CN109795579A - Plant protection unmanned vehicle - Google Patents
Plant protection unmanned vehicle Download PDFInfo
- Publication number
- CN109795579A CN109795579A CN201910101930.9A CN201910101930A CN109795579A CN 109795579 A CN109795579 A CN 109795579A CN 201910101930 A CN201910101930 A CN 201910101930A CN 109795579 A CN109795579 A CN 109795579A
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- China
- Prior art keywords
- pivot post
- plant protection
- swing arm
- protection unmanned
- unmanned vehicle
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Abstract
The present invention relates to field of plant protection machine; disclose a kind of plant protection unmanned vehicle; the plant protection unmanned vehicle includes: vehicle frame (1); the eccentric turntable (3) and pivot post (4) that the vehicle frame is equipped with linear actuating device and is sequentially connected each other; the pivot post is pivotally mounted on vehicle frame (1), and the power output end of the linear actuating device is connected to the central axis of eccentric turntable (3) and tie point and pivot post (4) separately；Multiple walking components (2), the walking component is connected to pivot post (4), and the linear actuating device can drive eccentric turntable (3) and pivot post (4) to change the wheelspan between walking component (2) around the central axis pivot in unison.The Linear Driving effect of linear actuating device is converted to the pivot of pivot post using eccentric turntable by plant protection unmanned vehicle of the invention, to drive walking component rotation, realizes that wheelspan is adjusted, has many advantages, such as that structure is simple, cost is relatively low.
Description
Technical field
The present invention relates to field of plant protection machine, more particularly to a kind of plant protection unmanned vehicle.
Background technique
Plant protection unmanned vehicle is the automatic driving car for travelling on ground for agriculture and forestry plant protection operation, mainly includes vehicle
Frame, the walking component being mounted on vehicle frame and the Navigation Control mechanism and Working mechanism that are mounted on vehicle frame, can pass through ground
It is remotely controlled and realizes plant protection operation, realize crop picking, fertilising and spray the automated jobs such as medicament, seed, pulvis.
For Different Crop and different plantation regions, the Planting Row Distance of crop is not quite similar.For this reason, it may be necessary to by adjusting plant
The wheelspan for protecting unmanned vehicle, adapts it to different Planting Row Distances, avoids the damage crops when farmland is walked.Existing plant protection nobody
The wheelspan regulative mode of vehicle is mostly to manually adjust, and is operated time-consuming and laborious；Alternatively, plant protection unmanned vehicle relies on complicated regulating mechanism reality
Existing wheelspan is adjusted, and higher cost, adjustable extent are smaller.
Summary of the invention
The purpose of the invention is to provide a kind of plant protection unmanned vehicle, the plant protection unmanned vehicle is without manually adjusting wheelspan, just
It is adjusted in the large-scale wheelspan of lower cost realization.
To achieve the goals above, the present invention provides a kind of plant protection unmanned vehicle, comprising: vehicle frame, vehicle frame installation are linear
Driving device and the eccentric turntable and pivot post being sequentially connected each other, the pivot post are pivotally mounted on the vehicle frame,
The power output end of the linear actuating device is connected to the central axis of the eccentric turntable and tie point and the pivot post
Line is separately；Multiple walking components, the walking component are connected to the pivot post, and the linear actuating device can drive institute
Eccentric turntable and the pivot post are stated around the central axis pivot in unison to change the wheelspan between the walking component.
Preferably, the linear actuating device is the first electric pushrod, and the separate power of first electric pushrod is defeated
One end of outlet is pivotally connected to the vehicle frame.
Preferably, the vehicle frame includes upper frame that is positioned opposite to each other and being connected as one and lower vehicle frame, the pivot
Column extends along the vertical direction and is pivotally connected to the upper frame and lower vehicle frame respectively at both ends, and the bias turntable is located at institute
It states the upside of upper frame and the rotating shaft transmission by being coaxially disposed with the pivot post is connected to the pivot post.
