CN110341789A - Hybrid power high-speed transplanter and its steering direction control system - Google Patents
Hybrid power high-speed transplanter and its steering direction control system Download PDFInfo
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- CN110341789A CN110341789A CN201910270227.0A CN201910270227A CN110341789A CN 110341789 A CN110341789 A CN 110341789A CN 201910270227 A CN201910270227 A CN 201910270227A CN 110341789 A CN110341789 A CN 110341789A
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- wheel
- steering
- speed transplanter
- speed
- motor
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- 241000209094 Oryza Species 0.000 claims abstract description 141
- 235000007164 Oryza sativa Nutrition 0.000 claims abstract description 141
- 235000009566 rice Nutrition 0.000 claims abstract description 141
- 238000005183 dynamical system Methods 0.000 claims abstract description 36
- 230000008859 change Effects 0.000 claims abstract description 4
- 230000005540 biological transmission Effects 0.000 claims description 19
- 230000008450 motivation Effects 0.000 claims description 7
- 230000001360 synchronised effect Effects 0.000 claims description 4
- 230000008901 benefit Effects 0.000 description 24
- 238000000034 method Methods 0.000 description 23
- 239000000446 fuel Substances 0.000 description 12
- 230000005611 electricity Effects 0.000 description 7
- 230000008569 process Effects 0.000 description 6
- 230000000694 effects Effects 0.000 description 4
- 230000033001 locomotion Effects 0.000 description 4
- 238000010586 diagram Methods 0.000 description 3
- 238000010248 power generation Methods 0.000 description 3
- 238000006243 chemical reaction Methods 0.000 description 2
- 230000006870 function Effects 0.000 description 2
- 230000007246 mechanism Effects 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 241000196324 Embryophyta Species 0.000 description 1
- 230000037396 body weight Effects 0.000 description 1
- 230000007812 deficiency Effects 0.000 description 1
- 230000001934 delay Effects 0.000 description 1
- 230000009365 direct transmission Effects 0.000 description 1
- 238000005265 energy consumption Methods 0.000 description 1
- 238000004146 energy storage Methods 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 239000000295 fuel oil Substances 0.000 description 1
- 230000006872 improvement Effects 0.000 description 1
- 230000009349 indirect transmission Effects 0.000 description 1
- 230000009467 reduction Effects 0.000 description 1
- 238000012876 topography Methods 0.000 description 1
- 239000002699 waste material Substances 0.000 description 1
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 description 1
Classifications
-
- 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
- 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
- B62D11/06—Steering non-deflectable wheels; Steering endless tracks or the like by differentially driving ground-engaging elements on opposite vehicle sides by means of a single main power source
-
- 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)
- Guiding Agricultural Machines (AREA)
Abstract
The present invention provides a hybrid power high-speed transplanter and its heading control loop, wherein the hybrid power high-speed transplanter includes a rice transplanting machine host, at least a dynamical system, a running gear and a heading control loop.The dynamical system is arranged at the rice transplanting machine host, with the driving rice transplanting machine host rice transplanting operation, wherein the running gear is arranged at the rice transplanting machine host, the running gear includes at least four wheels and three motor, wherein the motor is driven by the dynamical system, and the rice transplanting machine host is driven to travel, wherein the heading control loop controls the wheel deflection direction of the running gear, with the rotation of the wheel is controlled in a manner of differential, to change 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 transplanter and its heading control loops.
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.
The rice transplanter of the prior art since rice transplanter only has a kind of steering mode, that is, has direction controlling when turning to
Device controls fine tuning and the fast steering in direction.As one can imagine when high-speed transplanter traveling in the lesser horse back of resistance or
High-speed cruising is in road, it usually needs slightly adjusts the rotation direction of vehicle, but in farmland operation and steering, needs
Straight trip is kept, smoothly to enable to the spacing of rice shoot uniform in size in rice transplanting operation.Rice transplanter is driving to farmland
The end when need quickly to realize the steering of vehicle with small turning radius, in order to rice transplanter farmland is damaged it is small and fast
The driving direction for ajusting vehicle of speed.
In other words, the rice transplanter of the prior art is all by the unified controlling party turned to when keeping straight trip and fast steering
Formula control.The rice transplanter be will lead in this way when keeping straight on operation, the rice transplanter is difficult to keep the straight trip direction of vehicle, and
In the terminal in farmland, the turning radius of the rice transplanter is big, and turning velocity is slow, influences the speed of rice transplanting operation.In addition, also
The driving method of the rice transplanter of the prior art is by single front-wheel or rear wheel drive, and traveling easily causes drive in paddy field
Driving wheel is trapped in farmland, 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 heading control loop, wherein
The heading control loop of the high-speed transplanter provides the mode of a variety of course changing controls, is existed with adapting to the high-speed transplanter traveling
Different environment.
It is of the invention another advantage is that provide a hybrid power high-speed transplanter and its heading control loop, wherein institute
High-speed transplanter is stated in road driving, the rotation direction of the high-speed transplanter is adjusted in a manner of controlling front-wheel steer, with
Adapt to running at high speed for the high-speed transplanter.
It is of the invention another advantage is that provide a hybrid power high-speed transplanter and its heading control loop, wherein institute
The rotation direction that high-speed transplanter adjusts the high-speed transplanter in rice transplanting operation in a manner of finely tuning is stated, in order to the height
Fast rice transplanter keeps straight trip operation in rice transplanting operation.
It is of the invention another advantage is that provide a hybrid power high-speed transplanter and its heading control loop, wherein institute
When stating high-speed transplanter and travelling to farmland terminal, the rotation direction of the high-speed transplanter is controlled in a manner of quick-adjustsing, with
Convenient for the high-speed transplanter rapidly adjustment direction.
It is of the invention another advantage is that provide a hybrid power high-speed transplanter and its heading control loop, wherein institute
High-speed transplanter is stated in farmland rice transplanting operation, is turned in a manner of differential the left side wheel and right side wheels for controlling front-wheel
It is dynamic, and finely tune the driving direction of the high-speed transplanter, straight trip direction when operation in order to keep the high-speed transplanter
With the fine tuning to driving direction.
It is of the invention another advantage is that provide a hybrid power high-speed transplanter and its heading control loop, wherein institute
High-speed transplanter is stated in farmland terminal, is rotated in a manner of differential the left side wheel and right side wheels for controlling rear-wheel, and
And front-wheel is controlled from rotation direction, and the driving direction of the high-speed transplanter is quickly adjusted, in order to the high speed rice transplanting
Machine quickly rotates in narrow landform.
