side of the support column (44), the other ends of the three groups of shock absorbers are respectively fixed on two sides and the central position of the shock absorption support (46), the shock absorption support (46) is a high-strength square metal frame which is close to the vehicle width, and two ends of the shock absorption support (46) are;
or the slewing mechanism comprises a plane cylindrical bearing (42), a chassis platform (26) and an axle (2); the plane cylindrical bearing (42) consists of a plane retainer component with a cylindrical roller (40) and a plane washer, the inner ring of the plane cylindrical bearing (42) passes through a through hole of a metal plate on the vehicle platform (3) and enables the cylindrical roller (40) of the plane cylindrical bearing (42) to be contacted with the bottom of the vehicle platform (3), a circular groove is formed in the middle of the chassis platform (26), gradually contracted extending parts are arranged on the left side and the right side of the chassis platform (26), the plane retainer component of the plane cylindrical bearing (42) and the circular groove of the chassis platform (26) are fixed concentrically, the top of the axle (2) is fixedly connected with the extending part of the chassis platform (26) and forms an obtuse angle with the chassis platform (26), the bottom of the axle (2) is fixed with the body of the hub motor (24), and the height of the self-steering travelling mechanism can select axles (2) with different heights according to the operation;
or the slewing mechanism replaces a plane cylindrical bearing (42) with a ball bearing (36), the ball bearing (36) installs spherical alloy steel balls between an inner ring and an outer ring, the inner ring and the outer ring are both made of steel, the outer ring or the inner ring of the ball bearing (36) is concentrically fixed with the chassis platform (26), and the inner ring or the outer ring of the ball bearing (36) is concentrically fixed with the metal plate of the vehicle platform (3); the damping cooperative motion device comprises a damping motor (69), a worm and gear box (73) and a cooperative gear (72); a worm wheel (70) and a worm (71) are arranged in the worm and gear box (73), a rotating shaft of the damping motor (69) is concentrically fixed with the worm (71), the worm (71) is assembled with the worm wheel (70), and the worm wheel (70) is concentrically fixed with the auxiliary gear (72); the auxiliary gear (72) is meshed with an inner gear (68) welded on the inner ring of the ball bearing (36), the damping motor (69) can be connected with the embedded vehicle-mounted control unit (49) through motor driving, and the embedded vehicle-mounted control unit (49) is used for controlling the damping motor to assist the slewing mechanism to steer.
Priority Applications (3)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201611027499.0A CN106614474B (en) | 2016-11-17 | 2016-11-17 | Multi-ground-clearance self-steering mechanism for field operation |
| GB1908618.0A GB2571670B (en) | 2016-11-17 | 2017-07-10 | Multi-ground-clearance self-steering mechanism |
| PCT/CN2017/092329 WO2018090649A1 (en) | 2016-11-17 | 2017-07-10 | Multi-ground-clearance self-steering mechanism |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201611027499.0A CN106614474B (en) | 2016-11-17 | 2016-11-17 | Multi-ground-clearance self-steering mechanism for field operation |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN106614474A CN106614474A (en) | 2017-05-10 |
| CN106614474B true CN106614474B (en) | 2020-11-20 |
Family
ID=58807396
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201611027499.0A Active CN106614474B (en) | 2016-11-17 | 2016-11-17 | Multi-ground-clearance self-steering mechanism for field operation |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN106614474B (en) |
Families Citing this family (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107399364B (en) * | 2017-06-20 | 2019-12-03 | 江苏大学 | A kind of more ground gap self-steering mechanism |
