CN110001777A - Hybrid power high-speed transplanter and its forward method - Google Patents
Hybrid power high-speed transplanter and its forward method Download PDFInfo
- Publication number
- CN110001777A CN110001777A CN201910270524.5A CN201910270524A CN110001777A CN 110001777 A CN110001777 A CN 110001777A CN 201910270524 A CN201910270524 A CN 201910270524A CN 110001777 A CN110001777 A CN 110001777A
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- Prior art keywords
- motor
- wheel
- rotation
- speed
- running gear
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Classifications
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- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01C—PLANTING; SOWING; FERTILISING
- A01C11/00—Transplanting machines
- A01C11/02—Transplanting machines for seedlings
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D11/00—Steering non-deflectable wheels; Steering endless tracks or the like
- B62D11/02—Steering non-deflectable wheels; Steering endless tracks or the like by differentially driving ground-engaging elements on opposite vehicle sides
- B62D11/04—Steering non-deflectable wheels; Steering endless tracks or the like by differentially driving ground-engaging elements on opposite vehicle sides by means of separate power sources
-
- 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
- B62D5/0457—Power-assisted or power-driven steering electrical, e.g. using an electric servo-motor connected to, or forming part of, the steering gear characterised by control features of the drive means as such
- B62D5/046—Controlling the motor
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- Engineering & Computer Science (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Life Sciences & Earth Sciences (AREA)
- Soil Sciences (AREA)
- Environmental Sciences (AREA)
- Electric Propulsion And Braking For Vehicles (AREA)
- Guiding Agricultural Machines (AREA)
- Arrangement Or Mounting Of Propulsion Units For Vehicles (AREA)
Abstract
The present invention provides a hybrid power high-speed transplanter and its forward method, wherein the hybrid power high-speed transplanter includes a rice transplanting machine host, a dynamical system and a running gear.Wherein the dynamical system is arranged at the rice transplanting machine host, with the driving rice transplanting machine host rice transplanting operation, the dynamical system includes an at least engine and an at least device for generating electric energy, wherein device for generating electric energy described in the engine driving produces electricl energy, wherein the running gear is arranged at the rice transplanting machine host, the running gear includes at least four wheels and at least four motor, wherein wheel described in the motor drive is walked, the motor is with the vehicle wheel rotation of different movement velocity driving left and right sides, and realize the steering of the running gear.
Description
Technical field
The present invention relates to agricultural mechanical field more particularly to a hybrid power high-speed transplanters and its forward method.
Background technique
Rice transplanter is that rice seedling is colonized the planting machinery in paddy field, not only instead of the mistake of artificial transplanting operation
Journey, and the effect of improve rice transplanting to a certain extent and transplanting quality, rational close planting is realized, the plant of specification has
Conducive to the mechanization of subsequent job.Common seedling transplanter and high-speed transplanter can be divided by rice transplanting speed.
The high-speed transplanter of the prior art includes the rice transplanter using fuel oil as power, using motor as the rice transplanting of power
Machine and the rice transplanter for mixing kinetic energy.The rice transplanter using fuel engines as power is the rice transplanter type of most original,
Under normal circumstances, the rice transplanter of this prior art drives the operating system of rice transplanting and the row of vehicle by fuel engines simultaneously
Walking system works at the same time.But the distribution of rice transplanter energy during the work time is uneven, the waste of energy is serious, and
The fuel efficiency of this original fuel motive is low.In other words, this fuel engines can not be by as the rice transplanter of power
Actual demand according to energy is that running gear and rice transplanting operating system distribute energy.Another aspect fuel efficiency is low, described to insert
The capacity usage ratio of seedling machine is low, seriously polluted.
The rice transplanter of rice transplanter and hybrid power of the prior art using motor as driving device needs to configure enough energy
The power supply of amount, to drive the work of operating system and running gear in the rice transplanter.But due to the ring of rice transplanter work
Border is usually in the biggish farmland of water, and the electronic agricultural machinery of this prior art undoubtedly increases the weight of vehicle itself, from
And the rice transplanter is made more to be difficult to walk and turn in farmland.Furthermore the rice transplanter of the pure electric vehicle of the prior art is using electricity
It can be used as energy source, the cruising ability of rice transplanter is limited, needs continually to charge, delays agricultural operation.
When turning to, usually by front-wheel as deflecting roller, rear-wheel is synchronously driven described insert as power output wheel
The angle of the advance of seedling machine, steering is small.When needing to rotate wide-angle, for example turning around to turn to, it usually needs repeatedly turn to and fro
To walking, therefore steering angle is small, low efficiency, to slow down the whole work efficiency of the rice transplanter.In addition the prior art
This rice transplanter turn to when, damage of the wheel to farmland is serious.Rice transplanter turn to when, the rice transplanter curve inner side
Wheel is identical as the velocity of rotation of outboard wheels, but the track walked is different, damages the transmission device of wheel and wheel, makes calmly
It is reduced at rice transplanter bulk life time.In addition, there are also the driving method of the rice transplanter of the prior art be by single front-wheel or after
Wheel drive, traveling easily causes driving wheel to be trapped in farmland in paddy field, and the rice transplanter can not be driven to travel.
For the electric rice transplanter of the prior art, in rice transplanter turning, the bend of larger angle is especially rotated
When, since steering resistence is big, vehicle to run is difficult when being supplied to the torsion deficiency of outboard wheels by drive shaft, and causing to turn to.
Especially in narrow landform, the rice transplanter of the prior art is limited to the steering angle size of vehicle, needs to adjust fortune in multiple times
Line direction is just able to achieve and is ultimately steering to.In addition, rice transplanter, in turning, the track of front and back wheel walking is different, farmland is caused
Damage than straight trip when caused by damage it is serious.
Summary of the invention
A main advantage of the invention is to provide a hybrid power high-speed transplanter and its forward method, wherein described
High-speed transplanter controls the steering of vehicle in a manner of controlling faster rotating wheel.
It is of the invention another advantage is that a hybrid power high-speed transplanter and its forward method are provided, wherein the height
The fast rice transplanter velocity of rotation different with right side wheels by control left side wheel, controls the steering of the high-speed transplanter, subtracts
The resistance of vehicle in small steering procedure.
It is of the invention another advantage is that a hybrid power high-speed transplanter and its forward method are provided, wherein the height
The fast rice transplanter velocity of rotation different with right side wheels by control left side wheel, controls rotation direction, so that in steering procedure
Middle speed loss is small, improves turning velocity.
It is of the invention another advantage is that a hybrid power high-speed transplanter and its forward method are provided, wherein the height
Fast rice transplanter realizes turning by the speed difference of control left side wheel and right side wheels, reduces what vehicle was travelled in steering procedure
Path length improves the efficiency of steering.
It is of the invention another advantage is that a hybrid power high-speed transplanter and its forward method are provided, wherein the height
The left side wheel and right side wheels of fast rice transplanter are realized walking by motor drive respectively, and by controlling the motor
Velocity of rotation realize turn to.
It is of the invention another advantage is that a hybrid power high-speed transplanter and its forward method are provided, wherein the height
Fast rice transplanter keeps driving force and driving torque by the motor in steering procedure, avoids the damage of torque in steering procedure
It loses, improves the dynamical stability of Vehicular turn.