Preferably, the upper frame and lower vehicle frame are respectively provided with four side bars being oppositely arranged two-by-two, the end of the side bar
The pivot post and the corresponding walking component are connected separately at position.
Preferably, the eccentric turntable is the disk for being prejudicially fixedly attached to the shaft, the linear actuating device
And the shaft is each attached to the center of circle that the line between the tie point of the disk passes through the disk.
Preferably, the upper end of the pivot post is provided with floating bearing and is connected to institute by the outer ring of the floating bearing
Upper frame is stated, the shaft and the pivot post are coaxially sequentially connected in the inner ring of the floating bearing.
Preferably, it is provided with the flanged plate for being fixedly attached to the inner ring on the upside of the floating bearing, the flanged plate
It is centrally formed with the polygon inner hole with shaft cooperation.
Preferably, the walking component includes height adjustment mechanism and wheel supporting leg, and the height adjustment mechanism includes that
The upper swing arm and lower swing arm of this parallel arrangement, the both ends of the upper swing arm and lower swing arm are respectively articulated with to the pivot post and described
To be formed as parallelogram mechanism, the height adjustment mechanism has for driving the parallelogram mechanism dynamic wheel supporting leg
Make to adjust the height adjustment driving device of the height of chassis above ground.
Preferably, the upper swing arm and lower swing arm side relative to each other are formed with open slot, the height adjustment driving
Device include both ends be respectively articulated with to the upper swing arm and lower swing arm and extend at least partially into the open slot second
Electric pushrod.
Preferably, the wheel supporting leg includes: supporting leg column, and the upper swing arm and lower swing arm are hinged to the supporting leg column
And the bottom end of the supporting leg column is provided with steer-drive mounting plate, is equipped with to have on the steer-drive mounting plate and drive
The steer-drive of moving gear；Wheel mount, the wheel mount are installed on the supporting leg by external tooth pivoting support and stand
The bottom end of column, wherein the supporting leg column is fixedly connected on the inner ring of the external tooth pivoting support, and is connected such that the drive
Moving gear is engaged with the outer gear ring of the external tooth pivoting support, and the top of the wheel mount is fixedly attached to the outer gear ring.
Drive eccentric turntable synchronous with pivot post through the above technical solutions, the present invention can use linear actuating device
It pivots, to drive walking component rotation, realizes that wheelspan is adjusted, have many advantages, such as that structure is simple, cost is relatively low, be easy to implement big
The wheelspan of range is adjusted.
Detailed description of the invention
Fig. 1 is a kind of main view of the plant protection unmanned vehicle of preferred embodiment according to the present invention；
Fig. 2 is the enlarged drawing of the local A in Fig. 1；
Fig. 3 is the top view of plant protection unmanned vehicle in Fig. 1；
Fig. 4 is the enlarged drawing of the local B in Fig. 3；
Fig. 5 is the attachment structure schematic diagram of the pivot post of plant protection unmanned vehicle and floating bearing and flanged plate in Fig. 1；
Fig. 6 is the main view of the connection structure of the walking component and pivot post of plant protection unmanned vehicle in Fig. 1；
Fig. 7 is the perspective view of connection structure in Fig. 6.
Description of symbols
1- vehicle frame；11- upper frame；Vehicle frame under 12-；2- walking component；21- upper swing arm；22- lower swing arm；23- open slot；
The second electric pushrod of 24-；25- supporting leg column；26- steer-drive mounting plate；27- drives gear；28- wheel mount；
29- external tooth pivoting support；3- bias turntable；4- pivot post；The first electric pushrod of 5-；6- shaft；7- floating bearing；8- flange
Plate；8a- polygon inner hole；9- wheel.
Specific embodiment
Below in conjunction with attached drawing, detailed description of the preferred embodiments.It should be understood that this place is retouched
The specific embodiment stated is merely to illustrate and explain the present invention, and is not intended to restrict the invention.
