CN107364488A - agricultural omni-directional wheel - Google Patents
agricultural omni-directional wheel Download PDFInfo
- Publication number
- CN107364488A CN107364488A CN201710696210.2A CN201710696210A CN107364488A CN 107364488 A CN107364488 A CN 107364488A CN 201710696210 A CN201710696210 A CN 201710696210A CN 107364488 A CN107364488 A CN 107364488A
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- China
- Prior art keywords
- steering
- wheel
- rack
- agricultural
- turning
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Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D5/00—Power-assisted or power-driven steering
- B62D5/04—Power-assisted or power-driven steering electrical, e.g. using an electric servo-motor connected to, or forming part of, the steering gear
-
- 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
- B60K1/00—Arrangement or mounting of electrical propulsion units
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60S—SERVICING, CLEANING, REPAIRING, SUPPORTING, LIFTING, OR MANOEUVRING OF VEHICLES, NOT OTHERWISE PROVIDED FOR
- B60S9/00—Ground-engaging vehicle fittings for supporting, lifting, or manoeuvring the vehicle, wholly or in part, e.g. built-in jacks
- B60S9/02—Ground-engaging vehicle fittings for supporting, lifting, or manoeuvring the vehicle, wholly or in part, e.g. built-in jacks for only lifting or supporting
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Transportation (AREA)
- Guiding Agricultural Machines (AREA)
Abstract
The invention discloses a kind of agricultural omni-directional wheel, including road wheel, hoofing part mechanism, steering mechanism and lifting body；Road wheel coaxial transmission is arranged on wheel shaft, and in rack sleeve, rack sleeve is connected wheel shaft rolling assembling by pillar and frame base；Hoofing part mechanism drives road wheel；Steering mechanism includes steering spindle and steering motor, and steering spindle is assemblied in frame base by thrust bearing, and one end is connected with the steering motor being fixedly mounted, and the other end is vertical with rack sleeve to be connected；Lifting body includes jack, turning rack and turns to support wheel, jack one end is with turning to axis connection, the other end is connected with turning rack, and the middle part of turning rack and rack sleeve turns to the bottom that support wheel is assemblied in turning rack using universal structure along jacking direction slidable fit.Steering angle of the present invention it is big, it is necessary to turning radius it is small, running movement is convenient in farmland, reduces pressure seedling, and possess good traveling ability in different landform.
Description
Technical field
The invention belongs to farmland machinery wheel train structure, and in particular to one kind can obtain any angle under various orographic conditions
The agricultural omni-directional wheel turned to.
Background technology
At present in China, farmland field operation is main or based on artificial, and Mechanization Technique level is not high, and some are existing
Agricultural machinery when carrying out plant protection operation, the problem of precision is not high, less efficient be present, in farmland turn when have it is larger
Turning radius, the shortcomings that inevitably overwhelming many crops during work.It is particularly Chinese staple food crop rice, small
Wheat, seeding corn and other crops, plant is dense during growth, and line-spacing is minimum, and growth period can still not hinder without corresponding agricultural machinery
On the basis of evil plant, pollinated in Tanaka, sprayed and the fine manipulation such as weeding, machinery only energy when rice transplanting and harvesting
Enough enter farmland industry, this just determines the production of China's agricultural particularly staple food crop such as rice, wheat, corn also not
A large amount of personnel can be left and carry out plant protection management.Some R＆D institutions of the existing country and university have been noted that this point, have started China
The Study of intelligent of agricultural machinery.But due to starting evening, technology is relatively weak, and the product cost of research and development is not high, always
Do not solve these problems well.
And the states such as the U.S., Australia are particularly abroad, and although its development is more early, present Agricultural Intelligent System manufacturing machine
Popularization degree is higher than domestic, but its technical merit of opinion is strong how many unlike domestic, carries out the agriculture intelligent machine skill of plant protection operation
Art level is also and immature.
Farmland machinery steering mechanism in, at present China's machines working in paddy field virtually all be use it is mechanical or
Person's fluid pressure type steering structure, is turned to simultaneously in the process of walking, and in farmland operation, radius of turn is larger, and front and back wheel track is advanced
Position and arcuate path are difficult to control, and torque needed for steering low precision, steering is big, and this makes agricultural machinery dense in plant growth
Farmland in be easy to roll rice shoot when travelling, for farmland operation of different shapes, often due to turn to it is not in place exist make
Industry less than dead angle position, therefore current agricultural machinery pollinated, sprayed in farmland and during the plant protection operation such as weeding
Limited by larger, its performance is also affected.