It is of the invention another advantage is that provide a hybrid power high-speed transplanter and its heading control loop, wherein institute
High-speed transplanter is stated when road is run at high speed, the rotation of control rear-wheel motor driving wheel, by the heading control loop
Front-drive is controlled, to save energy loss.
It is of the invention another advantage is that provide a hybrid power high-speed transplanter and its heading control loop, wherein institute
High-speed transplanter is stated in farmland operation, control front wheels and rear wheels motor synchronous operation drives the height to provide enough kinetic energy
The walking of fast rice transplanter, and control front wheels and rear wheels are rotated in a manner of differential, and change direction of travel.
It is of the invention another advantage is that provide a hybrid power high-speed transplanter and its heading control loop, wherein institute
High-speed transplanter is stated in farmland operation straight trip, the heading control loop controls left side wheel and right side by way of differential
Wheel operation, in order to keep the straight trip process of high-speed transplanter described in operation process.It is described during keeping straight on operation
Heading control loop finely tunes the driving direction of the high-speed transplanter by way of left side wheel and right side wheels differential traveling.
It is of the invention another advantage is that provide a hybrid power high-speed transplanter and its heading control loop, wherein institute
High-speed transplanter is stated in farmland when fast steering, the heading control loop controls the front-wheel deflection, and described in control
The left side wheel and right side wheels of wheel are rotated in a manner of differential, rapidly to realize steering, improve the high speed rice transplanting
The rotational efficienty of machine.
It is of the invention another advantage is that provide a hybrid power high-speed transplanter and its heading control loop, wherein institute
The high-speed transplanter velocity of rotation different with right side wheels by control left side wheel is stated, turning for the high-speed transplanter is controlled
To the resistance of vehicle in reduction steering procedure.
It is of the invention another advantage is that provide a hybrid power high-speed transplanter and its heading control loop, wherein institute
The high-speed transplanter velocity of rotation different with right side wheels by control left side wheel is stated, rotation direction is controlled, so that turning to
Speed loss is small in the process, improves turning velocity.
It is of the invention another advantage is that provide a hybrid power high-speed transplanter and its heading control loop, wherein institute
It states high-speed transplanter and turning is realized by the speed difference of control left side wheel and right side wheels, reduce vehicle in steering procedure row
The path length sailed improves the efficiency of steering.
It is of the invention another advantage is that provide a hybrid power high-speed transplanter and its heading control loop, wherein institute
Two wheel of rear side for stating high-speed transplanter respectively controls velocity of rotation by two motor, by the electricity in steering procedure
Motivation keeps driving force and driving torque, avoids the loss of torque in steering procedure, improves the dynamical stability of Vehicular turn.
It is of the invention another advantage is that provide a hybrid power high-speed transplanter and its heading control loop, wherein institute
It states high-speed transplanter and is turned to realizing small range wide-angle by control left side wheel and right side wheels different rotating speeds, it can be achieved that fast
Fast ground wide-angle turns to.That is, the high-speed transplanter can rapidly realize that wide-angle turns in narrow landform, and
The driving direction for adjusting vehicle in multiple times back and forth is not needed, so that simplifying driver drives burden.
It is of the invention another advantage is that provide a hybrid power high-speed transplanter and its heading control loop, wherein institute
The wheel of the running gear of high-speed transplanter is stated by three motor drives, two rear-wheel of two of them motor drive, an electricity
Motivation drives two front wheels walking by differential gear, simplifies the integral mechanical structure of the high-speed transplanter, improves walking
Stability.
It is of the invention another advantage is that provide a hybrid power high-speed transplanter and its heading control loop, wherein institute
The dynamical system for stating high-speed transplanter directly drives the operation of the motor using engine power generation, deposits being not provided with electric energy
In the case where storage device, mitigate vehicle body overall weight, to reduce damage of the high-speed transplanter to farmland, and mitigates energy
Loss.
It is of the invention another advantage is that provide a hybrid power high-speed transplanter and its heading control loop, wherein institute
The dynamical system for stating high-speed transplanter directly drives the operation of the motor using engine power generation, reduces energy and is turning
The loss of energy during changing saves energy consumption to improve the efficiency of energy conversion.
It is of the invention another advantage is that provide a hybrid power high-speed transplanter and its heading control loop, wherein institute
Running velocity can be kept in steering procedure by stating high-speed transplanter, improve the speed of steering and the efficiency of work.
It is of the invention another advantage is that provide a hybrid power high-speed transplanter and its heading control loop, wherein institute
The wheel of high-speed transplanter is stated using the synchronous driving traveling of front and back wheel of more motors, improves the traveling effect of the high-speed transplanter
Rate, 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；
An at least dynamical system, wherein the dynamical system is arranged at the rice transplanting machine host, and the driving rice transplanting
Owner's transplanting operation；
One running gear, wherein the running gear is arranged at the rice transplanting machine host, the running gear includes extremely
Few four wheels and three motor, wherein the motor is driven by the dynamical system, and drive the rice transplanting machine host
Traveling；And
One heading control loop, wherein the heading control loop controls the wheel deflection side of the running gear
To, and the rotation of the wheel is controlled in a manner of differential, to change the steering of the running gear.
An embodiment according to the present invention, the wheel of the running gear include at least two front-wheels and at least two
Rear-wheel, wherein the motor includes turbin generator and two rear-wheel motors before one, two front-wheels of the front-wheel motor driven
Rotation, the rear-wheel motor respectively drive the rear wheel.
An embodiment according to the present invention, the running gear include one Qian Qiao and two front-wheel support, the front-wheel branch
The front wheel drive is connected to the preceding bridge by frame, wherein the front-wheel motor drive be connected to the preceding bridge, by institute
Bridge drives the front-drive before stating.
An embodiment according to the present invention, the preceding bridge include a box of tricks, a left driving shaft and a right driving axle,
Wherein the front-wheel motor drives the left driving shaft and right driving axle rotation by the box of tricks, when the walking
When system turns to, the box of tricks drives two by the left driving shaft and the right driving axle with different transmission speeds
The front-drive.