In the present invention, in the absence of explanation to the contrary, the noun of locality used such as " upper and lower, top, bottom end " is usually
Refer to reference to upper and lower, top shown in the drawings and bottom end.It is understood that according to orientation or the institute in operation process is placed
The ground flat degree at place, plant protection unmanned vehicle of the invention not necessarily keeps orientation mode shown in FIG. 1, and (vehicle frame 1 is whole to be protected
Water holding is flat), but its orientation can refer to the orientation shown in FIG. 1 and determine.
Referring to figs. 1 to 4, the plant protection unmanned vehicle of a kind of preferred embodiment, including vehicle frame 1 and peace according to the present invention
Multiple walking components 2 loaded on the vehicle frame 1, which has wheel 9 and supports vehicle frame 1, can pass through the vehicle frame 1
Carry such as Navigation Control mechanism, medicine-chest, battery component.
The for example, linear actuating device of the first electric pushrod 5 and the bias being sequentially connected each other are installed on vehicle frame 1
Turntable 3 and pivot post 4, the pivot post 4 are pivotally mounted on vehicle frame 1, and the power output end of the first electric pushrod 5 is connected to
Eccentric turntable 3 and tie point and the central axis of pivot post 4 are separately；Walking component 2 is connected to pivot post 4.Exist as a result,
When the first 5 expanding-contracting action of electric pushrod, eccentric turntable 3 and pivot post 4 can be driven same around the central axis of the pivot post 4
Step pivots, while driving walking component 2 also around the center axis thereof, thus regulating wheel away from.By the way that the first electric pushrod 5 is arranged
Collapsing length, can make walk component 2 be greater than 90 ° in the range of around pivot post 4 center axis thereof, wheelspan tune
Adjusting range is larger.
It should be noted that eccentric turntable 3 of the invention is not limited to figure although being expressed as " eccentric turntable 3 " herein
The disk-like structure shown may be rod-like structure of the transmission connection to pivot post 4, as long as enabling to linear actuating device
Tie point and pivot post 4 central axis separately.In addition, " first electric pushrod 5 " and then described the
Two electric pushrods are only for the purposes of additional symbols, wherein " first ", " second " both are not offered as in terms of unit type not
Together.
In illustrated preferred embodiment, vehicle frame 1 is included in positioned opposite to each other at different height position and is connected as one
The upper frame 11 of body and lower vehicle frame 12.Pivot post 4 extends along the vertical direction, and is pivotally connected in upper end by floating bearing 7
To upper frame 11, lower end is pivotally connected to lower vehicle frame 12.Typically, upper frame 11 and lower vehicle frame 12 can be respectively provided with four two
Two side bars being oppositely arranged are connected separately with pivot post 4 and corresponding walking component 2 at the end position of the side bar.It will go
It walks component 2 and is set to 1 corner of vehicle frame, it, can be with convenient for preventing movement interference of the walking component 2 in pivoting process by vehicle frame 1
It realizes that large range of wheelspan is adjusted, and advantageously ensures that riding stability.In wheelspan adjustment process, four walking components 2
Can be with synchronization action, to keep uniform stressed, capsizing case caused by avoiding because of the opposite offset of center of gravity.
First electric pushrod 5 and eccentric turntable 3 are set to the upside of upper frame 11, and eccentric turntable 3 pass through with pivot it is vertical
The shaft 6 that column 4 is coaxially disposed is sequentially connected to pivot post 4.Specifically, eccentric turntable 3 can be horizontally disposed disk, and
The power output end of the first electric pushrod 5 is connected using hex bolts, the other end of first electric pushrod 5 can be pivotally connected
To vehicle frame 1, thus, it is possible to the horizontal huntings in driving eccentric turntable 3 and 4 pivoting process of pivot post.Eccentric turntable 3 is arranged
For disk, convenient for control wheel accurate and being connected on the disk such as bracing wire sensing device away from adjustment process.