The content of the invention
Present invention solves the technical problem that it is：For radius of turn existing for existing farm machinery steering structure it is big, turn
The defects of to low precision, there is provided the agricultural omni-directional wheel that a kind of achievable any angle accurately turns to, using new steering pattern,
The traveling ability of current agricultural machinery can be greatly improved, promotes the horizontal raising of Tendency of Agricultural Machinery in China.
The present invention adopts the following technical scheme that realization：
Agricultural omni-directional wheel, including road wheel 10, hoofing part mechanism, steering mechanism and lifting body；The road wheel 10
Coaxial transmission is arranged on wheel shaft 9, and for the rolling assembling of wheel shaft 9 in rack sleeve 11, the rack sleeve 11 passes through pillar 8
It is connected with frame base 6；The hoofing part mechanism is fixed in frame base 6, is connected with road wheel 10；The steering
Mechanism includes steering spindle 2 and steering motor 3, and the steering spindle 2 is assemblied in frame base 6 vertically by thrust bearing 5, turns to
Axle one end is connected with the steering motor 3 being fixedly mounted, and the other end is vertical with rack sleeve 11 to be connected；The lifting body bag
Include jack 7, turning rack 26 and turn to support wheel 15, described one end of jack 7 is with turning to axis connection, and the other end is with turning to
Support 26 connects, the middle part edge jacking direction slidable fit of the turning rack 26 and rack sleeve 11, the steering support wheel
15 are assemblied in the bottom of turning rack 26 using universal structure.
Further, the turning rack 26 uses rectangle support, passes through cunning between its upright side walls and rack sleeve 11
Rail 12 assembles.
Further, the bottom for turning to support wheel 15 and turning rack 26 being arranged on by U-shaped support 14, it is described U-shaped
Support 26 is inverted, and its top is pacified by first axle 13 and the universal connection in bottom of turning rack 26, two groups of steering support wheels 15
Bottom loaded on U-shaped support 26.
Further, the jack 7 uses four electronic bar hinge screw jacks, and the top of the jack 7 leads to
Cross the fixation of second hinge 28 to be hinged in steering spindle 2, the bottom of the jack 7 is fixed by third hinge 29 is hinged on steering
The top of support 26.
Further, the rack sleeve 11 is connected by two groups of vertical pillars 8 and frame base 6, the phase of pillar 8
It is arranged symmetrically for steering spindle 2.
Further, the hoofing part mechanism includes decelerator 20, motor 21, motor bearing 22 and transverse direction
Support 23, the horizontal support 23 is fixed on pillar 8, and side road wheel is extended thereto, the motor 21
It is fixedly mounted on by motor bearing 22 on horizontal support 23, the motor 21 passes through decelerator 20 and Chain conveyer machine
Structure is connected with the skidding traction drive.
Further, anti-slop serrations 27 are evenly distributed with the circumference of the road wheel 10, the anti-slop serrations on different road wheels
Interlaced arrangement.
Further, the steering motor 3 is connected by speed reducing gear pair with steering spindle 2.
In the agricultural omni-directional wheel of the present invention, angular transducer 1, the angular transducer 1 are additionally provided with the steering spindle 2
With the feedback link of steering motor 3.
Omni-directional wheel integral jacking is left ground by the present invention using lifting body, is recycled steering mechanism to realize and is rotated omnidirectional
The steering of wheel, steering spindle is driven by steering motor, can realize that road wheel turns in 360 ° in theory, and in steering spindle
Provided with angular transducer, the angle signal of the intelligent machine of collection is transferred to control unit by angular transducer, and control unit will
Angle adjustment deviation is calculated after the signal operation contrast, then steering motor is issued into instruction, so as to turn to electricity by controlling
Machine carrys out the accurate steering angle for controlling road wheel.The conventional jack structure that lifting body employs motorized motions supports to turning to
Wheel implement lifting and under push works, strength is big, reliable in action, road wheel effectively can be lifted away from into ground completely, thus with compared with
Small active force achieves that steering adjustment.
Because the support that motor connects with road wheel is all fixed in frame base, when turning to, they is mutual
Position relationship is not affected, it is possible to achieve the purpose travelled when turning to, improves the operating efficiency of intelligent machine.Angle
Sensor is arranged in steering spindle, can use coaxial mounted mode, to realize the accurate measurement to steering spindle angle.It is overall next
Saying, the present invention can make each driving wheel of farm machinery realize accurate steering at any angle under the control of the control unit,
Using suitable control algolithm and control program just intelligent machine can realize to rotate at any angle, ensure that machinery in feelings
Accurate selection travel path, avoids damaging plant by pressure in the complicated farmland of condition.