An embodiment according to the present invention, the preceding bridge further comprise a steering link and deflection executive device, wherein
The deflection executive device, which is set, drives the front-wheel of the wheel to deflect, wherein the steering link can drivingly be connected
Two front-wheels are connected to, to drive the front-wheel to rotate synchronously.
An embodiment according to the present invention, the running gear further comprise a rear axle and two rear wheel supports, described
Rear wheel support support ground connects the rear-wheel in the rear axle, wherein the rear-wheel motor is arranged at the rear axle, wherein institute
Stating rear-wheel includes an at least rear left wheel and an at least right rear wheel, wherein the rear-wheel motor includes that a left back motor and one are right
Motor afterwards, the rotation of rear left wheel described in the left back motor driven, it is described it is right after right rear wheel rotation described in motor driven.
An embodiment according to the present invention, the rear-wheel motor are selected from dc motor, asynchronous motor and synchronize electricity
The combination of one or more of motivation.
An embodiment according to the present invention, the heading control loop include that a direction controller and at least one turn to execution
Device, wherein the direction controller is drivingly connected to the steering actuator, wherein the direction controller is operated
Ground controls the steering actuator, and the deflection of the wheel, and the control wheel are driven by the steering actuator
It is rotated in a manner of differential.
An embodiment according to the present invention, the heading control loop further comprise a course changing control switching device,
Described in course changing control switching device be set and be communicatively coupled to the direction controller and the steering actuator, wherein
The course changing control switching device adjusts the heading control loop in a fine tuning steering control modes and fast steering control
Switch between mode.
An embodiment according to the present invention, the course changing control switching device further comprise road course changing control dress
It sets, wherein the road turning control device controls the direction controller and the steering actuator, by the steering
Executive device rotates with controlling the deflection of the front-wheel of the wheel and the rear wheel drive of the control wheel.
An embodiment according to the present invention, the course changing control switching device further comprise fine tuning course changing control dress
It sets, wherein the fine tuning steering control device controls the direction controller and the steering actuator, by the steering
Executive device adjusts the running gear in a manner of finely tuning and turns to.
An embodiment according to the present invention, it is described when the fine tuning steering control device controls the steering actuator
Front-wheel by the steering actuator keep keep straight on, wherein the steering actuator by differential in a manner of drive the front-wheel and
The rotation of the rear-wheel, to finely tune the direction of travel of the high-speed transplanter.
An embodiment according to the present invention, the course changing control switching device further comprise fast steering control dress
It sets, wherein the fast steering control device controls the direction controller and the steering actuator, by the steering
Controller controls the steering that the steering actuator adjusts the running gear in a manner of quickly adjusting.
An embodiment according to the present invention, the fast steering control device controls the steering actuator, and drives
The front-wheel deflection, and the control front-wheel, the rear-wheel are rotated in a manner of differential, to realize that the high-speed transplanter is quick
Ground rotation.
An embodiment according to the present invention, the heading control loop further comprise a steering controller, wherein described
Steering controller is communicably connected to the steering actuator, wherein the steering controller, which is based on the steering, executes dress
The steering controling signal set, and control the wheel the front-wheel and the rear-wheel by differential in a manner of rotate.
An embodiment according to the present invention, dynamical system include an at least engine and an at least device for generating electric energy,
Described in device for generating electric energy described in engine driving produce electricl energy, drive the running gear by the device for generating electric energy
The motor.
An embodiment according to the present invention, the steering controller include a device for controlling differential speed and an at least motor control
Device, wherein the device for controlling differential speed is operably coupled to the box of tricks, the device for controlling differential speed is operatively controlled
The box of tricks drives the rotation of left and right side wheel by the box of tricks differential, wherein the motor control
Device may be controllably connected to the rear-wheel motor, to control the rotary speed difference of left and right side rear-wheel.
According to another aspect of the present invention, it originally puts and buys that and further provide for a heading control loop, be suitable for control a line
The Turning travel of walking system, comprising:
One direction controller；With
An at least steering actuator, wherein the direction controller is drivingly connected to the steering actuator,
Described in direction controller operatively controlled the steering actuator, drive the walking by the steering actuator
The deflection of an at least wheel for system, and the control wheel are rotated in a manner of differential.
An embodiment according to the present invention, the heading control loop further comprise a course changing control switching device,
Described in course changing control switching device be set and be communicatively coupled to the direction controller and the steering actuator, wherein
The course changing control switching device adjusts the heading control loop in a fine tuning steering control modes and fast steering control
Switch between mode.
An embodiment according to the present invention, the course changing control switching device further comprise road course changing control dress
It sets, wherein the road turning control device controls the direction controller and the steering actuator, by the steering
Executive device rotates with controlling the deflection of the front-wheel of the wheel and the rear wheel drive of the control wheel.
An embodiment according to the present invention, the course changing control switching device further comprise fine tuning course changing control dress
It sets, wherein the fine tuning steering control device controls the direction controller and the steering actuator, by the steering
Executive device adjusts the running gear in a manner of finely tuning and turns to.
An embodiment according to the present invention, it is described when the fine tuning steering control device controls the steering actuator
Front-wheel by the steering actuator keep keep straight on, wherein the steering actuator by differential in a manner of drive the front-wheel and
The rotation of the rear-wheel, to finely tune the direction of travel of the high-speed transplanter.
An embodiment according to the present invention, the course changing control switching device further comprise fast steering control dress
It sets, wherein the fast steering control device controls the direction controller and the steering actuator, by the steering
Controller controls the steering that the steering actuator adjusts the running gear in a manner of quickly adjusting.
An embodiment according to the present invention, the fast steering control device controls the steering actuator, and drives
The front-wheel deflection, and the control front-wheel, the rear-wheel are rotated in a manner of differential, to realize that the high-speed transplanter is quick
Ground rotation.
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. 2A 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. 2 B is the direction controlling of the running gear of the high-speed transplanter of above-mentioned preferred embodiment according to the present invention
The switching schematic diagram of device.
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 that steering of the high-speed transplanter of above-mentioned preferred embodiment according to the present invention in road walking is shown
It is intended to, the high-speed transplanter closes the differential rotation of box of tricks and rear-wheel motor in farmland operation.
Fig. 4 B is that steering of the high-speed transplanter of above-mentioned preferred embodiment according to the present invention in farmland operation is shown
It is intended to, the high-speed transplanter starts box of tricks and differential control rear wheel in farmland operation.