The outer ring of floating bearing 7 is fixedly connected on the downside of upper frame 11, and pivot post 4 is fixedly connected on the floating bearing
7 inner ring.As shown in connection with fig. 5, the inner ring of the floating bearing 7 can also be connected with flanged plate 8 towards upper frame 11, the flange
The polygon inner hole 8a for being centrally formed with hexagonal hole in for example, of plate 8 enables eccentric turntable 3 to cooperate with shaft 6
It is driven by the inner ring of the shaft 6, flanged plate 8 and floating bearing 7 to pivot post 4.Wherein, shaft 6 can pass through hexagonal
Bolt is fixedly attached to eccentric turntable 3 or is welded as a whole with the bias turntable 3, passes through upper frame 11 and is inserted into flanged plate
In 8 polygon inner hole 8a.Shaft 6 and pivot post 4 are coaxially disposed, and shaft 6 and the first electric pushrod 5 are each attached to partially
Line between the tie point of heart turntable 3 can be by the center of circle of eccentric turntable 3, this is conducive to the first electric pushrod 5 with smaller
Push-and-pull power drive pivot post 4 and walking component 2.
As a result, when need regulating wheel away from when, start the first electric pushrod 5, stretching motion can drive eccentric turntable 3 around pivot
The central axis for turning column 4 pivots, and then drives pivot post 4 to pivot by flanged plate 8, so that being connected to the pivot post 4
Walking component 2 rotate, realize wheelspan adjust.The present invention is converted the line movement of linear actuating device using eccentric turntable 3
For the rotation of pivot post 4, structure is simple, convenient for reducing cost.
Component in the above-mentioned preferred embodiment of the present invention can be other forms or be replaced by other component.For example, making
For regulating wheel away from power source, other than it can use above-mentioned first electric pushrod 5, linear actuating device may be replaced by liquid
The other components such as compressing cylinder, since hydraulic-driven needs to consider oil circuit arrangement and the problems such as hydraulic fluid leak, will lead to structure cloth
It sets complexity and wheelspan adjusts the deterioration of control precision aspect.In addition, in the case where ignoring assembling or the lesser situation of load, it is eccentric
Turntable 3 can also be sequentially connected by other means in pivot post 4, such as the bottom end of shaft 6 can be soldered to floating bearing 7
Inner ring or above-mentioned flanged plate 8 polygon inner hole 8a can by internal spline substitute etc..
Shown in referring to figure 6 and figure 7, in a preferred embodiment, the walking component 2 of plant protection unmanned vehicle may include height
Spend regulating mechanism and wheel supporting leg, so as to together with aforesaid pivoted regulative mode regulating wheel away from better adapting to different plantations and go
Away from, while being also possible that vehicle frame 1 is in different height, it is high to adapt to different branches.Specifically, height adjustment mechanism includes putting down each other
One end of the upper swing arm 21 and lower swing arm 22 of row arrangement, the upper swing arm 21 and lower swing arm 22 is hinged to the pivot post 4, another
End is hinged to wheel supporting leg, and is formed as parallelogram mechanism.The height adjustment mechanism further includes for example, second electronic pushing away
Thus the height adjustment driving device of bar 24 drives wheel supporting leg towards vehicle for driving the parallelogram mechanism to act
Frame 1 is collapsed or is diverged to the direction far from vehicle frame 1, so that vehicle frame 1 is in different height.
It is understood that in order to drive above-mentioned parallelogram mechanism to act, height adjustment driving device can be formed
For a variety of different structure forms, for example, can be installed on pivot post 4 or vehicle frame 1 and be sequentially connected upper swing arm 21 and/or
The motor etc. of lower swing arm 22, by drive the upper swing arm 21 and/or lower swing arm 22 be pivoted relative to each other column 4 rotate and realize parallel four
The movement of Bian Xing mechanism.
In the case of height adjustment driving device is formed as the second electric pushrod 24, since it occupies relatively large prolong
Space is stretched, may cause structure difficult arrangement.For this purpose, can be formed in upper swing arm 21 and lower swing arm 22 side relative to each other
The both ends of second electric pushrod 24 are respectively articulated with to the upper swing arm 21 and lower swing arm 22 and at least partly prolong by open slot 23
It extends in the open slot 23.Thus, it is possible to make full use of the inner space of upper swing arm 21 and lower swing arm 22, and avoid this
Two electric pushrods 24 are connected to pivot post 4 and wheel supporting leg bring action stability problem.