From the above mentioned, the present invention solve existing agricultural plant protection machinery travelled in farmland steering inconvenience, turn round walking when
Easily the problem of pressure seedling, steering angle it is big, it is necessary to turning radius it is small, and have in loose soil and mud moorland possess it is good
Good traveling ability.
Below in conjunction with the drawings and specific embodiments, the present invention will be further described.
Brief description of the drawings
Fig. 1 is the front view of the agricultural omni-directional wheel in embodiment.
Fig. 2 is the A of the agricultural omni-directional wheel in Fig. 1 to side view.
Label in figure：1- angular transducers, 2- steering spindles, 3- steering motors, 4- little gears, 5- thrust bearings, 6- frames
Pedestal, 7- jack, 8- pillars, 9- wheel shafts, 10- road wheels, 11- rack sleeves, 12- slide rails, 13- first axles, 14-U types
Support, 15- turn to support wheel, 16- rolling bearings, 17- big sprocket wheels, 18- chains, 19- minor sprockets, 20- decelerators, 21- drivings
Motor, 22- motor bearings, 23- horizontal supports, 24- adjusting screw rods, 25- variable speed electric motors, particularlies, 26- turning racks, 27- are anti-skidding
Tooth, 28- second hinges, 29- third hinges, 30- gear wheels.
Embodiment
Embodiment
Referring to Fig. 1 and Fig. 2, it is illustrated that in agricultural omni-directional wheel for the present invention preferred scheme, including angular transducer 1, turn
To axle 2, steering motor 3, little gear 4, thrust bearing 5, frame base 6, jack 7, pillar 8, wheel shaft 9, road wheel 10, main shaft
Sleeve 11, slide rail 12, first axle 13, U-shaped support 14, turn to support wheel 15, be rolling bearing 16, big sprocket wheel 17, chain 18, small
Sprocket wheel 19, decelerator 20, motor 21, motor bearing 22, horizontal support 23, adjusting screw rod 24, variable speed electric motors, particularly 25, turn
To support 26, anti-slop serrations 27, second hinge 28, third hinge 29 and gear wheel 30.
Specifically, the agricultural omni-directional wheel of the present embodiment be divided into road wheel 10 composition walking mechanism, hoofing part mechanism, turn
To four parts of mechanism and lifting body, wherein two groups of road wheels 10 are coaxially assemblied in the both ends of wheel shaft 9, road wheel 10 and wheel
Axle 9 is together rotated, and wheel shaft 9 is then rotated by two groups of rolling bearings 16 and is assemblied in rack sleeve 11, and rack sleeve 11 passes through
Two groups of pillars 8 are connected with frame base 6, have been connected the walking mechanism with the fuselage of agricultural plant protection machinery by frame base 6
Come.
Hoofing part mechanism driving road wheel 10 rotates, and includes decelerator 20, motor 21, motor bearing 22
With horizontal support 23, wherein, horizontal support 23 is fixed on pillar 8, and side road wheel is extended thereto, motor
21 are fixedly mounted on horizontal support 23 by motor bearing 22, and the output end of motor 21 passes through shaft coupling and deceleration
Device 20 connects, and drives the skidding to walk wheel by decelerator 20 and transmission mechanism and rotates, and the transmission mechanism uses chain-drive mechanism, its
In minor sprocket 19 is equipped with the output shaft of decelerator 20, be set with big sprocket wheel 17 in the outer axle 9 of the side road wheel,
Chain 28 is installed around on minor sprocket 19 and big sprocket wheel 17.
Steering mechanism and lifting body, which coordinate, realizes that walking mechanism is turned to after being lifted off ground, and wherein steering mechanism includes
Angled sensor 1, steering spindle 2, steering motor 3, little gear 4, thrust bearing 5 and gear wheel 30, wherein steering spindle 2 is by pushing away
For the rolling assembling of power bearing 5 in frame base 6, thrust bearing 5 can both bear the axial load-bearing between frame base and steering spindle,
It can ensure steering spindle under rotary electric machine drive relative to frame base flexible rotating again.Steering spindle 2 is set through frame base 6
To put, its bottom is vertical with the middle part of rack sleeve 11 to be connected, and pillar 8 is symmetrically fixed on the rack sleeve 11 of the both sides of steering spindle 2,
The top of steering spindle 2 is then connected with the steering motor 3 being fixedly mounted on mechanical fuselage, in the output shaft of steering motor 3
Upper to connect little gear 4, suit gear wheel 30 is engaged with little gear in steering spindle 2, and steering motor pair is realized by speed reducing gear pair
The power transmission of steering spindle.