Fig. 4 C is that steering of the high-speed transplanter of above-mentioned preferred embodiment according to the present invention in farmland operation is shown
It is intended to, wherein the high-speed transplanter controls to differential the velocity of rotation of rear wheel drive motor, start simultaneously when farmland turns to
The box of tricks of front-wheel, and the deflecting roller deflection of control front-wheel.
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 has a road steering pattern and a farmland steering pattern, when the height
When fast rice transplanter is in road driving, the high-speed transplanter is realized and is turned to by the deflection of deflecting roller.When the high speed is inserted
Seedling machine is in farmland when driving, the high-speed transplanter by differential in a manner of control the rotation of the wheel, and realize and turn to.
In detail, when the high-speed transplanter is in road driving, wheel is used as deflecting roller before the high-speed transplanter,
The steered wheel rotation is driven, wherein driving wheel of the rear-wheel of the high-speed transplanter as traveling, and drive the row of front-wheel
It sails.It is understood that the front-wheel of the high-speed transplanter is by the rear wheel drive capable as follower in road driving
It sails, wherein the front-wheel is drivingly rotated, to realize steering.
When the high-speed transplanter in farmland when driving, the high-speed transplanter controls left side wheel in a manner of differential
It is rotated with right side wheels, and then realizes the steering of the high-speed transplanter.The high-speed transplanter farmland operation when driving into
One step has a fine tuning steering control modes and a fast steering control mode, and the course changing control side of the high-speed transplanter
Formula can switch between the fine tuning steering control modes and the fast steering control mode.When the high-speed transplanter is in
When the fine tuning steering control modes, the high-speed transplanter is adjusted the direction of the traveling in the range of low-angle, with
Keep the straight trip of the high-speed transplanter.
It is understood that when the high-speed transplanter is in the fine tuning control mode, described in driver's operation
High-speed transplanter is able to maintain the rice transplanter and executes rice transplanting operation in farmland in a manner of keeping straight in rice transplanting operation, and
It avoids the driving direction of the high-speed transplanter in rice transplanting operation from changing too big, and causes the rice shoot spacing of rice transplanting unreasonable.
When the high-speed transplanter is in the fast steering control mode, driver operates the high-speed transplanter
In farmland when driving, the terminal especially travelled to farmland needs to turn the driving direction of the high-speed transplanter.Driver
Member by adjusting the high-speed transplanter steering mode to the fast steering mode, inserted in order to quickly turn the high speed
The driving direction of seedling machine.In other words, when the high-speed transplanter is adjusted to the fast steering control mode, the high speed
Rice transplanter is realized with the small radius of gyration and is turned to, in order to rapidly adjust traffic direction.
In detail, the steering mode for selecting or adjusting first the high-speed transplanter is made when executing rice transplanting in farmland
When industry, the steering mode of the high-speed transplanter is selected or adjusted to finely tuning steering control modes；It is quick when being needed in farmland
When ground turns to, the steering mode of the high-speed transplanter is selected or adjusted to fast steering control mode.When the high speed rice transplanting
When the steering mode of machine is selected as fine tuning steering control modes, wherein the heading control loop of the high-speed transplanter controls front-wheel
Rotation direction and differential the driving front-wheel the near front wheel and off-front wheel rotated respectively with different velocities of rotation so that
In steering procedure, described the near front wheel and the off-front wheel are rotated the high-speed transplanter with different run trace, and are subtracted
Few damage to farmland.
When selecting or adjusting steering mode to the fast steering mode of the high-speed transplanter, wherein the high speed
The left rear wheel and off hind wheel of the heading control loop control rear-wheel of rice transplanter are rotated respectively with different velocities of rotation, and control institute
Front-wheel deflection is stated, to adjust the rotation direction of the high-speed transplanter.In other words, quickly turn when the high-speed transplanter is selected as
To when control, the mode that the front-wheel is controlled to deflection is turned to, and the rear-wheel is controlled to different velocity of rotation rotations, into
And it realizes and turns to.
When the high-speed transplanter keeps straight on operation in farmland, the deflecting roller of the high-speed transplanter control wheel is kept
It in front, stops swinging, executes rice transplanting operation in a manner of straight-line travelling in the high-speed transplanter operation process to keep.
The high-speed transplanter by differential controls the different rotation speed of left side wheel and right side wheels in farmland when rice transplanting operation
Degree, and finely tune the rotation direction of the high-speed transplanter.
It is noted that driving direction is finely tuned when the high-speed transplanter is in rice transplanting operation, wherein the high speed is inserted
The front wheels and rear wheels of seedling machine are driven rotation respectively in a manner of differential, and make the left side wheel and right side wheels of the front-wheel
It being rotated with different velocities of rotation, the left side wheel and right side wheels of the rear-wheel are rotated respectively with different velocities of rotation, from
And make the high-speed transplanter straight trip operation be fine tuning driving direction.
When the high-speed transplanter is when farmland terminal needs fast steering, the front wheels and rear wheels of the high-speed transplanter are divided
Rotation is not driven in a manner of differential, and deflects the deflecting roller, so that the high-speed transplanter is with small turning half
Diameter rotation, realizes fast steering.
As shown in Figure 1 to Figure 3, the high-speed transplanter includes a rice transplanting machine host 10, is set to the rice transplanting machine host
10 running gear 20, a dynamical system 30 and a heading control loop 40, wherein the dynamical system 30 and the row
Walking system 20 is carried to the rice transplanting machine host 10, wherein the running gear 20 is driven and driven by the dynamical system 30
The traveling of the rice transplanting machine host 10.The rice transplanting machine host 10 is driven by the dynamical system 30 and executes rice transplanting operation.Institute
State the direction of travel that heading control loop 40 controls the running gear 20 of the high-speed transplanter.
Correspondingly, the heading control loop 40 has a road steering pattern and a farmland steering pattern, wherein working as institute
When stating high-speed transplanter and travelling to road, the heading control loop 40 is controlled the high-speed transplanter and is turned with road turning mode
To.When the high-speed transplanter is when farmland travels operation, the heading control loop 40 controls the high-speed transplanter with agriculture
Field steering pattern turns to.The farmland steering pattern of the heading control loop 40 further have a fine tuning steering control modes and
One fast steering control mode, wherein when the heading control loop is in the fine tuning steering control modes, the direction
Control system 40 controls the direction of travel that the running gear 20 adjusts the high-speed transplanter in a manner of fine tuning, to keep
State the direction of travel of high-speed transplanter.When the heading control loop 40 is in the fast steering control mode, the side
The steering for telling rice transplanter is adjusted in a manner of fast steering to control system 40, rapidly to rotate the high speed rice transplanting
The direction of travel of machine.
In the present invention, the running gear 20 of the high-speed transplanter is electrically connected to the dynamical system 30,
That is the running gear 20 of the high-speed transplanter is that motor-driven mode realizes walking.
As shown in figure 1 and 2 a, the running gear 20 of the high-speed transplanter includes at least four wheels 21 and drives
Three motor 22 that the wheel 21 rotates are moved, wherein the wheel 21 and the motor 22 are arranged at the rice transplanter
Host 10, and the motor 22 is connected to the dynamical system 30 with being electrically driven, by the dynamical system 30 to institute
It states motor 22 and transmits electric energy, to drive the motor 22 to rotate.The wheel 21 is including at least two front-wheels 211 and at least
Two rear-wheels 212, and the front-wheel 211 and the rear-wheel 212 be arranged at respectively the rice transplanting machine host 10 left side and
Right 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 respectively
At least two wheels are travelled with supporting and stablizing the rice transplanting machine host 10.Preferably, in the first preferred embodiment of the invention
In, 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.
It is understood that in the first preferred embodiment of the invention, the running gear of the high-speed transplanter
20 front-wheel 211 is provided as the deflecting roller of the heading control loop 40.In other words, by controlling the front-wheel 211
The direction of travel of front-wheel 211 described in direction controlling is deflected, and controls the steering of the high-speed transplanter.It is understood that
In the first preferred embodiment of the invention, the merely exemplary property of the embodiment of the deflecting roller, rather than limit.
As shown in Figure 2 A and 2 B, the heading control loop 40 includes a direction controller 41, course changing control switching
Device 42 and at least a steering actuator 43, wherein running gear 20 described in 41 operation adjustment of the direction controller
The deflection direction of the front-wheel 211 and angle, to control the direction of travel of the high-speed transplanter.The course changing control switching dress
Set the steering control modes of the 42 controls high-speed transplanter.In other words, the course changing control switching device 42 switches the height
Fast rice transplanter switches between the fine tuning steering control modes and the fast steering control mode, to adapt to different travelings
Environment.The steering actuator 43 is connected to the direction controller 41 and is communicatively coupled to the steering control with being transmitted
Switching device 42 processed, wherein the direction controller 41 operates the steering actuator 43.43 base of steering actuator
In the control signal of the course changing control switching device 42, drivingly operated by the direction controller 41, with the height of keeping straight on
The steering operation of fast rice transplanter.Correspondingly, the steering actuator 43 is to rotate the side of the front-wheel 211 of the running gear 20
Formula deflects direction of travel, and controls the front-wheel 211 or the rear-wheel 212 in a manner of differential and turned with different velocities of rotation
It is dynamic, and execute the steering operation of the high-speed transplanter.
It is noted that when the course changing control switching device 42 switches the steering mode of the high-speed transplanter to micro-
When adjusting course changing control, for the direction controller 41 by operation and when driving the steering actuator 43, the steering executes dress
The front-wheel 211 for setting the 43 rotations running gear 20 deflects the front-wheel 211, and the steering in a manner of fine tuning
Executive device 43 controls the left side wheel of the front-wheel 211 and right side wheels travel at different rates, so that the high speed
Left side wheel is different with the velocity of rotation of right side wheels in motion for rice transplanter.When the course changing control switching device 42 switches institute
When stating steering mode to the fast steering of high-speed transplanter and controlling, 41 times of direction controller operations and drive described turn
When to executive device 43, the steering actuator 43 deflects the front-wheel 211 in a fast manner, and the steering executes
Device 43 controls the left side wheel of the rear-wheel 212 and right side wheels are travelled in a manner of differential, so that the high speed rice transplanting
Machine is turned to the small radius of gyration.
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 turbin generator 221 and two rear-wheel motors 222 before one, wherein the front-wheel motor 221 is set and drivingly connects
It is connected to two front-wheels 211, and the rotation of the driving front-wheel 211, wherein the rear-wheel motor 222 is drivingly coupled to two
A 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
The traveling of the front-wheel 211 is driven, two rear-wheel motors drive the traveling of the rear-wheel 212, to realize the high speed
The walking of rice transplanter.
It is noted that in the present invention, the mode that the motor 22 of the running gear 20 is configured is herein
Merely exemplary property, rather than limit.Therefore, the configuration mode of the motor 22 can also be implemented as other transmissions
Mode, for example, the rotation for driving the front-wheel 211 is set in two preceding turbin generators, driving is set in one of rear-wheel motor
The rotation of the rear-wheel 212.
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 rear-wheel motor 222 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 21 to rotate, behind the right side
Turbin generator 222b drives the right rear wheel 212b of the wheel 21 to rotate.
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 box of tricks 231, a left driving shaft 232 and a right driving axle 233,
Described in box of tricks 231 drive the left driving shaft 232 and the right driving axle 233 to rotate, wherein the left driving shaft 232
The front left wheel 211a is driven to rotate, wherein the right driving axle 233 drives the right front wheel 211b to rotate.The differential
Mechanism 231 by controlling can drive the left driving shaft 232 and the right driving axle 233 with different driving speeds.In other words,
The box of tricks 231 by controlling with different driving revolving speeds while can drive the left driving shaft 232 and the right driving
Axis 233 rotates, and then drives the left front vehicle by the left driving shaft 232 and the right driving axle 233 with different revolving speeds
Take turns the 211a and right front wheel 211b.
The preceding bridge 23 further comprises an at least steering link 234, wherein the steering link 234 be arranged at it is described
Front-wheel 21 connects the front left wheel 211a in the right front wheel 211b, wherein the front-wheel 211 is executed by the steering
When device 43 drives and turns to, the front left wheel 211a for driving the front-wheel 211 and institute is set in the steering link 234
Right front wheel 211b is stated to deflect with same rotational angle.Correspondingly, the steering actuator 43 includes an arrangement for deflecting 431
Wherein the arrangement for deflecting 431 drives the front-wheel 211 to rotate.The arrangement for deflecting 431 is controlled by the direction controller 41,
And the front-wheel 211 is driven to deflect, to realize the rotation of the deflecting roller of the high-speed transplanter.
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 three retarders 27 and three transmission devices 28, wherein institute
The motor 22 for stating running gear 20 is drivingly coupled to the wheel 21 or preceding bridge 23 by the retarder 27.It is described
Retarder 27 further comprises wheel decelerator 271 before one, retarder 272b behind a left back retarder 272a and a right side.The transmission
Device 28 further comprises a front-wheel propeller shaft 281, a left back right inter-axle shaft 282b of transmission shaft 282a and one.The front-wheel subtracts
Fast device 271 and the front propeller shaft 281 are arranged between the preceding bridge 23 and the preceding turbin generator 221, and the front-wheel slows down
Device 271 reduces the transmission revolving speed of the front propeller shaft 281, and improves the torsion of transmission.Correspondingly, the left back retarder 272a
And the left back transmission shaft 282a is arranged between the left back motor 222a and the rear left wheel 212a, it is described left back to subtract
Fast device 272a reduces the transmission revolving speed of the left back transmission shaft 282a, and improves the torsion of transmission.Retarder 272b behind the right side
And the right inter-axle shaft 282b is arranged at behind the right side between motor 222b and the right rear wheel 212b, is subtracted behind the right side
Fast device 272b reduces the transmission revolving speed of the right inter-axle shaft 282b, and improves the torsion of transmission.
In short, the motor 22 is drivingly coupled to the transmission device 28 by the retarder 27, by institute
It states retarder 27 and reduces the velocity of rotation that the motor 22 drives to the transmission device 28, to improve the transmission device 28
Power.
When the high-speed transplanter is when turning to, the running gear 20 passes through the box of tricks of the preceding bridge 23
The rotary speed difference of 231 control the front left wheel 211a and the right front wheel 211b, controls turning for the vehicle front-wheel 211
To.The running gear 20 controls the rear left wheel by the left back turbin generator 222a and off hind wheel motor 222b
The different rotary speed differences of 212a and the right rear wheel 212b.
The course changing control switching device 42 further comprises a fine tuning steering control device 421 and fast steering control
Device 422 and a road steering control device 423, wherein the fine tuning steering control device 421 controls the high speed rice transplanting
The heading control loop 40 of machine is turned in a manner of fine tuning.When the fine tuning steering control device 421 is operated, so that institute
When stating high-speed transplanter and being in the fine tuning course changing control state, the fine tuning steering control device 421 controls the steering and holds
Luggage sets 43, keeps the front-wheel 211 to be in straight-going state by the steering actuator 43, and control the preceding bridge 23
The box of tricks 231 executes differential operation, and the driving motor of the control rear-wheel drives traveling in a manner of differential.It is described
Box of tricks 231 drives the front-wheel 211 and the rear-wheel 212 to rotate with different velocities of rotation.It is understood that described
The left side wheel and right side wheels of running gear 20 rotate in such a way that differential rotates, and the case where deflecting roller does not deflect
Under, it is turned in the directional trim that the high-speed transplanter executes.
When the fast steering control device 422 is operated, so that the high-speed transplanter is in the fast steering control
When state processed, the fast steering control device 422 controls the steering actuator 43, by the steering actuator with
Quick-adjustsing mode drives the front-wheel 211 to deflect.Meanwhile the deflection executive device 43 controls the institute of the rear-wheel 212
It states rear-wheel motor to rotate in a manner of differential, and the control box of tricks 231 drives the front-wheel 211 in a manner of differential
Front left wheel 211a and right front wheel 211b are rotated in a manner of differential, and the driving rear-wheel 212 rear left wheel 212a and
Rotate to the right rear wheel 212b differential,.
When the high-speed transplanter is when road is run at high speed, the road turning control device 423 is operated and is made
The heading control loop is in the road turning mode, and the road turning control device 423 controls the steering and executes
Device 43, the rotation of the front-wheel 211 is controlled by the steering actuator 43 adjustment, and keeps the rear-wheel 212 with phase
Same velocity of rotation rotation, so that the high-speed transplanter is travelled and turned in the road.
Such as Fig. 2 to Fig. 4 C, the heading control loop 40 further comprises a steering controller 44, wherein the steering is controlled
Device 44 processed controls the direction of travel of the wheel 21 of the running gear 20.The steering controller 44 further comprises one poor
Velocity control device 441 and at least an electric machine controller 442, wherein the control of the device for controlling differential speed 441 ground operates the walking
The box of tricks 231 of system 20, to control the front left wheel 211a and right front wheel 211b of 23 two sides of preceding bridge
Different velocities of rotation.The electric machine controller 442 is communicatively connected to the left back turbin generator 222a and the off hind wheel motor
222b, and the velocity of rotation of the control left back turbin generator 222a and the off hind wheel motor 222b, and then control described left front
The revolving speed of wheel 212a and the right front wheel 212b, to realize the walking and steering of the high-speed transplanter.
As shown in Figure 4 A, when the high-speed transplanter is in road driving, 21 quilt of the front-wheel of the running gear 20
It is provided as follower, and the rear-wheel 212 of the running gear 20 is provided as the driving wheel of traveling.When the high speed rice transplanting
In road turning, the front-wheel 211 is operated machine by the direction controller 41 of the heading control loop 40, by described
Steering actuator 43 drives and deflects.The rear-wheel 212 of the running gear 20 drives the front-wheel 211 to walk, and realizes institute
State the walking of high-speed transplanter.
It is noted that the high-speed transplanter is in road driving, the front-wheel drive of the high-speed transplanter
Motor is in halted state by control, drives the front-wheel as deflecting roller by the rear-wheel 212 and rotates, to reduce
The loss of road energy when driving.
As shown in figs. 4 b and 4 c, the device for controlling differential speed 441 is operably coupled to the difference of the preceding bridge 23
Fast mechanism 231, the device for controlling differential speed 441 operatively control the box of tricks 231, by the box of tricks 231 with
Different transmission speeds drives the left driving shaft 232 and the right driving axle 233.
The steering actuator 43 of the high-speed transplanter is communicatively coupled to the steering controller 44, wherein institute
State the work that steering actuator 43 controls the device for controlling differential speed 441 and the electric machine controller 442.When the high rice transplanting
For machine when being turned in a manner of fine tuning, the steering actuator 43 controls institute by controlling the device for controlling differential speed 441
State the work of box of tricks 231.When the high-speed transplanter is turned in a manner of quick-adjustsing, the steering actuator 43
By controlling the electric machine controller 442, the rear-wheel 212 is controlled in a manner of differential by the electric machine controller 442 and is turned
It is dynamic.
It is noted that in the present invention, the steering controller 44 synchronously controls the institute of the running gear 20
State the left side wheel of front-wheel 211 and rear-wheel 212 and the speed difference of right side wheels, so as to the high-speed transplanter walking and turn
To.That is, the high-speed transplanter is in the process of walking, 441 He of the differential controller of the steering controller 44
The electric machine controller 442 is synchronously run, and realizes traffic direction synchronously to control the front-wheel 211 and the rear-wheel 212
Control.The electric machine controller 442 of the steering controller 44 controls information control based on the traveling of the high-speed transplanter
Make the velocity of rotation of the motor 22, rotation direction etc., to realize moving ahead, fall back and turning to for vehicle.
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, and an at least fuel storage device 113, wherein
The running gear 20 is arranged at the lower section of the vehicle body hanger 111, supports and drive the movement of the vehicle body hanger 111.
The fuel storage device 113 is arranged at the vehicle body hanger 111, supports the fuel by the vehicle body hanger 111 is fixed
Memory 113.
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 three 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 includes a front-wheel
Motor 221A and two rear-wheel motor 222A, wherein the front-wheel motor 221A is set and is drivingly coupled to two front-wheels
211A, and the rotation of the driving front-wheel 211A, 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
A wheel, wherein after the wheel is respectively front left side wheel 211a and forward right side wheel 211b, left rear side wheel 212a and is right
Side wheel 212b.It is noted that in the optional embodiment of the invention, the front-wheel 211A of the wheel 21A
It is identical as the structure and function of the front-wheel 211 of above-mentioned first preferred embodiment, and the preceding turbin generator 221A with it is described
The driving method of front-wheel 211 is also identical.The difference lies in that the rear-wheel 212A of the running gear 20A and the rear-wheel
Motor 222A drives the mode of the rear-wheel.
In the present invention, 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 rear-wheel motor 222A is implemented as driving the wheel hub of the rear-wheel 212A walking
Motor, 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.
Referring to shown in Fig. 5 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) it travels with driving a front left wheel 211a and a right front wheel 211b differential for the running gear 20；With
(b) the left back turbin generator 222a and an off hind wheel motor 222b of the running gear 20 are controlled at different rates
Rotation with differential drives a rear left wheel 212a and a right rear wheel 212b to travel with different revolving speeds.
In the forward method of the high-speed transplanter of the invention, the step (a) and step (b) are synchronously held
Row, with synchronously control the running gear 20 left side wheel and right side wheels towards same direction rotate.In step (a)
In, start a box of tricks 231, drives the front left wheel 211a and the right front wheel by the box of tricks 231
211b is rotated with different velocities of rotation.Before step (a), a device for controlling differential speed 441 of the running gear 20 is based on
The steering order or the device for controlling differential speed 441 of one direction controller 112 of one rice transplanting machine host 10 are controlled by the direction
Device 112 processed drives, and operates the box of tricks 231, to start the box of tricks 231.
In step (b), an electric machine controller 442 of the running gear 20 is turned based on the direction controller 112
It is driven to instruction or the electric machine controller 442 by the direction controller 112, and controls the left back turbin generator 222a
It is rotated at different rates with the off hind wheel motor 222b.
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 (24)
1. a hybrid power high-speed transplanter characterized by comprising
One rice transplanting machine host；
An at least dynamical system, wherein the dynamical system is arranged at the rice transplanting machine host, and the driving rice transplanting owner
Transplanting operation；
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 three motor wherein the motor is driven by the dynamical system, and drive the rice transplanting machine host to travel；
And
One heading control loop, wherein the heading control loop controls the wheel deflection direction of the running gear, and
The rotation of the wheel is controlled in a manner of differential, to change the steering of the running gear.
2. hybrid power high-speed transplanter according to claim 1, wherein the wheel of the running gear includes extremely
Few two front-wheels and at least two rear-wheels, wherein the motor includes turbin generator and two rear-wheel motors before one, the front-wheel
Two front-drives of motor driven, the rear-wheel motor respectively drive the rear wheel.
3. hybrid power high-speed transplanter according to claim 2, wherein the running gear includes one Qian Qiao and two
The front wheel drive is connected to the preceding bridge by front-wheel support, the front-wheel support, wherein the front-wheel motor drive even
It is connected to the preceding bridge, drives the front-drive by the preceding bridge.
4. hybrid power high-speed transplanter according to claim 3, wherein the preceding bridge includes a box of tricks, a left drive
Moving axis and a right driving axle, wherein the front-wheel motor drives the left driving shaft and the right drive by the box of tricks
Moving axis rotation, when the running gear turns to, the box of tricks is by the left driving shaft and the right driving axle with not
Same transmission speed drives two front-drives.
5. hybrid power high-speed transplanter according to claim 4, 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.
6. hybrid power high-speed transplanter according to claim 5, wherein the running gear further comprises a rear axle
With two rear wheel supports, rear wheel support support ground connects the rear-wheel in the rear axle, wherein the rear-wheel motor is set
It is placed in the rear axle, wherein the rear-wheel includes an at least rear left wheel and an at least right rear wheel, wherein the rear-wheel motor
Including motor behind a left back motor and a right side, rear left wheel described in the left back motor driven is rotated, motor driven behind the right side
The right rear wheel rotation.
7. hybrid power high-speed transplanter according to claim 6, wherein the rear-wheel motor is selected from dc motor, different
Walk the combination of one or more of motor and synchronous motor.
8. according to any hybrid power high-speed transplanter of claim 2 to 7, wherein the heading control loop includes one
Direction controller and at least a steering actuator, wherein the direction controller, which is drivingly connected to the steering, executes dress
It sets, wherein the direction controller is operatively controlled the steering actuator, drives institute by the steering actuator
The deflection of wheel is stated, and the control wheel is rotated in a manner of differential.
9. hybrid power high-speed transplanter according to claim 8, wherein the heading control loop further comprises one
Course changing control switching device, wherein the course changing control switching device is set and is communicatively coupled to the direction controller and institute
Steering actuator is stated, wherein the course changing control switching device, which adjusts the heading control loop, finely tunes course changing control side one
Switch between formula and a fast steering control mode.
10. hybrid power high-speed transplanter according to claim 9, wherein the course changing control switching device is further wrapped
A road steering control device is included, wherein the road turning control device controls the direction controller and the steering executes
Device turns with controlling the deflection of the front-wheel of the wheel and the rear wheel drive of the control wheel by the steering actuator
It is dynamic.
11. hybrid power high-speed transplanter according to claim 10, wherein the course changing control switching device is further
Including a fine tuning steering control device, wherein the fine tuning steering control device controls the direction controller and the steering is held
Luggage is set, and is adjusted the running gear in a manner of finely tuning by the steering actuator and is turned to.
12. hybrid power high-speed transplanter according to claim 11, wherein the fine tuning steering control device controls institute
When stating steering actuator, the front-wheel is kept keeping straight on by the steering actuator, wherein the steering actuator is with difference
Fast ground mode drives the rotation of the front-wheel and the rear-wheel, to finely tune the direction of travel of the high-speed transplanter.
13. hybrid power high-speed transplanter described in 0 or 11 according to claim 1, wherein the course changing control switching device into
One step includes a fast steering control device, wherein the fast steering control device controls the direction controller and described turn
To executive device, the steering actuator is controlled by the steering controller and adjusts the walking in a manner of quickly adjusting
The steering of system.
14. hybrid power high-speed transplanter according to claim 13, wherein the fast steering control device controls institute
Steering actuator is stated, and drives the front-wheel to deflect, and the control front-wheel, the rear-wheel are rotated in a manner of differential, with
Realize that the high-speed transplanter rapidly rotates.
15. hybrid power high-speed transplanter according to claim 8, wherein the heading control loop further comprises one
Steering controller, wherein the steering controller is communicably connected to the steering actuator, wherein the course changing control
Steering controling signal of the device based on the steering actuator, and the front-wheel and the rear-wheel that control the wheel are with differential
Ground mode rotates.
16. wherein dynamical system includes at least one hair according to any hybrid power high-speed transplanter of claim 9 to 15
Motivation and at least a device for generating electric energy, wherein device for generating electric energy described in the engine driving produces electricl energy, by described
Device for generating electric energy drives the motor of the running gear.
17. hybrid power high-speed transplanter according to claim 16, wherein the steering controller includes a differential control
Device processed and at least an electric machine controller, wherein the device for controlling differential speed is operably coupled to the box of tricks, it is described
Device for controlling differential speed operatively controls the box of tricks, drives left and right side wheel by the box of tricks differential
Rotation, wherein the electric machine controller may be controllably connected to the rear-wheel motor, to control the rotation of left and right side rear-wheel
Speed difference.
18. a heading control loop, suitable for controlling the Turning travel of a running gear characterized by comprising
One direction controller；With
An at least steering actuator, wherein the direction controller is drivingly connected to the steering actuator, wherein institute
It states direction controller and is operatively controlled the steering actuator, drive the running gear by the steering actuator
An at least wheel deflection, and the control wheel rotates in a manner of differential.
19. hybrid power high-speed transplanter according to claim 18, wherein the heading control loop further comprises
One course changing control switching device, wherein the course changing control switching device be set be communicatively coupled to the direction controller and
The steering actuator, wherein the course changing control switching device, which adjusts the heading control loop, finely tunes course changing control one
Switch between mode and a fast steering control mode.
20. hybrid power high-speed transplanter according to claim 19, wherein the course changing control switching device is further
Including a road steering control device, wherein the road turning control device controls the direction controller and the steering is held
Luggage is set, with controlling the deflection of the front-wheel of the wheel and the rear wheel drive of the control wheel by the steering actuator
Rotation.
21. hybrid power high-speed transplanter according to claim 20, wherein the course changing control switching device is further
Including a fine tuning steering control device, wherein the fine tuning steering control device controls the direction controller and the steering is held
Luggage is set, and is adjusted the running gear in a manner of finely tuning by the steering actuator and is turned to.
22. hybrid power high-speed transplanter according to claim 21, wherein the fine tuning steering control device controls institute
When stating steering actuator, the front-wheel is kept keeping straight on by the steering actuator, wherein the steering actuator is with difference
Fast ground mode drives the rotation of the front-wheel and the rear-wheel, to finely tune the direction of travel of the high-speed transplanter.
23. the hybrid power high-speed transplanter according to claim 20 or 21, wherein the course changing control switching device into
One step includes a fast steering control device, wherein the fast steering control device controls the direction controller and described turn
To executive device, the steering actuator is controlled by the steering controller and adjusts the walking in a manner of quickly adjusting
The steering of system.
24. hybrid power high-speed transplanter according to claim 23, wherein the fast steering control device controls institute
Steering actuator is stated, and drives the front-wheel to deflect, and the control front-wheel, the rear-wheel are rotated in a manner of differential, with
Realize that the high-speed transplanter rapidly rotates.
Priority Applications (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910270227.0A CN110341789A (en) | 2019-04-04 | 2019-04-04 | Hybrid power high-speed transplanter and its steering direction control system |
| PCT/CN2019/106708 WO2020199522A1 (en) | 2019-04-04 | 2019-09-19 | Hybrid-power high-speed rice transplanter and steering control system thereof |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910270227.0A CN110341789A (en) | 2019-04-04 | 2019-04-04 | Hybrid power high-speed transplanter and its steering direction control system |
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| Publication Number | Publication Date |
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| CN110341789A true CN110341789A (en) | 2019-10-18 |
Family
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201910270227.0A Pending CN110341789A (en) | 2019-04-04 | 2019-04-04 | Hybrid power high-speed transplanter and its steering direction control system |
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| CN (1) | CN110341789A (en) |
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| WO2020199523A1 (en) * | 2019-04-04 | 2020-10-08 | 丰疆智能科技研究院(常州)有限公司 | Hybrid power high-speed rice seedling transplanter and directional control system thereof |
| WO2020199520A1 (en) * | 2019-04-04 | 2020-10-08 | 丰疆智能科技研究院(常州)有限公司 | Hybrid power high-speed transplanter and steering method thereof |
| CN112449816A (en) * | 2020-04-22 | 2021-03-09 | 丰疆智能科技研究院(常州)有限公司 | Range extender, hybrid rice transplanter and working method of hybrid rice transplanter |
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