It is of the invention another advantage is that a hybrid power high-speed transplanter and its forward method are provided, wherein the height
Fast rice transplanter is turned to, it can be achieved that rapidly with realizing small range wide-angle by control left side wheel and right side wheels different rotating speeds
Wide-angle turns to.That is, the high-speed transplanter can rapidly realize that wide-angle turns in narrow landform, without
The driving direction of vehicle is adjusted in multiple times back and forth, so that simplifying driver drives burden.
It is of the invention another advantage is that a hybrid power high-speed transplanter and its forward method are provided, wherein the height
The wheel of the running gear of fast rice transplanter is by four motor drives, two rear-wheel of motor drive described in two of them, two institutes
The walking of motor drive two front wheels is stated, the integral mechanical structure of the high-speed transplanter is simplified, improves the stability of walking.
It is of the invention another advantage is that a hybrid power high-speed transplanter and its forward method are provided, wherein the height
The dynamical system of fast rice transplanter directly drives the operation of the motor using engine power generation, is being not provided with power storage dress
In the case where setting, mitigate vehicle body overall weight, to reduce damage of the high-speed transplanter to farmland, and mitigates energy damage
It loses.
It is of the invention another advantage is that a hybrid power high-speed transplanter and its forward method are provided, wherein the height
Fast rice transplanter can synchronously control the rotation direction velocity of rotation of the wheel of running gear described in left and right side motor drive,
Realize the short-range steering of wide-angle.Such as control the running gear left and right side motor in a manner of positive and negative rotation
The rotation direction of left and right side wheel is respectively driven, so that the running gear be driven to turn to or even original place in narrow landform
It turns to, especially suitable in complicated landform or the steering of narrow landform.
It is of the invention another advantage is that a hybrid power high-speed transplanter and its forward method are provided, wherein the height
The wheel of fast rice transplanter is individually driven by a motor respectively, does not need the complicated mechanical transmission mechanism of setting, reduces
Electric-motor drive process mechanism can loss, improve the efficiency of energy transmission.
It is of the invention another advantage is that a hybrid power high-speed transplanter and its forward method are provided, wherein the height
The dynamical system of fast rice transplanter directly drives the operation of the motor using engine power generation, reduces energy converted
The loss of energy in journey saves energy consumption to improve the efficiency of energy conversion.
It is of the invention another advantage is that a hybrid power high-speed transplanter and its forward method are provided, wherein the height
Fast rice transplanter can keep running velocity in steering procedure, improve the speed of steering and the efficiency of work.
It is of the invention another advantage is that a hybrid power high-speed transplanter and its forward method are provided, wherein the height
The wheel of fast rice transplanter improves the running efficiency of the high-speed transplanter using the synchronous driving traveling of front and back wheel of more motors,
So as to the operation in farmland with a varied topography.
Other advantage and characteristics of the invention are able to fully demonstrate and can be by appended rights by following detailed descriptions
The combination of the means and device specially pointed out in it is required that is achieved.
One aspect under this invention, the mixing of the invention that can be realized foregoing purpose and other purposes and advantage are dynamic
Power high-speed transplanter, comprising:
One rice transplanting machine host；
One dynamical system, wherein the dynamical system is arranged at the rice transplanting machine host, and the driving rice transplanting owner
Transplanting operation, the dynamical system includes an at least engine and an at least device for generating electric energy, wherein the engine drives
The device for generating electric energy is moved to produce electricl energy；And
One running gear, wherein the running gear is arranged at the rice transplanting machine host, the running gear includes extremely
Few four wheels and at least four motor, wherein wheel described in the motor drive is walked, the motor is with different
Movement velocity drives the vehicle wheel rotation of left and right side, and realizes the steering of the running gear.
An at least embodiment according to the present invention, the running gear include an at least front left wheel, at least one right front truck
Wheel, an at least rear left wheel and an at least right rear wheel, wherein the motor further comprise at least one left front motor,
Motor behind at least one right front motor, at least one left back motor and an at least right side, wherein left front described in the left front motor driven
Vehicle wheel rotation, the right front motor drive the right front wheel rotation, rear left wheel rotation described in the left back motor driven, institute
State the rotation of right rear wheel described in motor driven behind the right side.
An at least embodiment according to the present invention, the running gear further comprise an at least electric machine controller, wherein
The electric machine controller is communicatively coupled to the motor, and the driver behavior signal based on the rice transplanting machine host controls institute
State the operating of motor, and then the walking and steering of the wheel as described in the motor drive.
An at least embodiment according to the present invention, the electric machine controller include an at least steering controller and at least one turn
Fast controller, the steering controller control the rotation direction of the motor, and the rotational speed governor controls the motor
Velocity of rotation.
An at least embodiment according to the present invention, the high-speed transplanter is operable to Small-angle Rotation or deflecting, described
Steering controller control the motor rotate in the same direction and the rotational speed governor differential control the motor rotation,
To drive the wheel to drive the high-speed transplanter rotation with different velocities of rotation.
An at least embodiment according to the present invention, the high-speed transplanter by operation wide-angle short distance deflecting are described
The motor of steering controller control left and right side oppositely rotates and the revolving speed controls the electricity with controlling differential
Motivation rotation, to drive the wheel to drive the high-speed transplanter rotation with different velocities of rotation.
An at least embodiment according to the present invention, the running gear further comprise Yi Qianqiao, a rear axle, two front-wheels
Bracket and two rear wheel supports, wherein front-wheel support support ground connects the front left wheel and the right front wheel, institute
State rear wheel support support connect the rear left wheel and the right rear wheel, wherein the front axle drive connect it is described electronic
Machine connects the rear left wheel and the right rear wheel to the rear axle drive to the front left wheel and the right front wheel.
An at least embodiment according to the present invention, the running gear further comprise at least four retarders, wherein institute
It states retarder and drivingly connects the motor in the preceding bridge and the rear axle, wherein the retarder reduces the motor
Transmission revolving speed and increase and drive to the torque of the wheel.
An at least embodiment according to the present invention, the rear-wheel motor are selected from dc motor, asynchronous motor, Yi Jitong
Walk the combination of one or more of motor.
An at least embodiment according to the present invention, the motor are set to the wheel, the motor with being transmitted
For hub motor.
An at least embodiment according to the present invention, the dynamical system further comprise a power output shaft, the power
Output shaft is drivingly coupled to the power transmission of the engine and the engine to the rice transplanting machine host, to drive
State the rice transplanting operation of rice transplanting machine host.
An at least embodiment according to the present invention, the dynamical system further comprise an electric energy processing unit, the electricity
Energy processing unit is electrically connected to the device for generating electric energy, and the electric energy processing unit handles the device for generating electric energy output
Electric energy, for driving the motor.
An at least embodiment according to the present invention, the electric energy processing unit is including an at least voltage processing unit and at least
One current treatment device, wherein the voltage processing unit improves and stablizes the voltage that the device for generating electric energy produces electricl energy,
Wherein the current treatment device handles the electric current that the device for generating electric energy produces electricl energy, for driving the motor and institute
State rice transplanting machine host.
An at least embodiment according to the present invention, the rice transplanting machine host include a host car body and an at least rice transplanting operation
System wherein the rice transplanting operating system is carried to the host car body, and is drivingly coupled to the power output shaft,
Described in power output shaft drive rice transplanting operating system work.
An at least embodiment according to the present invention, the host car body further comprise a vehicle body hanger and a direction controlling
Device, wherein the direction controller is arranged at the vehicle body hanger, the direction controller may be operatively connected to described
Steering controller operatively controls the steering controller by the direction controller, and then controls the host car body
Direction of travel.