Angular transducer 1 is arranged in steering spindle 2, and angular transducer 1 uses absolute encoder disk, is coaxially set with steering spindle
Put, absolute encoder disk constantly feeds back to angle and angular rate signal the control unit of steering motor, is allowed to turning to
Parameter monitored and adjusted, the control unit calculates angle adjustment deviation after signal operation is contrasted, then will instruction it is anti-
Feedback is transferred to steering motor 3, so as to control the steering angle of driving wheel by controlling steering motor, ensures the accurate of road wheel
Turn to.
Lifting body includes jack 7, first axle 13, U-shaped support 14, steering support wheel 15, adjusting screw rod 24, change
Speed motor 25, turning rack 26, second hinge 28 and third hinge 29, wherein jack 7 are vertically arranged, and one end connects with steering spindle
Connect, the other end is connected with turning rack 26, the middle part edge jacking direction slidable fit of turning rack 26 and rack sleeve 11, is turned to
Support wheel 15 is assemblied in the bottom that special line purchases valency 26 by U-shaped support 14, and omni-directional wheel turns to support wheel 15 under walking states
It should uphang in ground and not influence the normal walking of omni-directional wheel, jack 7 pushes down on turning rack 26, is supported when turning to
Behind the contact of wheel 15 ground, jack drives walking mechanism to be pushed up upwards together with hoofing part mechanism and steering mechanism by steering spindle
Rise, now by steering mechanism steering spindle can be driven to drive walking mechanism and hoofing part mechanism to be turned to, after the completion of steering,
Jack 7 is withdrawn, and walking mechanism is dropped into contact ground, continues to withdraw steering support wheel 15, completes the steering behaviour of omni-directional wheel
Make.
The turning rack 26 of the present embodiment uses rectangle support, and rack sleeve 11 is located at the inframe of rectangle support, turns to branch
Assembled between the upright side walls and rack sleeve 11 of frame 26 by slide rail 12.In order to coordinate walking mechanism relative to lifting body
Angle change, support wheel 15 is turned to relative to 26 universal setting of turning rack, specifically, U-shaped support 14 is inverted, its top passes through
The bottom of first axle 13 and turning rack 26 is by 13 universal connection of first axle, in the fulcrum position of bottom two of U-shaped support 14
Two groups of steering support wheels 15 are installed, in U-shaped support 14 and when turning to support wheel 15 and propping up walking mechanism, turning rack 26 can be with
Walking mechanism together rotates.
Jack 7 in the present embodiment uses four electronic bar hinge screw jacks, and the jack uses a rhombus
Parallelogram four-bar mechanism, respectively as two tie points of jack, wherein jack 7 pushes up on two relative summits
The summit in portion is fixed by second hinge 28 and is hinged in steering spindle 2, and the bottom apex of jack 7 is fixed by third hinge 29
The top of turning rack 26 is hinged on, two other relative summit of jack passes through reverse spiral shell with adjusting screw rod 24 respectively
Line is spirally connected, and adjusting screw rod 24 is connected with variable speed electric motors, particularly 25, drives adjusting screw rod 24 to rotate by variable speed electric motors, particularly 25, anti-by two teams
To screw thread pair driving four-bar mechanism shrink, realize jack jacking and withdrawal action.
It is evenly distributed with anti-slop serrations 27 on the circumference of the road wheel 10 of the present embodiment, the anti-slop serrations on different road wheels interlock
Arrangement.Using tooth-shape structure primarily in paddy field and in marshland, the dentalation of wheel protrusion can deep enough mud
It is following on the spot, so as to obtain larger traveling power, machinery is effectively walked in paddy field；But single anti-skidding toothing
Larger impact can be produced when level land and road are walked and is jolted, and the machinery in traveling is had undesirable effect, so this reality
Apply example and employ two panels specification is the same but convex-concave flute profile mutually staggers road wheel as a pair of combinations, installed in same root wheel
On axle, such any time has a double wedge to land, and ensures that road wheel both can effectively walk in paddy field, again can be on level land
Steady walking, so that the wheel hub structure possesses the ability walked safely under a variety of landform.
The technical scheme provided above the embodiment of the present invention is described in detail, specific case used herein
The principle and embodiment of the embodiment of the present invention are set forth, the explanation of above example is only applicable to help and understands this
The principle of inventive embodiments；Meanwhile for those of ordinary skill in the art, according to the embodiment of the present invention, in specific embodiment party
There will be changes in formula and application, to sum up, this specification content should not be construed as limiting the invention.