Further, in illustrated preferred embodiment, wheel supporting leg may include supporting leg column 25 and wheel mount
28.Upper swing arm 21 and lower swing arm 22 are hinged to supporting leg column 25 and the bottom end of the supporting leg column 25 is provided with steer-drive peace
Loading board 26 is equipped with the steer-drive with driving gear 27 on the steer-drive mounting plate 26；Wheel mount
28 are installed on the bottom end of supporting leg column 25 by external tooth pivoting support 29, wherein supporting leg column 25 is fixedly connected on the external tooth and returns
Turn the inner ring of bearing 29, and is connected such that driving gear 27 is engaged with the outer gear ring of the external tooth pivoting support 29, wheel installation
The top of frame 28 is fixedly attached to the outer gear ring.Steer-drive may include such as steering motor, speed reducing steering system and steering
The components such as encoder (unmarked), driving gear 27 can drive the outer gear ring of external tooth pivoting support 29 to rotate, and then drive
Wheel mount 28 and its wheel of bottom end 9 are turned round around the central axis of external tooth pivoting support 29, change the direction of wheel 9.
It is described the prefered embodiments of the present invention in detail above in conjunction with attached drawing, still, the present invention is not limited thereto.At this
, can be with various simple variants of the technical solution of the present invention are made in the range of the technology design of invention, including each particular technique
Feature is combined in any suitable manner.In order to avoid unnecessary repetition, the present invention is to various combinations of possible ways
No further explanation will be given.But it should also be regarded as the disclosure of the present invention for these simple variants and combination, belongs to the present invention
Protection scope.
Claims (10)
1. a kind of plant protection unmanned vehicle characterized by comprising
Vehicle frame (1), the eccentric turntable (3) and pivot which is equipped with linear actuating device and is sequentially connected each other are vertical
Column (4), the pivot post (4) are pivotally mounted on the vehicle frame (1), and the power output end of the linear actuating device is connected to
The central axis of the bias turntable (3) and tie point and the pivot post (4) is separately；
Multiple walking components (2), the walking component (2) are connected to the pivot post (4), and the linear actuating device can drive
The eccentric turntable (3) and the pivot post (4) are moved around the central axis pivot in unison to change the walking component (2)
Between wheelspan.
2. plant protection unmanned vehicle according to claim 1, which is characterized in that the linear actuating device is the first electric pushrod
(5), one end far from the power output end of first electric pushrod (5) is pivotally connected to the vehicle frame (1).
3. plant protection unmanned vehicle according to claim 1, which is characterized in that the vehicle frame (1) include it is positioned opposite to each other simultaneously
The upper frame (11) and lower vehicle frame (12) being connected as one, the pivot post (4) extend along the vertical direction and distinguish at both ends
It is pivotally connected to the upper frame (11) and lower vehicle frame (12), the bias turntable (3) is located at the upside of the upper frame (11)
And the shaft (6) by being coaxially disposed with the pivot post (4) is sequentially connected to the pivot post (4).
4. plant protection unmanned vehicle according to claim 3, which is characterized in that the upper frame (11) and lower vehicle frame (12) are respectively
Tool is connected separately with the pivot post (4) and accordingly there are four the side bar that is oppositely arranged two-by-two at the end position of the side bar
The walking component (2).
5. plant protection unmanned vehicle according to claim 3, which is characterized in that the bias turntable (3) is prejudicially fixed connects
It is connected to the disk of the shaft (6), the linear actuating device and the shaft (6) are each attached to the tie point of the disk
Between line pass through the disk the center of circle.
6. plant protection unmanned vehicle according to claim 3, which is characterized in that the upper end of the pivot post (4) is provided with back
Shaft is held (7) and is connected to the upper frame (11) by the outer ring of the floating bearing (7), the shaft (6) and the pivot
Column (4) is coaxially sequentially connected in the inner ring of the floating bearing (7).
7. plant protection unmanned vehicle according to claim 6, which is characterized in that be provided on the upside of the floating bearing (7) solid
Surely the flanged plate (8) of the inner ring, the polygon of the flanged plate (8) being centrally formed with the shaft (6) cooperation are connected to
Inner hole (8a).
8. plant protection unmanned vehicle as claimed in any of claims 1 to 7, which is characterized in that walking component (2) packet
Height adjustment mechanism and wheel supporting leg are included, the height adjustment mechanism includes parallel arranged upper swing arm (21) and lower swing arm
(22), the both ends of the upper swing arm (21) and lower swing arm (22) be respectively articulated with to the pivot post (4) and the wheel supporting leg with
Be formed as parallelogram mechanism, the height adjustment mechanism has for driving parallelogram mechanism movement to adjust
State the height adjustment driving device of vehicle frame (1) height.
9. plant protection unmanned vehicle according to claim 8, which is characterized in that the upper swing arm (21) and lower swing arm (22) are each other
Opposite side is formed with open slot (23), and the height adjustment driving device includes that both ends are respectively articulated with to the upper swing arm
(21) and lower swing arm (22) and the second electric pushrod (24) in the open slot (23) is extended at least partially into.
10. plant protection unmanned vehicle according to claim 8, which is characterized in that the wheel supporting leg includes:
Supporting leg column (25), the upper swing arm (21) and lower swing arm (22) are hinged to the supporting leg column (25) and the supporting leg column
(25) bottom end is provided with steer-drive mounting plate (26), is equipped with to have on the steer-drive mounting plate (26) and drive
The steer-drive of moving gear (27)；
Wheel mount (28), the wheel mount (28) are installed on the supporting leg column (25) by external tooth pivoting support (29)
Bottom end, wherein the supporting leg column (25) is fixedly connected on the inner ring of the external tooth pivoting support (29), and is connected such that
Driving gear (27) is engaged with the outer gear ring of the external tooth pivoting support (29), and the top of the wheel mount (28) is fixed
It is connected to the outer gear ring.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910101930.9A CN109795579A (en) | 2019-02-01 | 2019-02-01 | Plant protection unmanned vehicle |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910101930.9A CN109795579A (en) | 2019-02-01 | 2019-02-01 | Plant protection unmanned vehicle |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN109795579A true CN109795579A (en) | 2019-05-24 |
Family
ID=66560787
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201910101930.9A Pending CN109795579A (en) | 2019-02-01 | 2019-02-01 | Plant protection unmanned vehicle |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN109795579A (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110341960A (en) * | 2019-08-21 | 2019-10-18 | 广州极飞科技有限公司 | Liquid-jet device Wiring structure, spray system and unmanned machine |
| CN112702013A (en) * | 2021-01-14 | 2021-04-23 | 中国海洋大学 | Anti-locking mechanism of large-span rail running device |
| CN113442107A (en) * | 2020-03-24 | 2021-09-28 | 广东博智林机器人有限公司 | Mobile support device and mobile robot |
-
2019
- 2019-02-01 CN CN201910101930.9A patent/CN109795579A/en active Pending
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110341960A (en) * | 2019-08-21 | 2019-10-18 | 广州极飞科技有限公司 | Liquid-jet device Wiring structure, spray system and unmanned machine |
| CN113442107A (en) * | 2020-03-24 | 2021-09-28 | 广东博智林机器人有限公司 | Mobile support device and mobile robot |
| CN112702013A (en) * | 2021-01-14 | 2021-04-23 | 中国海洋大学 | Anti-locking mechanism of large-span rail running device |
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Address after: 510000 Block C, 115 Gaopu Road, Tianhe District, Guangzhou City, Guangdong Province Applicant after: Guangzhou Jifei Technology Co.,Ltd. Address before: 510000 Block C, 115 Gaopu Road, Tianhe District, Guangzhou City, Guangdong Province Applicant before: Guangzhou Xaircraft Technology Co.,Ltd. |
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