According to another aspect of the present invention, the present invention further provides the forward method of a hybrid power high-speed transplanter,
Wherein the forward method includes the following steps:
(a) rotation direction based on the high-speed transplanter sets the rotation direction of four motor of a running gear；
With
(b) velocity of rotation of the motor is controlled, differential to drive four wheels of the running gear with difference
Speed rotation, with rotate traveling the high-speed transplanter.
One rice transplanting machine host of an at least embodiment according to the present invention, the high-speed transplanter is generated based on driver behavior
An at least steering controling signal controls the rotation side of the motor by an electric machine controller based on the steering controling signal
To and velocity of rotation.
An at least embodiment according to the present invention, when the high-speed transplanter rotates low-angle or in the deflecting of low-angle
When, a steering controller of the electric machine controller controls the motor and rotates in the same direction, and one turn of the electric machine controller
It controls to fast controller differential each motor of the motor and drives the vehicle wheel rotation with different velocities of rotation, it is small to realize
The deflecting of angle.
An at least embodiment according to the present invention, when the high-speed transplanter rotates wide-angle or the reality in short-range
When existing wide-angle deflecting, the steering controller oppositely controls the left front motor and the left back motor of the motor
Rotate in the right front motor and it is described it is right after motor and the rotational speed governor differential control the motor with different
Velocity of rotation drives the rotation of the wheel, to realize the small-scale steering of wide-angle.
By the understanding to subsequent description and attached drawing, further aim of the present invention and advantage will be fully demonstrated.
These and other objects of the invention, feature and advantage, by following detailed descriptions, drawings and claims are obtained
To fully demonstrate.
Detailed description of the invention
Fig. 1 is the overall schematic of a high-speed transplanter of the first preferred embodiment according to the present invention.
Fig. 2 is the structural representation of the running gear of the high-speed transplanter of above-mentioned preferred embodiment according to the present invention
Figure.
Fig. 3 is the schematic diagram of the dynamical system of the high-speed transplanter of above-mentioned preferred embodiment according to the present invention.
Fig. 4 A is a kind of action scene when the high-speed transplanter of above-mentioned preferred embodiment according to the present invention turns to
Schematic diagram.
Fig. 4 B is another action field when high-speed transplanter of above-mentioned preferred embodiment according to the present invention turns to
Scape schematic diagram.
Fig. 4 C is the driving trace signal when high-speed transplanter of above-mentioned preferred embodiment according to the present invention turns to
Figure.
Fig. 5 is the method signal of the forward method of the high-speed transplanter of above-mentioned preferred embodiment according to the present invention
Figure.
Fig. 6 is another optional reality of the running gear of the high-speed transplanter of above-mentioned preferred embodiment according to the present invention
The schematic diagram of mode is applied, wherein the rear wheel drive motor of the high-speed transplanter is hub motor.
Specific embodiment
It is described below for disclosing the present invention so that those skilled in the art can be realized the present invention.It is excellent in being described below
Embodiment is selected to be only used as illustrating, it may occur to persons skilled in the art that other obvious modifications.It defines in the following description
Basic principle of the invention can be applied to other embodiments, deformation scheme, improvement project, equivalent program and do not carry on the back
Other technologies scheme from the spirit and scope of the present invention.
It will be understood by those skilled in the art that in exposure of the invention, term " longitudinal direction ", " transverse direction ", "upper",
The orientation or position of the instructions such as "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outside"
Relationship is to be based on the orientation or positional relationship shown in the drawings, and is merely for convenience of description of the present invention and simplification of the description, rather than
The device or element of indication or suggestion meaning must have a particular orientation, be constructed and operated in a specific orientation, therefore above-mentioned
Term is not considered as limiting the invention.
It is understood that term " one " is interpreted as " at least one " or " one or more ", i.e., in one embodiment,
The quantity of one element can be one, and in a further embodiment, the quantity of the element can be it is multiple, term " one " is no
It can be interpreted as the limitation to quantity.
It is dynamic according to a mixing of the first preferred embodiment of the invention referring to shown in Fig. 1 to Fig. 6 of description of the invention attached drawing
Power high-speed transplanter is set forth in following description.For ease of description, being referred to as the hybrid power high speed in the present invention
Rice transplanter is high-speed transplanter.The high-speed transplanter includes a rice transplanting machine host 10, is set to the rice transplanting machine host 10
One running gear 20, and an at least dynamical system 30, wherein the dynamical system 30 and the running gear 20 carried to
The rice transplanting machine host 10, wherein the running gear 20 is driven by the dynamical system 30 and drives the rice transplanting machine host 10
Traveling.The rice transplanting machine host 10 is driven by the dynamical system 30 and executes rice transplanting operation.In the present invention, the high speed
The running gear 20 of rice transplanter is electrically connected to the dynamical system 30, that is to say, that the high-speed transplanter it is described
Running gear 20 is that motor-driven mode realizes walking.
As depicted in figs. 1 and 2, the running gear 20 of the high-speed transplanter includes at least four wheels 21 and driving
Four motor 22 that the wheel 21 rotates, wherein the wheel 21 and the motor 22 are arranged at the rice transplanting owner
Machine 10, and the motor 22 is connected to the dynamical system 30 with being electrically driven, by the dynamical system 30 to described
Motor 22 transmits electric energy, to drive the motor 22 to rotate.The wheel 21 includes at least two front-wheels 211 and at least two
A rear-wheel 212, and the front-wheel 211 and the rear-wheel 212 are arranged at the left side and the right side of the rice transplanting machine host 10 respectively
Side.In other words, the left and right side of the rice transplanting machine host 10 of the high-speed transplanter, front-end and back-end are set to respectively
Few two wheels are travelled with supporting and stablizing the rice transplanting machine host 10.Preferably, in the first preferred embodiment of the invention,
The running gear 20 includes four wheels, wherein the wheel is respectively front left side wheel 211a and forward right side wheel 211b,
Left rear side wheel 212a and right lateral side wheel 212b.
Preferably, in the present invention, vehicle described in the driving of motor 22 described in one of the running gear 20 one
21 rotation of wheel, realizes the traveling of the running gear 20.By controlling the velocity of rotation of the motor 22, institute is driven to differential
The wheel 21 of the left and right side of running gear 20 is stated to rotate with different velocities of rotation.In other words, the running gear 20
When driving with different velocity of rotation rotations, the wheel 21 of left and right side is with difference for the wheel 21 of left and right side
Run trace walking, thus realize steering travel.
The motor 22 drives the rotation of the wheel 21, and then drives the walking of the rice transplanting machine host 10.It is described
Motor 22 includes two preceding turbin generators 221 and two rear-wheel motors 222, wherein the front-wheel motor 221 is set drivingly
Be connected to the front-wheel 211, and the rotation of the driving front-wheel 211, wherein the rear-wheel motor 222 be drivingly coupled to it is described
Rear-wheel 212, and the rotation of the driving rear-wheel 212.In other words, the preceding turbin generator 221 of the running gear 20 drives institute
The traveling of front-wheel 211 is stated, two rear-wheel motors drive the traveling of the rear-wheel 212, to realize the high-speed transplanter
Walking.