| WO2018090649A1 (en) * | 2016-11-17 | 2018-05-24 | 江苏大学 | Multi-ground-clearance self-steering mechanism |
| CN109750624A (en) * | 2017-11-07 | 2019-05-14 | 山东交通学院 | A kind of all standing multipurpose numerical control sprinkling wagon |
| CN108835079A (en) * | 2018-06-21 | 2018-11-20 | 山东理工大学 | A kind of novel highly automated regulating device of spray boom pesticide applicator spray boom |
| CN110352932A (en) * | 2019-07-24 | 2019-10-22 | 孙瑞娟 | A kind of agricultural four-footed spray robot |
| CN113057154A (en) * | 2021-03-23 | 2021-07-02 | 山东理工大学 | Greenhouse liquid medicine spraying robot |
| CN115230843B (en) * | 2022-08-02 | 2023-07-25 | 浙江理工大学 | Agricultural mobile platform with changeable wheel track and conformal vibration reduction |
Family Cites Families (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US6705546B2 (en) * | 2002-07-30 | 2004-03-16 | Redball, Llc | Wheeled support assembly |
| EP2319305A1 (en) * | 2009-11-05 | 2011-05-11 | Agco Netherlands B.V. | Self-propelled application machine drive system |
| GB2507085B (en) * | 2012-10-18 | 2018-05-23 | Househam Sprayers Ltd | Agricultural sprayer |
| CN204653503U (en) * | 2015-01-19 | 2015-09-23 | 石河子大学 | A kind of adjustable for height high-clearance sprayer full hydraulic drive chassis and hydraulic system thereof |
| CN204548228U (en) * | 2015-04-22 | 2015-08-12 | 眉山德鑫航空设备有限公司 | A kind of 360 ° of steering hardwarees |
| CN105172917A (en) * | 2015-07-30 | 2015-12-23 | 江苏科信重工有限公司 | Hinge type multifunctional plant protection machine |
| CN105475260A (en) * | 2016-01-07 | 2016-04-13 | 安徽农业大学 | Electric four-wheel-driven intelligent sprayer |
-
2016
- 2016-11-17 CN CN201611027499.0A patent/CN106614474B/en active Active
Also Published As
| Publication number | Publication date |
|---|---|
| CN106614474A (en) | 2017-05-10 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN106719539B (en) | Multi-ground-clearance self-steering intelligent spraying machine and control method | |
| CN106719540B (en) | Spray rod part and lifting spraying device thereof | |
| CN106614474B (en) | Multi-ground-clearance self-steering mechanism for field operation | |
| WO2018090649A1 (en) | Multi-ground-clearance self-steering mechanism | |
| CN101700792B (en) | Conveying device | |
| CN107399364B (en) | A kind of more ground gap self-steering mechanism | |
| CN103935410A (en) | All-dimensional steering obstacle crossing vehicle based on hub motor | |
| WO2012168070A2 (en) | Vehicle for carrying out work on a solar module or solar collector | |
| CN110481674A (en) | Field Omni-mobile job platform | |
| CN111119922A (en) | Multifunctional operation vehicle for self-propelled shield tunnel construction | |
| CN208745675U (en) | A kind of automobile-used independent suspension type double drive double steering four-wheel drive mechanism of weeding | |
| CN209142281U (en) | Unidirectional submersible automatic guided transport vehicle | |
| CN207683596U (en) | A kind of narrow region emergency rescue fire vehicle | |
| US5405028A (en) | Crane vehicle | |
| CN107264265A (en) | A kind of crops monitor carrier device | |
| CN104742679A (en) | Automotive chassis for self-balance forest | |
| CN107336574A (en) | A kind of liftable robot of changeable wheelbase | |
| CN215905756U (en) | Five-axle wheel type crane | |
| CN201080211Y (en) | Household intelligence moving platform device | |
| CN202664075U (en) | Multifunctional liquid insecticide spraying machine | |
| CN207088980U (en) | A kind of crops monitor carrier device | |
| CN206049224U (en) | Omni-mobile platform and its steering wheel and driving wheel | |
| CN202766244U (en) | Self-moving vertical column type lifting platform | |
| CN214054157U (en) | Multi-degree-of-freedom gantry welding machine for large pipe fittings | |
| CN111170777B (en) | Side-mounted traction turning device |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |