CN106938677A - A kind of wheeled agricultural 4 wheel driven travelling bogie of four-wheel steering - Google Patents
A kind of wheeled agricultural 4 wheel driven travelling bogie of four-wheel steering Download PDFInfo
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- CN106938677A CN106938677A CN201710101221.1A CN201710101221A CN106938677A CN 106938677 A CN106938677 A CN 106938677A CN 201710101221 A CN201710101221 A CN 201710101221A CN 106938677 A CN106938677 A CN 106938677A
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- Prior art keywords
- wheel
- rotating bar
- gear
- ring
- rotating disk
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Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D63/00—Motor vehicles or trailers not otherwise provided for
- B62D63/02—Motor vehicles
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60K—ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
- B60K7/00—Disposition of motor in, or adjacent to, traction wheel
- B60K7/0007—Disposition of motor in, or adjacent to, traction wheel the motor being electric
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D3/00—Steering gears
- B62D3/02—Steering gears mechanical
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66F—HOISTING, LIFTING, HAULING OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD
- B66F3/00—Devices, e.g. jacks, adapted for uninterrupted lifting of loads
- B66F3/24—Devices, e.g. jacks, adapted for uninterrupted lifting of loads fluid-pressure operated
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66F—HOISTING, LIFTING, HAULING OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD
- B66F2700/00—Lifting apparatus
- B66F2700/12—Lifting platforms for vehicles or motorcycles or similar lifting apparatus
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Transportation (AREA)
- Life Sciences & Earth Sciences (AREA)
- Geology (AREA)
- Structural Engineering (AREA)
- Soil Working Implements (AREA)
Abstract
The invention discloses a kind of wheeled agricultural 4 wheel driven travelling bogie of four-wheel steering, including vehicle frame, wheel hub motor wheel, left regulation wheel is away from device and four-wheel steering control device, the four-wheel steering control device and left regulation wheel of the vehicle frame left and right sides are set away from device mirror image, four-wheel steering control device includes the first rotating bar, second rotating bar, first gear, second gear and the first stepper motor, left regulation wheel includes round turntable away from device, 3rd gear, 4th gear and the second stepper motor, wheel hub motor wheel is arranged on wheel stand, the bottom of second rotating bar is connected with wheel stand, wheel hub motor wheel adds the driving force of platform, this travelling bogie is four-wheel independent steering, flexibility is high, drastically increase the flexibility of platform movement, left regulation wheel can adjust the spacing of vehicle frame left and right sides wheel hub motor wheel away from device according to different crops between-line spacings.
Description
Technical field
The present invention relates to agricultural vehicle field, the wheeled agricultural 4 wheel driven transport of more particularly to a kind of four-wheel steering is small
Car.
Background technology
With China's expanding economy, level of farming mechanization is being improved constantly, agricultural remote control movement travelling bogie conduct
A kind of novel agricultural machinery, the security and comfortableness of operating personnel can be significantly improved in agricultural production process, is substantially reduced
The labor intensity of people, particularly in the operation that fertilising, spray etc. are detrimental to health, agricultural transport dolly is very necessary.
In the growth period of crops, the field management machinery such as weeding, spray and fertilising is turned into industry and requires agricultural transport dolly along farming
Thing line-spacing is walked.Existing agricultural transport dolly there is also some problems in the process of walking：The mistake turned to due to travelling bogie
By larger responsive to axial force in journey, steering resisting moment is very big, it is difficult to realize that omnidirectional turns to, and very flexible is not suitable for agricultural
The complex environment of production；Bodywork height can not be suitably adjusted for the crop of different height, poor universality, the adaptation to landform
Property is bad, especially in hilly upland, easily occurs overturn accident；The line-spacing of different crops is typically different, crops of the same race
The line-spacing of different zones or Different Ways of Planting is general also different.
The content of the invention
In view of the shortcomings of the prior art, it is an object of the invention to provide a kind of wheeled agricultural 4 wheel driven of four-wheel steering
Travelling bogie, with four-wheel drive function, can be flexibly turned to, while having adjustable tread function.
To achieve the above object, the invention provides following technical scheme：A kind of wheeled agricultural 4 wheel driven fortune of four-wheel steering
Defeated dolly, including vehicle frame, wheel hub motor wheel, left regulation wheel are away from device and four-wheel steering control device, the vehicle frame include base plate,
It is placed with battery pack, the cover plate and puts on cover plate and some support columns by cover plate support directly over base plate, the base plate
It is equipped with industrial computer；The corner of the vehicle frame is respectively arranged with four-wheel steering control device and left regulation wheel away from device, and the vehicle frame is left
The four-wheel steering control device and left regulation wheel of right both sides are symmetrical arranged away from device, and the four-wheel steering control device includes first
Rotating bar, the second rotating bar, first gear, second gear and the first stepper motor, first rotating bar extend vertically through base plate
And cover plate, the first rotating bar top, which is provided with, prevents its plug for dropping, the left regulation wheel away from device include round turntable,
3rd gear, the 4th gear and the second stepper motor, the first rotating bar bottom are connected to rotating disk end face center position, described
Second rotating bar is through rotating disk and close to rotating disk edge placement, and second rotating bar is located at position on the upside of rotating disk and is provided with prevention
It departs from the plug of rotating disk, and the first gear is set in the second rotating bar, and first stepper motor is arranged on rotating disk,
The rotating shaft of the second gear and the first stepper motor is connected, and the first gear and second gear are engaged, the wheel hub electricity
Locomotive wheel is arranged on wheel stand, and the bottom of second rotating bar is connected with wheel stand, and the industrial computer is to the first step
Stepper motor sends order, and the first stepper motor rotational band is moved the second rotating bar and rotated, so as to adjust wheel hub motor wheel
Direction, the 3rd gear is set in the first rotating bar, second stepper motor be located at base plate on, the 4th gear and
The rotating shaft of second stepper motor is connected, and the 3rd gear and the 4th gear are engaged, and the industrial computer is to the second stepper motor
Order is sent, the second stepper motor rotational band, which is moved the first rotating bar and rotated, rotates rotating disk relative frame, so as to adjust a left side
Spacing between the wheel hub motor wheel of right both sides.
As a further improvement on the present invention, rotating disk, the first rotating bar bottom are run through in the first rotating bar bottom
The plug for preventing itself and rotating disk from departing from is connected with, the left regulation wheel also includes being set in the positioning on the outside of the first rotating bar away from device
Ring and snap collar, the locating ring bottom are fixed on rotating disk, and some necks are evenly equipped with the edge of the locating ring top, described
Snap collar includes being connected to kelly, the first rotating bar axle on left semi-ring and right semi-ring, the left semi-ring and right semi-ring
It is symmetrically arranged with upwards on two strip grooves, the left semi-ring and right semi-ring madial wall and is respectively arranged with strip fixture block, it is described
Fastener and fastener are respectively arranged with left semi-ring and right semi-ring lateral wall, the left semi-ring and right semi-ring are fastened on the first drive link
On, the fixture block is caught in groove and can slided up and down in a groove, is engaged by fastener and fastener by left semi-ring and right half
Ring is fixed together, and the kelly, which is stuck in the neck on locating ring, prevents rotating disk from being rotated relative to the first rotating bar, by snap collar
Move up, the kelly is removed from neck, the rotating disk can rotate to adjust the left and right sides relative to the first rotating bar
Spacing between wheel hub motor wheel.
As a further improvement on the present invention, the left regulation wheel also includes capping away from device, and the capping includes two and half
Capping, half capping includes Semicircular baffle, is arranged on the flange perpendicular to baffle plate at baffle plate arcuation edge, the baffle plate
It is provided with semicircular indentations, the flange and is provided with through hole, screwed hole is provided with the locating ring, two and half cappings is detained
Close on locating ring, first rotating bar is stuck in breach, bolt passed through and screwed in after through hole in screwed hole, and capping is fixed on
Stop that snap collar is moved up on locating ring.
As a further improvement on the present invention, also including lowering or hoisting gear, the lowering or hoisting gear includes hydraulic cylinder, hydraulic oil container
And fluid pressure drive device, the hydraulic oil container and fluid pressure drive device be arranged on base plate lower surface, and described hydraulic cylinder one end is fixed
In disk upper surface, first rotating bar is upwardly extended along bottom surface is provided with coaxial mounting hole, the piston of the hydraulic cylinder
Bar is located in mounting hole, and the piston rod top of the hydraulic cylinder is fixedly connected with the hole wall of mounting hole.
As a further improvement on the present invention, bearing of trend is provided with the rotating disk to stitch by the strip of its central point
It is respectively arranged with gap, the two side in the gap on chute, the rotating disk and is provided with supporting table, above and below the supporting table includes
Two supporting plates be arrangeding in parallel and the support column being arranged between two supporting plates, the supporting plate both sides edge difference position of downside
It is evenly equipped with some perforation, the supporting plate of the upside and sets along chute trend in chute, on the cell wall on the upside of the chute
Bottom is against through after perforating in the supporting plate of downside after having in screwed hole, bolt screw-in screwed hole is fixed on rotating disk by supporting table
On, second rotating bar is arranged in supporting table.
The present invention four-wheel steering wheeled agricultural 4 wheel driven travelling bogie, including vehicle frame, wheel hub motor wheel, left regulation wheel away from
Device and four-wheel steering control device, the corner of vehicle frame are respectively arranged with four-wheel steering control device and left regulation wheel away from device, car
The four-wheel steering control device and left regulation wheel of the frame left and right sides are symmetrical arranged away from device, and wheel hub motor wheel adds platform
Driving force, this travelling bogie is four-wheel independent steering, and flexibility is high, drastically increases the flexibility of platform movement, left regulation wheel
The spacing of vehicle frame left and right sides wheel hub motor wheel can be adjusted according to different crops between-line spacings away from device.
Brief description of the drawings
Fig. 1 is the structural representation of the wheeled agricultural 4 wheel driven travelling bogie of the present invention；
Fig. 2 is partial structural diagram of the left regulation wheel of the present invention away from device；
Fig. 3 is the structural representation that snap collar of the present invention and the first rotating bar are engaged；
The structural representation that Fig. 4 covers for the present invention；
Fig. 5 is the structural representation of lowering or hoisting gear of the present invention；
Fig. 6 is the structural representation of supporting table of the present invention and rotating disk；
Fig. 7 is the structural representation that gap is engaged on supporting table of the present invention and rotating disk.
Embodiment
The present invention is described in further detail below in conjunction with the embodiment given by accompanying drawing.
Shown in reference picture 1-7, a kind of wheeled agricultural 4 wheel driven travelling bogie of four-wheel steering of the present embodiment, including vehicle frame 1,
Wheel hub motor wheel 2, left regulation wheel are away from device 3 and four-wheel steering control device 4, and vehicle frame 1 includes base plate 11, cover plate 12 and by cover plate
11 are supported on some support columns 13 directly over base plate 11, base plate 11 and are placed with the battery pack 15 powered to electricity consumption device, cover
Mechanical arm, spray irrigation system or monitoring system can be carried by being placed with plate 12 on industrial computer 16, cover plate 12；Base plate 11 and cover plate
12 are square, and the corner of vehicle frame 1 is respectively arranged with four-wheel steering control device 4 and left regulation wheel away from device 3, vehicle frame 1 or so two
The four-wheel steering control device 4 and left regulation wheel of side are symmetrical arranged away from device 3, and four-wheel steering control device 4 includes the first rotating bar
41st, the second rotating bar 42, first gear 43, the stepper motor 45 of second gear 44 and first, the first rotating bar 41 extend vertically through bottom
Plate 11 and cover plate 12, the top of the first rotating bar 41, which is provided with, prevents its plug 5 for dropping, and plug 5 is cylindrical, plug 5 and the
It is threadedly coupled between the top of one rotating bar 41, left regulation wheel includes round turntable 31, the 3rd gear 310, the 4th gear away from device 3
311 and second stepper motor 312, the bottom of the first rotating bar 41 is fixedly connected on the end face center position of rotating disk 31, the second rotating bar
42 through rotating disk 31 and close to the edge placement of rotating disk 31, and the second rotating bar 42 can be rotated relative to rotating disk 31, the second rotating bar 42
Screw thread between the plug 5 for preventing it from departing from rotating disk 31, the rotating bar 42 of plug 5 and second is provided with the upside position of rotating disk 31 to connect
Connect, first gear 43 is set in the second rotating bar 42, the first stepper motor 45 is arranged on rotating disk 31, second gear 44 and
The rotating shaft of one stepper motor 45 is connected, and first gear 43 and second gear 44 are engaged, and wheel hub motor wheel 2 is arranged on wheel branch
On frame, the bottom of the second rotating bar 42 is connected with wheel stand, and when dolly needs to turn to, industrial computer 16 is to the first stepper motor
45 send order, and the first stepper motor 45, which is rotated, drives second gear 44 to rotate, and second gear 44 drives first gear 43 to rotate,
The second rotating bar 42 is set to start rotation, so as to adjust the direction of wheel hub motor wheel 2, existing agriculture working vehicle uses two-wheeled
Or four-wheel steering, two-wheeled turn to due to turning radius it is larger, be not easy to farmland operation, although four-wheel steering is easy to farmland operation,
But make manipulation difficult because turning radius is too small in road driving, travelling bogie of the invention can be turned to and four rotation in two-wheeled
Arbitrarily switch between, when needing two-wheeled to turn to, industrial computer 16 sends to two the first stepper motors 45 on front side of dolly and ordered
Order, realizes that two-wheeled is turned to；When needing four-wheel steering, industrial computer 16 sends to four the first stepper motors 45 and ordered, and realizes four
Rotate to；3rd gear 310 is set in the first rotating bar 41, and the second stepper motor 312 is located on base plate 11, the 4th gear
311 are connected with the rotating shaft of the second stepper motor 312, and the 3rd gear 310 and the 4th gear 311 are engaged, when needs are according to farming
When the line space of thing adjusts the wheelspan of dolly, industrial computer 16 sends to four the second stepper motors 312 and ordered, and makes dolly or so two
Second stepper motor 312 of side is rotated round about, and the second stepper motor 312, which is rotated, drives the 4th gear 311 to rotate, and the 4th
Gear 311 drives the 3rd gear 310 to rotate, and rotates the relative frame 1 of the first rotating bar 41, rotates the relative frame 1 of rotating disk 31,
Because the four-wheel steering control device 4 of the left and right sides of vehicle frame 1 is symmetrical arranged, as the rotating disk 31 of the dolly left and right sides is to phase negative side
To rotation, the spacing between the wheel hub motor wheel 2 of the left and right sides gradually changes to adapt to the spacing of crops；In order in left regulation wheel
Away from when it is more flexible, left regulation wheel can start simultaneously away from device 3 and four-wheel steering control device 4, and industrial computer 16 is to four the second steppings
Motor 312 sends order, is ordered while being sent to four the first stepper motors 45, makes the second stepper motor of the dolly left and right sides
312 rotate round about, the first stepper motor 45 of the dolly left and right sides is rotated round about, and positioned at same angle
One stepper motor 45 is identical with the direction of rotation of the second stepper motor 312, and the second stepper motor 312, which is rotated, drives the 4th gear 311
Rotate, the 4th gear 311 drives the 3rd gear 310 to rotate, and rotates the relative frame 1 of the first rotating bar 41, meanwhile, the first stepping
Motor 45, which is rotated, drives second gear 44 to rotate, and second gear 44 drives first gear 43 to rotate, and starts the second rotating bar 42
Rotate, so as to adjust the direction of wheel hub motor wheel 2, rotate the relative frame 1 of rotating disk 31, because the four of the left and right sides of vehicle frame 1
Wheel steering control device 4 is symmetrical arranged, and is rotated round about with the rotating disk 31 of the dolly left and right sides, the wheel hub of the left and right sides
Spacing between electric locomotive wheel 2 gradually changes to adapt to the spacing of crops.
As a kind of improved embodiment, rotating disk 31, the bottom of the first rotating bar 41 are run through in the bottom of the first rotating bar 41
End is connected with the plug 5 for preventing itself and rotating disk 31 from departing from, and the bottom of 5 and first rotating bar of plug 41 is threadedly coupled, and left regulation wheel is away from dress
3 locating rings 32 and snap collar 33 for also including being set in the outside of the first rotating bar 41 are put, the bottom of locating ring 32 is fixed on rotating disk 31
On, some necks 34 are evenly equipped with the top edge of locating ring 32, snap collar 33 includes the left semi-ring 331 and right semi-ring being engaged
332, it is connected on kelly 35, the axial direction of the first rotating bar 41 on left semi-ring 331 and right semi-ring 332 and is symmetrically arranged with two bars
The strip fixture block being engaged with strip groove 46 is respectively arranged with shape groove 46, left semi-ring 331 and right semi-ring 332 madial wall
36, the fastener 37 and fastener 38 being engaged, left semi-ring 331 and the right side are respectively arranged with left semi-ring 331 and right semi-ring 332 lateral wall
Semi-ring 332 is fastened on the first drive link 41, and fixture block 36 is caught in groove 46 and can slided up and down in groove 46, the He of fixture block 36
Groove 46 is engaged prevention snap collar 33 and rotated relative to the first drive link 41, is engaged by fastener 37 and fastener 38 by left semi-ring
331 and right semi-ring 332 be fixed together, kelly 35, which is stuck in the neck 34 on locating ring 32, prevents relative first rotation of rotating disk 31
Bar 41 is rotated, and snap collar 33 is moved up, and kelly 35 is removed from neck 34, firmly rotates rotating disk 31, rotating disk 31 can be relative
First rotating bar 41 rotates the spacing between the wheel hub motor wheel 2 so as to adjust the left and right sides.This structure design, which is mainly, is
Spacing that can be between manual adjustment wheel hub electric locomotive wheel 2, can be first passed through manually between significantly regulation wheel hub electric locomotive wheel 2
Spacing, then be finely adjusted with the mode of automatically adjusting, so that dolly is more robust, manual regulative mode can also be regard as standby hand
Section.
As a kind of improved embodiment, left regulation wheel also includes capping away from device 3, and capping includes two and half cappings
39, the flange 392 perpendicular to baffle plate that half capping 39 includes Semicircular baffle 391, is arranged on the arcuation edge of baffle plate 391, baffle plate
It is provided with 391 on semicircular indentations 393, flange 392 and is provided with through hole 394, screwed hole is provided with locating ring 32, by two
Half capping 39 is fastened on locating ring 32, snap collar 33 is located at the downside of baffle plate 391, the first rotating bar 41 is stuck in breach 393,
Bolt passed through and screwed in after through hole 394 in screwed hole, and capping is fixed on locating ring 32 and stops that snap collar 33 is moved up.Do not having
In the case of having capping, snap collar 33 is against on locating ring 32 by self gravitation, the neck for making kelly 35 be stuck on locating ring 32
Rotating disk 31 is prevented to be rotated relative to the first rotating bar 41 in 34, the setting of capping can avoid occurring unexpected inclined situation in dolly
Under, the relative positioning ring 32 of snap collar 33 is moved, and kelly 35 is departed from from the neck 34 on locating ring 32, influences the stabilization of structure
Property.
As a kind of improved embodiment, also including lowering or hoisting gear 6, lowering or hoisting gear 6 includes hydraulic cylinder 61, hydraulic pressure
Fuel tank 62 and fluid pressure drive device 63, hydraulic oil container 62 and fluid pressure drive device 63 are arranged on the lower surface of base plate 11, hydraulic cylinder 61
One end is fixed on the upper surface of rotating disk 31, and the first rotating bar 41 is upwardly extended along bottom surface is provided with coaxial mounting hole 17, hydraulic cylinder
61 piston rod is located in mounting hole 17, and the piston rod top of hydraulic cylinder 61 is fixedly connected with the hole wall of mounting hole 17.Work as needs
The height of the base plate 11 of vehicle frame 1 from the ground is adjusted to adapt to higher crops, industrial computer 16 is sent to fluid pressure drive device 63
Order, the piston of the driving hydraulic cylinder 61 of fluid pressure drive device 63 protrudes upward, the height of the base plate 11 of lifting vehicle frame 1 from the ground with
Adapt to higher crops.
As a kind of improved embodiment, bearing of trend is provided with rotating disk 31 and is stitched by the strip of its central point
It is respectively arranged with gap 313, the two side in gap 313 on chute 314, rotating disk 31 and is provided with supporting table 7, supporting table 7 includes upper
Under two supporting plates 71 be arrangeding in parallel and the support column 72 being arranged between two supporting plates 71, the both sides of supporting plate 71 of downside
Edge is located in chute 314 respectively, and some perforation 315, upside are evenly equipped with along the trend of chute 314 on the cell wall of the upside of chute 314
Supporting plate 71 on be provided with screwed hole, bolt screw in screwed hole after bottom through being against downside supporting plate 71 after perforation 315
On supporting table 7 is fixed on rotating disk 31, the second rotating bar 42 is arranged in supporting table 7.This structure design is to adjust
Left regulation wheel is away from adjustable range of the device 3 to wheelspan, while can be also finely adjusted to wheelspan, supporting table 7 is fixed on rotating disk by release
After bolt on 31, the supporting plate 71 of downside is set to be slided along chute 314, position of the adjustment supporting table 7 on rotating disk 31, so as to adjust
Whole left regulation wheel is away from adjustable range of the device 3 to wheelspan.
The above is only the preferred embodiment of the present invention, and protection scope of the present invention is not limited merely to above-mentioned implementation
Example, all technical schemes belonged under thinking of the present invention belong to protection scope of the present invention.It should be pointed out that for the art
Those of ordinary skill for, some improvements and modifications without departing from the principles of the present invention, these improvements and modifications
It should be regarded as protection scope of the present invention.
Claims (5)
1. a kind of wheeled agricultural 4 wheel driven travelling bogie of four-wheel steering, including vehicle frame (1), wheel hub motor wheel (2), left regulation wheel away from
Device (3) and four-wheel steering control device (4), it is characterised in that：The vehicle frame (1) includes base plate (11), cover plate (12) and incited somebody to action
Cover plate (11) is supported on some support columns (13) directly over base plate (11), the base plate (11) and is placed with battery pack (15),
Industrial computer (16) is placed with the cover plate (12)；The corner of the vehicle frame (1) is respectively arranged with four-wheel steering control device (4)
With left regulation wheel away from device (3), the four-wheel steering control device (4) and left regulation wheel of vehicle frame (1) left and right sides are equal away from device (3)
It is symmetrical arranged, the four-wheel steering control device (4) includes the first rotating bar (41), the second rotating bar (42), first gear
(43), second gear (44) and the first stepper motor (45), first rotating bar (41) extend vertically through base plate (11) and cover plate
(12), the first rotating bar (41) top is provided with the plug (5) for preventing it from dropping, and the left regulation wheel includes away from device (3)
Round turntable (31), the 3rd gear (310), the 4th gear (311) and the second stepper motor (312), first rotating bar
(41) bottom is connected to rotating disk (31) end face center position, and second rotating bar (42) is through rotating disk (31) and close to rotating disk
(31) edge placement, second rotating bar (42) is provided with positioned at position on the upside of rotating disk (31) prevents it from departing from rotating disk (31)
Plug (5), the first gear (43) is set in the second rotating bar (42), and first stepper motor (45) is arranged on rotating disk
(31) on, the second gear (44) is connected with the rotating shaft of the first stepper motor (45), the first gear (43) and the second tooth
Wheel (44) is engaged, and the wheel hub motor wheel (2) is arranged on wheel stand, the bottom of second rotating bar (42) and car
Wheel support is connected, and the industrial computer (16) sends to the first stepper motor (45) and ordered, and first stepper motor (45) rotates
The second rotating bar (42) is driven to rotate, so as to adjust the direction of wheel hub motor wheel (2), the 3rd gear (310) is set in
In first rotating bar (41), second stepper motor (312) is located on base plate (11), the 4th gear (311) and second
The rotating shaft of stepper motor (312) is connected, and the 3rd gear (310) and the 4th gear (311) are engaged, the industrial computer (16)
Send and order to the second stepper motor (312), second stepper motor (312), which rotates the first rotating bar of drive (41) and rotated, to be made
Rotating disk (31) relative frame (1) rotates, so that the spacing between adjusting the wheel hub motor wheel (2) of the left and right sides.
2. a kind of wheeled agricultural 4 wheel driven travelling bogie of four-wheel steering according to claim 1, it is characterised in that：Described
Rotating disk (31) is run through in one rotating bar (41) bottom, and the first rotating bar (41) bottom is connected with prevention, and it departs from rotating disk (31)
Plug (5), the left regulation wheel also includes being set in locating ring (32) and buckle on the outside of the first rotating bar (41) away from device (3)
Ring (33), locating ring (32) bottom is fixed on rotating disk (31), is evenly equipped with locating ring (32) the top edge some
Neck (34), the snap collar (33) includes left semi-ring (331) and right semi-ring (332), the left semi-ring (331) and right semi-ring
(332) it is connected on kelly (35), the first rotating bar (41) axial direction and is symmetrically arranged with two strip grooves (46),
Be respectively arranged with strip fixture block (36) on the left semi-ring (331) and right semi-ring (332) madial wall, the left semi-ring (331) and
Fastener (37) and fastener (38), the left semi-ring (331) and right semi-ring (332) are respectively arranged with right semi-ring (332) lateral wall
It is fastened on the first drive link (41), the fixture block (36) is caught in groove (46) and can slided up and down in groove (46), leads to
Cross fastener (37) and fastener (38) is engaged and left semi-ring (331) and right semi-ring (332) are fixed together, kelly (35) card
Rotating disk (31) is prevented to be rotated relative to the first rotating bar (41) in neck (34) on locating ring (32), by snap collar (33) upwards
Mobile, the kelly (35) removes from neck (34), and the rotating disk (31) can rotate to adjust relative to the first rotating bar (41)
Save the spacing between the wheel hub motor wheel (2) of the left and right sides.
3. a kind of wheeled agricultural 4 wheel driven travelling bogie of four-wheel steering according to claim 2, it is characterised in that：It is described to adjust
Saving wheelspan device (3) also includes capping, and the capping includes two and half cappings (39), and half capping (39) includes semicircle keep off
It is provided with plate (391), the flange (392) perpendicular to baffle plate for being arranged on baffle plate (391) arcuation edge, the baffle plate (391)
It is provided with semicircular indentations (393), the flange (392) on through hole (394), the locating ring (32) and is provided with screwed hole,
Two and half cappings (39) are fastened on locating ring (32), first rotating bar (41) is stuck in breach (393), and bolt is passed through
Through hole (394) is screwed in screwed hole afterwards, and capping is fixed on locating ring (32) and stops that snap collar (33) is moved up.
4. a kind of wheeled agricultural 4 wheel driven travelling bogie of four-wheel steering according to claim 1, it is characterised in that：Also include
Lowering or hoisting gear (6), the lowering or hoisting gear (6) includes hydraulic cylinder (61), hydraulic oil container (62) and fluid pressure drive device (63), described
Hydraulic oil container (62) and fluid pressure drive device (63) are arranged on base plate (11) lower surface, and described hydraulic cylinder (61) one end, which is fixed on, to be turned
Disk (31) upper surface, first rotating bar (41) upwardly extends along bottom surface is provided with coaxial mounting hole (17), the hydraulic pressure
The piston rod of cylinder (61) is located in mounting hole (17), and the piston rod top of the hydraulic cylinder (61) and the hole wall of mounting hole (17) are solid
Fixed connection.