The running gear 20 further comprises bridge 23,24, two front-wheel supports 25 of a rear axle and two rear-wheels before one
Bracket 26, wherein the preceding bridge 23 and the rear axle 24 are arranged at the lower section of the rice transplanting machine host 10, to support described insert
Seedling machine host 10.The front-wheel support 25 is arranged at left end and the right end of the preceding bridge 23, supports institute for drivingly fixed
State front left side wheel 211a and the forward right side wheel 211b.The rear wheel support 26 be arranged at the rear axle 24 left end and
Right end supports the left rear side wheel 212a and right lateral side wheel 212b for drivingly fixed.
Correspondingly, in the present invention, the preceding turbin generator 221 further comprises a left front turbin generator 221a and an off-front wheel
Motor 221b, wherein the near front wheel motor 221a individually drives the near front wheel 211a of the wheel 21 to rotate, and control
Make the near front wheel 211a velocity of rotation.The off-front wheel motor 221b individually drives the off-front wheel of the wheel 21
211b rotation, and the control off-front wheel 211b.The rear-wheel motor 222 further comprises a left back turbin generator 222a and one right
Rear-wheel motor 222b, wherein the left rear wheel motor 222a drives the rear left wheel 212a of the wheel 21 to rotate, it is described
Off hind wheel motor 222b drives the right rear wheel 212b of the wheel 21 to rotate.It is noted that in the present invention, institute
State the wheel 21 that the left front turbin generator 221a and left back turbin generator 222a synchronously drives 20 left side of running gear
Rotation, the off-front wheel 221b and the off hind wheel motor 222b synchronously drive the wheel on 20 right side of running gear
21 rotations.In other words, the wheel 21 in 20 left side of running gear is consistent, the rotation speed of the wheel 21 on right side
Degree is consistent.When the high-speed transplanter turns to, the wheel 21 and the right side in left side are driven to 22 differential of motor
The different revolving speed traveling of the wheel one of side, is turned to realizing.
The preceding turbin generator 221 is the rotation that the front-wheel 211 is driven by the preceding bridge 23 and the front-wheel support 25,
One of them rear-wheel motor 222 drives the rotation of a rear-wheel 212 by way of direct or indirect transmission.It changes
Yan Zhi, the preceding turbin generator 221 are connected to the preceding bridge 23 with being transmitted, and drive by preceding turbin generator 221 described in the preceding bridge 23
The rotation of the dynamic front-wheel for being set to 25 two sides of front-wheel support.The rear-wheel motor 222 is connected to described with being transmitted
The rear-wheel 212 of 26 two sides of rear wheel support, and the rotation of the driving rear-wheel 212.
In the present invention, the running gear 20 drives the walking of the rice transplanting machine host 10, and the control rice transplanter
The direction of travel of host 10, that is to say, that the walking and steering of the rice transplanting machine host 10 are realized by the running gear 20.
The running gear 20 control in a manner of controlling the velocity of rotation of the wheel 21 in the left side and the wheel 21 on right side
Make the steering of the running gear 20.When the velocity of rotation of the left side wheel of the running gear is equal to turning for right side wheels
When dynamic speed, the running gear 20 drives the rice transplanting machine host 10 to keep straight trip；When the left side of the running gear 20
When the velocity of rotation of side wheel is greater than the velocity of rotation of the right side wheels, the run trace of the left side wheel is greater than right side vehicle
The run trace of wheel, therefore, the running gear 20 drive the rice transplanting machine host 10 to turn right and walk；When the running gear 20
The left side wheel velocity of rotation be less than the right side wheels velocity of rotation when, the run trace of the left side wheel is small
In the run trace of right side wheels, therefore, the running gear 20 drives the rice transplanting machine host 10 to turn left to walk.
It is understood that the high-speed transplanter is in walking and operation process, the motor 22 directly drives institute
The walking and steering of wheel 21 are stated, the velocity of rotation of the motor 22 can be controlled according to the direction and rate request of walking.It changes
Yan Zhi, the motor 22 that the driving direction based on the rice transplanting machine host 10 controls the running gear 20 drive the vehicle
The speed of 21 rotation of wheel can be generated using motor to the greatest extent to avoid the loss of power in steering procedure and torque
The form of rice transplanting machine host described in power drive.In addition, the high-speed transplanter drives the wheel by the motor 22
The mode of rotation realizes the traveling and steering of the rice transplanting machine host 10, can generate to avoid farmland when vehicle wheel rotation to wheel
Lateral resistance.Therefore, the high-speed transplanter can be avoided the resistance of wheel steering bring when the running gear 20 turns to
Power improves the walking turning velocity of the running gear 20 when steering, without in turning by the high-speed transplanter
The speed of service reduce it is too many.Therefore, the high-speed transplanter can be with higher speed or holding in turning or steering
Speed when normal rice transplanting operation, will not due to vehicle steering and influence the speed of service of the high-speed transplanter, improve
The operating efficiency of the high-speed transplanter entirety.
It is understood that behind the left rear side wheel 212a of the running gear 20 of the high-speed transplanter and the right side
Side wheel 212b can be controlled by the different driving speed of the rear-wheel motor 222.Correspondingly, the institute of the running gear 20
State the rotary speed difference that front-wheel 211 controls the front left wheel 211a and the right front wheel 211b by the preceding bridge 23.
The preceding bridge 23 further comprises a left drive axis 232 and a right drive axle 233, wherein the front-wheel motor
The 221 left front turbin generator 221a and the off-front wheel motor 221b respectively drives the left drive axis 232 and the right side
Drive axle 233 rotates, wherein the left drive axis 232 drives the front left wheel 211a to rotate, wherein the right forerunner
Moving axis 233 drives the right front wheel 211b to rotate, to realize the walking of the running gear 20.The left drive axis 232
The front left wheel 211a to the left front turbin generator 221a is drivingly connected, the right drive axle 233 drivingly connects institute
Right front wheel 211b is stated to the off-front wheel motor 221b.
The preceding bridge 23 further comprises an at least steering link 234, and wherein the steering link 234 is arranged at institute
Front-wheel 21 is stated, connects the front left wheel 211a in the right front wheel 211b, wherein the front-wheel 211 is turned to by driving
When, the steering link 234 be set drive the front left wheel 211a and the right front wheel 211b of the front-wheel 211 with
Same rotational angle deflection.Correspondingly, the preceding bridge 23 further comprises a deflection executive device 235, wherein the deflection
Executive device 235 drives the front-wheel 211 to rotate.The deflection executive device 235 is driven the front-wheel 211 by control partially
Turn, to realize the rotation of the deflecting roller of the high-speed transplanter.
Correspondingly, the rear wheel support 26 drivingly connects the rear-wheel 212 to the rear axle 24, wherein the rear-wheel is electric
Machine 222 drives the rotation of the rear-wheel 212 by the rear axle 24.The rear axle 24 further comprises a left back drive shaft 242
With a right rear drive shaft 243, wherein the left back drive shaft 242 drivingly connects the rear left wheel 212a to the left rear wheel
Motor 222a, wherein the right rear drive shaft 243 drivingly connects the right rear wheel 212b to the off hind wheel motor 222b.
It is noted that the motor 22 may be implemented as direct current in the first preferred embodiment of the invention
The combination of one or more of motivation, asynchronous motor and synchronous motor.Therefore, in the present invention, the electricity
The type of motivation 22 merely exemplary property herein, rather than limit.
As shown in Fig. 2, the running gear 20 further comprises four retarders 27, wherein the institute of the running gear 20
It states motor 22 and the wheel 21 or preceding bridge 23 is drivingly coupled to by the retarder 27.It is a in the present invention, it is preferable that
The retarder 27 is arranged at the preceding bridge 23 and the rear axle 24, reduces the motor 22 by the retarder 27 and passes
Dynamic velocity of rotation, and increase driving torque.
The retarder 27 further comprises a left front wheel decelerator 271a, an off-front wheel retarder 271b, one left back subtracts
Retarder 272b behind fast device 272a and a right side.The left front wheel decelerator 271a and the right front reduction gear 271b are arranged at
The preceding bridge 23, wherein the near front wheel retarder 271a drivingly connects the left drive axis 232 to the near front wheel electricity
Machine 221a, the off-front wheel retarder 271b drivingly connect the right drive axle 233 to the off-front wheel motor 221b, institute
The left front wheel decelerator 271a and off-front wheel retarder 271b is stated by the velocity of rotation of the reduction motor 22, increases institute
State the driving force that motor 22 drives the wheel.Correspondingly, the left back wheel decelerator 272a and the off hind wheel retarder
272b is arranged at the rear axle 24, wherein the left rear wheel retarder 272a drivingly connect the left back drive shaft 242 in
After the left back turbin generator 222a, the off hind wheel retarder 272b drivingly connect the right rear drive shaft 243 to the right side
Turbin generator 222b reduces transmission revolving speed and increases passing by the left back wheel decelerator 272a and off hind wheel retarder 72b
Dynamic torque.
In short, the motor 22 is drivingly coupled to the drive shaft by the retarder 27, subtract by described
Fast device 27 reduces the transmission speed of the motor 22, to improve the driving force of the wheel.It is understood that in the present invention
In, the motor 22 directly drives the rotation of the wheel 21 by the retarder, does not need complicated gearing
Structure does not need the velocity of rotation for controlling the wheel of left and right side differential mechanism differential is especially arranged yet.The running gear
20 can save the mechanical energy for avoiding being lost due to machine driving in the process of walking, promote the power drive efficiency of motor,
Reduce energy loss.
When the motor that the high-speed transplanter is when turning to, and the running gear 20 passes through change left and right side
The rotation of the wheel 21 of left and right side is driven to 22 velocity of rotation differential, and realizes and turns to.
As shown in Fig. 4 A to Fig. 4 C, the left front motor 221a of the motor 22 of the running gear 20 and left back motor
222a is rotated respectively with front left wheel 211a described in the driven at low speed and rear left wheel 212a, wherein the right front motor 221b
The right front wheel 211b and right rear wheel 212b rotation is driven to tell respectively with motor 222b behind the right side.Therefore, described
The form path of right front wheel 211b and the right rear wheel 212b are greater than the front left wheel 211a and the rear left wheel
The driving path of 212a.In other words, the right front wheel 211b and right rear wheel 212b is around the front left wheel 211a
It is rotated with the rear left wheel 212a, to realize the left-hand rotation of vehicle.Correspondingly, when turning right, left side it is described electronic
The motor 22 that the velocity of rotation of the wheel 21 in the driving of machine 22 left side is greater than right side drives the vehicle on the right side
The velocity of rotation of wheel 21, to realize the right-hand rotation of the high-speed transplanter.
It is noted that due in steering procedure, the left side wheel 21 of the running gear 20 and the vehicle on right side
Wheel 21 is realized by rotational speed difference and is turned to not by mechanically rotation direction, and the rotation wheel for turning to wheel mechanical is not needed
Direction of travel, and to causing biggish damage in farmland.Therefore, in steering procedure, the rear-wheel 212 and the front-wheel 211
The wheel of left and right side pass through different velocity of rotation and realize and turn to.Preferably, the rear-wheel 212 and the front-wheel 211
It is travelled in same driving trace, reduces damage of the high-speed transplanter described in steering procedure to farmland.
It is understood that the walking of the running gear 20 relies on the front-wheel 211 and the rear-wheel 212 synchronously
Rotation.In other words, when the front-wheel 211 of the running gear 20 and the left and right side of the rear-wheel 212 are provided having
When identical velocity of rotation, the high-speed transplanter is realized by the running gear 20 and is walked.When the high-speed transplanter exists
When needing to turn or changing original direction of travel, the running gear 20 adjusts turning for the wheel 21 of left and right side
Dynamic velocity interpolation turns to or deflecting.
Correspondingly, as shown in Fig. 2 to Fig. 4 C, the running gear further comprises an electric machine controller 29, wherein described
Electric machine controller 29 is communicatively coupled to the motor 22 of the running gear 20, controls by the electric machine controller 29
The walking of the running gear 20 and direction.The control signal tune of the driving direction of the electric machine controller 29 based on driver
The velocity of rotation and rotation direction of the motor 22 of the whole running gear 20, realize the running gear 20 move ahead and
It retreats.In other words, the electric machine controller 29 controls rotating forward and inversely rotating for the motor 22, by the electricity
Motivation 22 drives moving ahead and retreating for the wheel 21.Driving control signal control of the electric machine controller 29 based on driver
Left and right side difference motor 22 processed is rotated with different velocity of rotation, thus drive the wheel 21 of left and right side with
Different velocity of rotation rotations, realizes the steering of the running gear 20.
The electric machine controller 29 further comprises a steering control device 291 and an at least revolution speed control device 292,
Described in the control of steering control device 291 ground operate the running gear 20 the motor 22 rotation direction.When described
The steering controller 291 of electric machine controller 29 controls 22 forward direction of motor based on the Driving control signal of driver
Ground rotates or when rotating clockwise, and the motor 22 drives the wheel 21 to rotate in the same direction, to drive
The high-speed transplanter moves ahead.On the contrary, when the steering controller 291 of the electric machine controller 29 is based on driver's
When control signal controls the motor 22 and oppositely rotates or widdershins rotate, by the motor 22 drivingly institute
State the retrogressing of wheel 21.
The rotational speed governor 292 controls the velocity of rotation of the motor 22 of the running gear 20, to control
The velocity of rotation of the wheel 21, to realize the direction of travel of the high-speed transplanter.It is understood that when the high speed is inserted
When seedling machine is based on driving the signal control running gear 20 straight trip, the rotational speed governor 292 is based on straight trip ground control
Motor behind the signal control left front motor 221a, the right front motor 221b, the left back motor 222a and the right side
222b is rotated with identical velocity of rotation, to drive the front left wheel 211a, the right front wheel 211b, the left back vehicle
The wheel 212a and right rear wheel 212b is to rotate in the same direction and at the same speed.Correspondingly, when turning, the rotational speed governor
The 292 control left front motor 221a and left back motor 222a are rotated with identical velocity of rotation, the right front motor
221b and it is described it is right after motor 222b rotated at the same speed with another speed.
Fig. 4 A and Fig. 4 B of description of the invention attached drawing show two different steering modes of the invention, the high speed
Rice transplanter low-angle steering or deflecting when driving, the steering controller 291 of the electric machine controller 29 is in the same direction
The motor 22 is controlled to rotate, the motor 22 for controlling to 292 differential of rotational speed governor left and right side rotates,
To drive the wheel 21 with the rotation of ground in the same direction differential degree by the motor 22.It is understood that when the high speed is inserted
When seedling machine is in the process of moving finely adjusted driving direction or low-angle turns to, the motor control of the running gear 20
Device 29 processed is controlled the motor 22 and is rotated with different velocities of rotation, to drive the wheel 21 with different velocities of rotation
Drive the steering of the rice transplanting machine host 10.