Claims (9)
1. agricultural omni-directional wheel, it is characterised in that：Including road wheel (10), hoofing part mechanism, steering mechanism and lifting body；
Road wheel (10) coaxial transmission is arranged on wheel shaft (9), and wheel shaft (9) rolling assembling is in rack sleeve (11)
Interior, the rack sleeve (11) is connected by pillar (8) and frame base (6)；
The hoofing part mechanism is fixed in frame base (6), is connected with road wheel (10)；
The steering mechanism includes steering spindle (2) and steering motor (3), and the steering spindle (2) is filled vertically by thrust bearing (5)
Assigned in frame base (6), steering spindle one end is connected with the steering motor (3) being fixedly mounted, the other end and rack sleeve
(11) it is vertical to be connected；
The lifting body includes jack (7), turning rack (26) and turns to support wheel (15), the jack (7) one
End is connected with turning to axis connection, the other end with turning rack (26), the turning rack (26) and the middle part of rack sleeve (11)
Along jacking direction slidable fit, the bottom for turning to support wheel (15) and turning rack (26) being assemblied in using universal structure.
2. agricultural omni-directional wheel according to claim 1, the turning rack (26) uses rectangle support, its upright side walls with
Assembled between rack sleeve (11) by slide rail (12).
3. agricultural omni-directional wheel according to claim 2, the steering support wheel (15) is arranged on by U-shaped support (14) to be turned
To the bottom of support (26), the U-shaped support (26) is inverted, and its top passes through first axle (13) and the bottom of turning rack (26)
The universal connection in portion, two groups of steering support wheels (15) are installed on the bottom of U-shaped support (26).
4. agricultural omni-directional wheel according to claim 3, the jack (7) is very heavy using four electronic bar hinge screw threads
Top, the top of the jack (7) are hinged in steering spindle (2) by second hinge (28) fixation, the bottom of the jack (7)
End passes through the fixed top for being hinged on turning rack (26) of third hinge (29).
5. agricultural omni-directional wheel according to claim 1, the rack sleeve (11) passes through two groups of vertical pillars (8) and machine
Frame pedestal (6) is connected, and the pillar (8) is arranged symmetrically relative to steering spindle (2).
6. agricultural omni-directional wheel according to claim 1, the hoofing part mechanism includes decelerator (20), motor
(21), motor bearing (22) and horizontal support (23), the horizontal support (23) are fixed on pillar (8), and thereto
Side road wheel is extended, and the motor (21) is fixedly mounted on horizontal support (23) by motor bearing (22)
On, the motor (21) is connected by decelerator (20) and chain-drive mechanism with the skidding traction drive.
7. agricultural omni-directional wheel according to claim 1, anti-slop serrations are evenly distributed with the circumference of the road wheel (10)
(27), the anti-slop serrations interlaced arrangement on different road wheels.
8. agricultural omni-directional wheel according to claim 1, the steering motor (3) passes through speed reducing gear pair and steering spindle (2)
Connection.
9. the agricultural omni-directional wheel according to any one of claim 1-8, angular transducer is additionally provided with the steering spindle (2)
(1), the angular transducer (1) and steering motor (3) feedback link.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710696210.2A CN107364488B (en) | 2017-08-15 | 2017-08-15 | Agricultural omni-wheel |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710696210.2A CN107364488B (en) | 2017-08-15 | 2017-08-15 | Agricultural omni-wheel |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN107364488A true CN107364488A (en) | 2017-11-21 |
| CN107364488B CN107364488B (en) | 2023-10-17 |
Family
ID=60309789
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710696210.2A Active CN107364488B (en) | 2017-08-15 | 2017-08-15 | Agricultural omni-wheel |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN107364488B (en) |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107864709A (en) * | 2017-11-23 | 2018-04-03 | 张长清 | A kind of agricultural self propelled chassis hitch |
| CN109159658A (en) * | 2018-09-18 | 2019-01-08 | 罗伯泰克自动化科技（苏州）有限公司 | Horizontal running mechanism |
| CN110712518A (en) * | 2019-11-01 | 2020-01-21 | 河北大沃农业科技有限公司 | Steering device for field walking robot |
| CN110805786A (en) * | 2019-11-18 | 2020-02-18 | 西安建筑科技大学 | Active spiral drive pipeline device |
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN107864709A (en) * | 2017-11-23 | 2018-04-03 | 张长清 | A kind of agricultural self propelled chassis hitch |
| CN109159658A (en) * | 2018-09-18 | 2019-01-08 | 罗伯泰克自动化科技（苏州）有限公司 | Horizontal running mechanism |
| CN110712518A (en) * | 2019-11-01 | 2020-01-21 | 河北大沃农业科技有限公司 | Steering device for field walking robot |
| CN110805786A (en) * | 2019-11-18 | 2020-02-18 | 西安建筑科技大学 | Active spiral drive pipeline device |
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