5. a kind of wheeled agricultural 4 wheel driven travelling bogie of four-wheel steering according to claim any one of 1-4, its feature exists
In：The strip slot (313) that bearing of trend passes through its central point, the two of the gap (313) are provided with the rotating disk (31)
It is respectively arranged with the wall of side on chute (314), the rotating disk (31) and is provided with supporting table (7), above and below the supporting table (7) includes
Two supporting plates (71) be arrangeding in parallel and the support column (72) being arranged between two supporting plates (71), the supporting plate of downside
(71) both sides edge is located in chute (314) respectively, moves towards uniform along chute (314) on the cell wall on the upside of the chute (314)
Having be provided with screwed hole in some perforation (315), the supporting plate (71) of the upside, and bottom is passed through after bolt is screwed in screwed hole
It is against after perforation (315) in downside supporting plate (71) and supporting table (7) is fixed on rotating disk (31), second rotating bar (42)
It is arranged in supporting table (7).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
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| CN107933690A (en) * | 2018-01-13 | 2018-04-20 | 安徽智泉农业科技有限公司 | A kind of agricultural machinery body construction and agricultural machinery |
| CN108791477A (en) * | 2018-06-12 | 2018-11-13 | 太原科技大学 | A kind of distribution four-wheel driving electric vehicle independent steering assembly |
| CN109263756A (en) * | 2018-11-12 | 2019-01-25 | 河北工业大学 | Wheeled AGV robot of omnidirectional and its method of operation based on two hub motors |
| WO2020239099A1 (en) * | 2019-05-29 | 2020-12-03 | 张大朋 | Electric vehicle, automatic driving method and equipment, automatic freight transportation method and system |
| CN112804452A (en) * | 2021-01-06 | 2021-05-14 | 华南农业大学 | Intelligent phenotype collection trolley and collection method based on high-stalk crops |
| CN114771538A (en) * | 2022-05-31 | 2022-07-22 | 农业农村部南京农业机械化研究所 | Agricultural four-wheel drive chassis and control method thereof |
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| CN203111294U (en) * | 2013-01-18 | 2013-08-07 | 西北农林科技大学 | Agricultural remote control mobile robot platform capable of rotating omni-directionally and lifting |
| CN104709196A (en) * | 2013-12-16 | 2015-06-17 | 中国农业机械化科学研究院 | Electric lifting chassis for field operation robot |
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| DE102011087073A1 (en) * | 2011-11-25 | 2012-12-20 | Schaeffler Technologies AG & Co. KG | Electromechanical drive vehicle e.g. electric car has control device that causes wheel rotations at low vehicle speed and performs control criterion on front and rear axles to produce vehicle pivoting by imposing transverse wheel slip |
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| CN107933690A (en) * | 2018-01-13 | 2018-04-20 | 安徽智泉农业科技有限公司 | A kind of agricultural machinery body construction and agricultural machinery |
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| WO2020239099A1 (en) * | 2019-05-29 | 2020-12-03 | 张大朋 | Electric vehicle, automatic driving method and equipment, automatic freight transportation method and system |
| CN112804452A (en) * | 2021-01-06 | 2021-05-14 | 华南农业大学 | Intelligent phenotype collection trolley and collection method based on high-stalk crops |
| CN114771538A (en) * | 2022-05-31 | 2022-07-22 | 农业农村部南京农业机械化研究所 | Agricultural four-wheel drive chassis and control method thereof |
| CN114771538B (en) * | 2022-05-31 | 2023-02-17 | 农业农村部南京农业机械化研究所 | Agricultural four-wheel drive chassis and control method thereof |
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