Particularly, when the high-speed transplanter wide-angle, short distance is liftoff steering, described turn of the electric machine controller 29
The rotation of the motor 22 of left and right side is oppositely controlled to controller 291, is controlled to 292 differential of rotational speed governor
The rotation of the motor 22 of left and right side processed, to drive the wheel 21 with oppositely differential by the motor 22
Ground rotation.It is noted that the steering controller 291 of the electric machine controller 29 controls institute with different rotation directions
The rotation of the motor 22 of left and right side is stated, for example, the motor 22 in left side is controlled to positively rotate, it is right
The motor 22 of side is by the steering controller 291 oppositely to rotate.Correspondingly, the institute in 20 left side of running gear
State wheel 21 and positively driven by the motor 22 and moved forward, the wheel 21 on right side by the motor 22 oppositely
Driving travels backward, so that the liftoff rotation of high-speed transplanter wide-angle short distance, or even rotate in place 180 °.
It is understood that the high-speed transplanter can also set the steering of the running gear 20 based on specific landform
Mode, for example set with a wheel 21, for example rotated centered on rear left wheel 212a, the wheel of other positions
21 rotate around the rear left wheel 212a, to realize the original place rotation of low-angle.Correspondingly, the electric machine controller 29 controls
The rear left wheel 212a stops operating, or with the slow-speed of revolution original place rotates, wherein described turn of the electric machine controller 29
It controls the motor 22 respectively to controller 291 and the rotational speed governor 292 to rotate in the same direction, to drive the wheel 21
The front left wheel 211a, the right front wheel 211b and the right rear wheel 212b around the front left wheel 212a
It rotates in the same direction, to realize rotation.
Fig. 4 C of description of the invention attached drawing is shown in steering procedure, and the rotation of the high-speed transplanter travels road
Diameter.Particularly, when the front-wheel 211 of the high-speed transplanter is identical with the size of the wheel spacing of the rear-wheel 212, by
It does not need mechanically to rotate the wheel when turning in the running gear 20, but with differential drives the institute of different location
State the rotation of wheel 21.Therefore, the front-wheel 211 of the wheel 21 and the run trace having the same of the rear-wheel 212, from
And it reduces and more to rolls damage of the track to farmland.
As shown in figure 3, the dynamical system 30 of the high-speed transplanter is arranged at the rice transplanting machine host 10, it is described
Dynamical system 30 is that the running gear 20 and the rice transplanting machine host 10 provide electric energy and kinetic energy, to drive the high speed rice transplanting
The walking and driving rice transplanting operation of machine.In detail, the dynamical system 30 includes that an engine 31 and an at least electric energy occur
Device 32, wherein the engine 31 drives the device for generating electric energy 32 to produce electricl energy, and the driving rice transplanting machine host 10
Operation.The device for generating electric energy 32 is produced electricl energy by the engine 31 driving, wherein the running gear 20 is described
Motor 22 is run under the driving effect of the device for generating electric energy 32.In the present invention, 22 need of work of motor
Electric energy drive the device for generating electric energy 32 to provide by the engine 31, without rice transplanting machine host 10 be arranged electric energy
Storage device, such as battery, to store the electric energy needed when the motor 22 work.The high speed rice transplanting can thus be mitigated
The integral body weight of machine improves the cruising ability of the high-speed transplanter, on the other hand, alleviates wheel when operation
The damage in 21 pairs of farmlands.
The engine 31 of the dynamical system 30 drives the operation of the rice transplanting machine host 10, wherein the dynamical system
System 30 further comprises a power output shaft 33, wherein the power output shaft 33 drives 10 operation of rice transplanting machine host.Institute
It states power output shaft 33 and is drivingly coupled to the rice transplanting machine host 10 and the engine 31, the power output shaft 33 transmits
The power of the engine 31 is to the rice transplanting machine host 10, to drive the rice transplanting machine host 10 to work.
The engine 31 drives the work of device for generating electric energy 32 to produce when driving 10 operation of rice transplanting machine host
Raw electric energy, for the operation of the running gear 20.The engine 31 is drivably connected to the device for generating electric energy 32,
The engine 31 drives the device for generating electric energy 32 to work in a manner of driving.It is noted that the transmitter 31
With gear drive, the mode of belt transmission drives the work of device for generating electric energy 32 to produce electricl energy.Preferably, the electric energy hair
Generating apparatus 32 is implemented as a generator, wherein the generator is produced electricl energy by the driven by engine.It is understood that
The device for generating electric energy 32 may be implemented as a direct-current generating device or an ac power generation, wherein the generator
Type merely exemplary property herein, rather than limit.
It is noted that the velocity of rotation of the engine 31 is faster, the driving of the engine 31 electric energy hair
The generating efficiency of generating apparatus 32 is bigger, while driving the speed of travel and the rice transplanting machine host 10 work of the running gear 20
Rate it is higher.
The dynamical system 30 further comprises an at least electric energy processing unit 34, wherein the device for generating electric energy 32 produces
Raw electric energy is handled by the electric energy processing unit 34, for the motor 22 and the rice transplanter of the running gear 20
The power device of host 10 uses.Correspondingly, the electric energy processing unit 34 is electrically connected to the device for generating electric energy 32, described
The electric energy that device for generating electric energy 32 generates is transmitted to described in the running gear 20 after the electric energy processing unit 34 processing
Motor 22 and the rice transplanting machine host 10.The electric energy processing unit 34 handles what the device for generating electric energy 32 produced electricl energy
The size of voltage and current and the type of electric energy, are suitable for the running gear 20 and the rice transplanting machine host 10 uses.Phase
Ying Di, the electric energy processing unit 34 include an at least voltage processing unit 341 and an at least current treatment device 342, wherein
The voltage processing unit 341 improves and stablizes the voltage that the dynamical system 30 is transmitted to the motor 22, is suitable for driving
The motor 22 is moved to operate.The current treatment device 342 changes the current capacity that the device for generating electric energy 32 generates electric current
Type, such as DC/AC conversion and AC/DC converter etc..It is understood that the electric current to be generated electricity according to the device for generating electric energy 20
Type and the motor 22 using electric current type option and installment described in current treatment device 342 type.
As shown in Fig. 2, the rice transplanting machine host 10 of the high-speed transplanter is driven by the dynamical system 30, and execute
Rice transplanting operation.The rice transplanting machine host 10 includes a host car body 11 and a rice transplanting operating system 12, wherein the rice transplanting operation
System 12 is carried to the host car body 11, and is drivingly coupled to the power output shaft 33 of the dynamical system 30,
The rice transplanting operation of the rice transplanting operating system 12 is controlled by the host car body 11.The rice transplanting operating system 12 is by the hair
Motivation 31 is driven by the power output shaft 33, driving effect of the rice transplanting operating system 12 in the power output shaft 33
Lower execution rice transplanting movement.The rice transplanting operation decorum 12 is electrically connected to the electric energy processing unit 34 of the dynamical system 30,
The operating system execution is driven to move up and move down by the device for generating electric energy 32 of the dynamical system 30
Movement.
The host car body 11 of the rice transplanting machine host 10 is arranged at the top of the running gear 20, the host
Car body 11 controls the walking and driving direction of the running gear 20.The dynamical system 30 is arranged at the host car body
11, the dynamical system 30 is fixed and supported by the host car body 11, so that the dynamical system 30 drives the operation
System 12 works.Correspondingly, the host car body 11 includes a vehicle body hanger 111, a direction controller 112, and at least one
Fuel storage device 113, wherein the running gear 20 is arranged at the lower section of the vehicle body hanger 111, support and described in driving
The movement of vehicle body hanger 111.The direction controller 112 and the fuel storage device 113 are arranged at the vehicle body hanger
111, the direction controller 112 and the fuel storage device 113 are supported by the vehicle body hanger 111 is fixed.
The direction controller 112 is operably coupled to the electric machine controller 29, and the direction controller 112 controls
The steering control device 291 and the revolution speed control device 292 of the electric machine controller 29, to start the course changing control
Device 291 and the revolution speed control device 292.Preferably, the direction controller 112 is implemented as a direction in the present invention
Disk device, wherein the direction controller 112 is connected to the electric machine controller 29 by way of mechanical connection, and mechanically
Control the steering control device 291 and the revolution speed control device 292 of the electric machine controller 29.Optionally, the side
A remote controler or an electronic wireless control equipment, such as mobile phone, computer etc., the side can also be implemented as to controller 112
The operation of the electric machine controller 29 is controlled by way of remote operation control to controller 112.
The fuel storage device 113 is arranged at the vehicle body hanger 111, wherein the fuel storage device 113 stores institute
Fuel required for engine 31 is stated, for the engine 31 use, increases the whole continuation of the journey of the high-speed transplanter.
Referring to shown in Fig. 6 of description of the invention attached drawing, according to the high speed of above-mentioned first preferred embodiment of the present invention
One running gear 20A of rice transplanter is elucidated in following description.The running gear 20A includes at least four wheels
21A and four motor 22A for driving the wheel 21A rotation, wherein the wheel 21A and the motor 22A are set
In the rice transplanting machine host 10, and the motor 22A is connected to the dynamical system 30 with being electrically driven, by described dynamic
Force system 30 transmits electric energy to the motor 22A, to drive the motor 22A to rotate.
The wheel 21A include at least two front-wheel 211A and at least two rear-wheel 212A, and the front-wheel 211A and
The rear-wheel 212A is arranged at the left and right side of the rice transplanting machine host 10 respectively.The motor 22A is including before two
Turbin generator 221A and two rear-wheel motor 222A, wherein the front-wheel motor 221A be set be drivingly coupled to two it is described before
211A, and the rotation of the driving front-wheel 211A are taken turns, wherein the rear-wheel motor 222A is drivingly coupled to two rear-wheels
212A, and the rotation of the driving rear-wheel 212A.
In the alternative embodiment of the invention, the running gear 20A includes four wheels, wherein the wheel is distinguished
For front left side wheel 211a and forward right side wheel 211b, left rear side wheel 212a and right lateral side wheel 212b.It is noted that
In the optional embodiment of the invention, the front-wheel 211A of the wheel 21A and the institute of above-mentioned first preferred embodiment
The structure and function for stating front-wheel 211 is identical, and the driving method of the preceding turbin generator 221A and the front-wheel 211 are also phase
Together.The difference lies in that the rear-wheel 212A and the rear-wheel motor 222A of the running gear 20A drive the rear-wheel
Mode.
In the present invention, the preceding turbin generator 221A further comprises a left front turbin generator 221a and an off-front wheel motor
221b, wherein the near front wheel motor 221a drives the front left wheel 211a rotation, the off-front wheel motor 221b drives institute
State the rotation of right front wheel 211b.The rear-wheel motor 222A further comprises a left back turbin generator 222a and an off hind wheel motor
222b, wherein the left rear wheel motor 222a drives the rear left wheel 212a of the wheel 21A to rotate, the off hind wheel electricity
Machine 222b drives the right rear wheel 212b of the wheel 21A to rotate.
In this optional embodiment, the preceding turbin generator 221A of the motor 22A and the rear-wheel motor 222A quilt
It is embodied as driving the hub motor of the rear-wheel 212A walking, wherein the front-wheel motor 221A is arranged at the front-wheel
211A, wherein the rear-wheel motor 222A is arranged at the rear-wheel 212A.It is noted that the rear-wheel motor 222A is straight
Connect the rotation and braking for driving the rear-wheel 212A, and the velocity of rotation of control the rear-wheel 212a and the rear-wheel 212b.When
When the high-speed transplanter turns to, the left back turbin generator 222a and the off hind wheel motor 222b control the rear-wheel respectively
212A is rotated with different velocities of rotation, and cooperation front-wheel 211, which is realized, to be turned to.In short, in the variant embodiment of the invention
In, the wheel 21A by In-wheel motor driving is rotated, and without driving device is driven, and structure is simpler reliable, no
Need complicated drive mechanism.
Referring to shown in Fig. 6 of description of the invention attached drawing, according to another aspect of the present invention, the present invention further provides one
The forward method of high-speed transplanter, wherein the forward method is the running gear 20 by controlling the high-speed transplanter
The rotary speed difference of left side wheel and right side wheels, so that left side wheel path locus different from right side wheels traveling is controlled, it is real
It turns now to.Correspondingly, the forward method of the high-speed transplanter includes following method and step:
(a) steering direction based on the high-speed transplanter sets the rotation of four motor 22 of the running gear 20
Direction；With
(b) velocity of rotation of the motor 22 is controlled, differential to drive four wheels 21 of the running gear 20
It rotates at different rates, to rotate the driving direction of the high-speed transplanter.
In the forward method of above-mentioned high-speed transplanter provided by the invention, the rice transplanting owner of the high-speed transplanter
Machine 10 generates the steering controling signal of the high-speed transplanter based on the control of operation driver, by an electric machine controller 29
Control the rotation direction and velocity of rotation of the motor 22.The motor 22 of the running gear 20 includes a left front electricity
Motor 222b behind machine 221a, a right front motor 221b, a left back motor 222a and a right side, wherein the wheel 21 includes one
Front left wheel 211a, a right front wheel 211b, a rear left wheel 212a and a right rear wheel 212b, by the left front electricity
Machine 221a drives the front left wheel 211a movement, and the right front motor 221b drives the right front wheel 211b rotation, described
Left back motor 222a drives the rear left wheel 212a, and motor 212b drives the right rear wheel 222b rotation behind the right side.
In the forward method of above-mentioned high-speed transplanter of the invention, when the high-speed transplanter rotates low-angle or small
When the deflecting of angle, a steering controller 291 of the electric machine controller 29 controls the motor 22 and rotates in the same direction and institute
Each motor of the motor 22 is controlled with different velocities of rotation with stating 292 differential of a rotational speed governor of electric machine controller 29
The vehicle wheel rotation is driven, to realize the deflecting of low-angle.
Summarize in the forward method of above-mentioned high-speed transplanter of the invention, when the high-speed transplanter rotate wide-angle or
When realizing wide-angle deflecting in short-range, the steering controller 291 oppositely controls the left side of the motor 22
The front motor 221a and left back motor 222a rotates in motor 222b behind the right front motor 221b and the right side；With described turn
It controls to fast 292 differential of controller each motor of the motor and turning for the wheel 21 is driven with different velocities of rotation
It is dynamic, to realize the small-scale steering of wide-angle.
It should be understood by those skilled in the art that foregoing description and the embodiment of the present invention shown in the drawings are only used as illustrating
And it is not intended to limit the present invention.The purpose of the present invention has been fully and effectively achieved.Function and structural principle of the invention exists
It shows and illustrates in embodiment, under without departing from the principle, embodiments of the present invention can have any deformation or modification.
Claims (20)
1. a hybrid power high-speed transplanter characterized by comprising
One rice transplanting machine host；
One dynamical system, wherein the dynamical system is arranged at the rice transplanting machine host, and the driving rice transplanting machine host is inserted
Seedling operation, the dynamical system includes an at least engine and an at least device for generating electric energy, wherein engine driving institute
Device for generating electric energy is stated to produce electricl energy；And
One running gear, wherein the running gear is arranged at the rice transplanting machine host, the running gear includes at least four
A wheel and at least four motor, wherein the wheel of the running gear turns by driving deflection and in a manner of differential
It is dynamic, and realize the steering of the running gear.
2. hybrid power high-speed transplanter according to claim 1, wherein the running gear includes at least one left front vehicle
Wheel, an at least right front wheel, at least a rear left wheel and an at least right rear wheel, wherein the motor further comprises
Motor behind at least one left front motor, at least one right front motor, at least one left back motor and an at least right side, wherein described left front
The rotation of front left wheel described in motor driven, the right front motor drive the right front wheel rotation, the left back motor driven institute
Rear left wheel rotation is stated, right rear wheel rotation described in motor driven behind the right side.
3. hybrid power high-speed transplanter according to claim 2, wherein the running gear further comprises at least one
Electric machine controller, wherein the electric machine controller is communicatively coupled to the motor, and driving based on the rice transplanting machine host
Sail the operating that operation signal controls the motor, and then the walking and steering of the wheel as described in the motor drive.
4. hybrid power high-speed transplanter according to claim 3, wherein the electric machine controller is turned to including at least one
Controller and at least a rotational speed governor, the steering controller control the rotation direction of the motor, the revolving speed control
Device controls the velocity of rotation of the motor.
5. hybrid power high-speed transplanter according to claim 4, wherein the high-speed transplanter is operable to low-angle
Rotation or deflecting, the steering controller control the motor rotate in the same direction and the rotational speed governor differential control
The motor rotation, to drive the wheel to drive the high-speed transplanter rotation with different velocities of rotation.
6. hybrid power high-speed transplanter according to claim 4, wherein the high-speed transplanter is by operation wide-angle
The motor of short distance deflecting, the steering controller control left and right side oppositely rotates and revolving speed control
The motor rotation is controlled, differential to drive the wheel to drive the high-speed transplanter to turn with different velocities of rotation
It is dynamic.
7. hybrid power high-speed transplanter according to claim 4, wherein the running gear further comprise Yi Qianqiao,
One rear axle, two front-wheel supports and two rear wheel supports, wherein front-wheel support support ground connect the front left wheel and
The right front wheel, rear wheel support support ground connects the rear left wheel and the right rear wheel, wherein the preceding bridge passes
The motor is connected dynamicly to the front left wheel and the right front wheel, connects the rear left wheel to the rear axle drive
With the right rear wheel.
8. hybrid power high-speed transplanter according to claim 7, wherein the running gear further comprises at least four
A retarder, wherein the retarder drivingly connects the motor in the preceding bridge and the rear axle, wherein the deceleration
Device reduces the transmission revolving speed of the motor and increases the torque for driving to the wheel.
9. hybrid power high-speed transplanter according to claim 8, wherein the preceding bridge further comprises a steering link
With deflection executive device, wherein the deflection executive device is set and the front-wheel of the wheel is driven to deflect, wherein described in
Steering link can be drivingly connected to two front-wheels, to drive the front-wheel to rotate synchronously.
10. according to any hybrid power high-speed transplanter of claim 2 to 9, wherein the rear-wheel motor is selected from direct current
The combination of one or more of motor, asynchronous motor and synchronous motor.
11. hybrid power high-speed transplanter according to any one of claims 2 to 6, wherein the motor is set with being transmitted
It is placed in the wheel, the motor is hub motor.
12. the hybrid power high-speed transplanter according to claim 2 or 9, wherein the dynamical system further comprises one
Power output shaft is connected to the pto shaft drive power transmission of the engine and the engine to described
Rice transplanting machine host, to drive the rice transplanting operation of the rice transplanting machine host.
13. hybrid power high-speed transplanter according to claim 12, wherein the dynamical system further comprises an electricity
Can processing unit, the electric energy processing unit is electrically connected to the device for generating electric energy, described in the electric energy processing unit processing
The electric energy of device for generating electric energy output, for driving the motor.
14. hybrid power high-speed transplanter according to claim 13, wherein the electric energy processing unit includes at least one
Voltage processing unit and at least a current treatment device fill wherein the voltage processing unit improves and stablizes the electric energy
The voltage produced electricl energy is set, wherein the current treatment device handles the electric current that the device for generating electric energy produces electricl energy, for
Drive the motor and the rice transplanting machine host.
15. hybrid power high-speed transplanter according to claim 14, wherein the rice transplanter host includes a host vehicle
Body and at least a rice transplanting operating system, wherein the rice transplanting operating system is carried to the host car body, and drivingly connect
To the power output shaft, wherein the power output shaft drives the rice transplanting operating system work.
16. hybrid power high-speed transplanter according to claim 15, wherein the host vehicle body further comprises a vehicle
Body support frame and a direction controller, wherein the direction controller is arranged at the vehicle body hanger, the direction controller can
It is operatively connected to the steering controller, operatively controls the steering controller by the direction controller, in turn
Control the direction of travel of the host car body.
17. the forward method of a hybrid power high-speed transplanter, which is characterized in that wherein the forward method includes following step
It is rapid:
(a) rotation direction based on the high-speed transplanter sets the rotation direction of four motor of a running gear；With
(b) velocity of rotation of the motor is controlled, differential to drive four wheels of the running gear with different speed
Degree rotation, and at least two wheels of the deflection running gear, to rotate the high-speed transplanter of traveling.
18. forward method according to claim 17, wherein a rice transplanting machine host of the high-speed transplanter is based on driving
Operation generates an at least steering controling signal, is based on the steering controling signal by an electric machine controller and controls the motor
Rotation direction and velocity of rotation.
19. forward method according to claim 17, wherein when the high-speed transplanter rotates low-angle or in low-angle
Deflecting when, a steering controller of the electric machine controller controls the motor and rotates in the same direction, the electric machine controller
A rotational speed governor differential control each motor of the motor and drive the vehicle wheel rotation with different velocities of rotation, with
Realize the deflecting of low-angle.
20. forward method according to claim 17, wherein when the high-speed transplanter rotates wide-angle or in short distance
When realizing wide-angle deflecting in range, the steering controller oppositely controls the left front motor of the motor and described
Left back motor rotate in the right front motor and it is described it is right after motor and the rotational speed governor differential control the motor
The rotation of the wheel is driven, with different velocities of rotation to realize the small-scale steering of wide-angle.
Priority Applications (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910270524.5A CN110001777A (en) | 2019-04-04 | 2019-04-04 | Hybrid power high-speed transplanter and its forward method |
| PCT/CN2019/106390 WO2020199519A1 (en) | 2019-04-04 | 2019-09-18 | Hybrid high-speed rice transplanter and steering method therefor |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910270524.5A CN110001777A (en) | 2019-04-04 | 2019-04-04 | Hybrid power high-speed transplanter and its forward method |
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Application publication date: 20190712 |