CN110893887A - Remote control type pure electric orchard crawler micro-cultivator robot - Google Patents
Remote control type pure electric orchard crawler micro-cultivator robot Download PDFInfo
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- CN110893887A CN110893887A CN201911286670.3A CN201911286670A CN110893887A CN 110893887 A CN110893887 A CN 110893887A CN 201911286670 A CN201911286670 A CN 201911286670A CN 110893887 A CN110893887 A CN 110893887A
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- crawler
- remote control
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D55/00—Endless track vehicles
- B62D55/06—Endless track vehicles with tracks without ground wheels
- B62D55/065—Multi-track vehicles, i.e. more than two tracks
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60K—ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
- B60K1/00—Arrangement or mounting of electrical propulsion units
- B60K1/02—Arrangement or mounting of electrical propulsion units comprising more than one electric motor
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60K—ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
- B60K1/00—Arrangement or mounting of electrical propulsion units
- B60K1/04—Arrangement or mounting of electrical propulsion units of the electric storage means for propulsion
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D55/00—Endless track vehicles
- B62D55/08—Endless track units; Parts thereof
- B62D55/10—Bogies; Frames
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- Engineering & Computer Science (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Guiding Agricultural Machines (AREA)
- Electric Propulsion And Braking For Vehicles (AREA)
- Agricultural Machines (AREA)
Abstract
The invention discloses a remote control type pure electric orchard track micro-tillage robot, which comprises a double-track type micro-tillage robot chassis and a steering running mechanism of the micro-tillage robot, wherein the double-track type micro-tillage robot chassis is connected with the steering running mechanism of the micro-tillage robot through a running motor bracket, the steering running mechanism of the micro-tillage robot is provided with a power lithium battery at the other end of the double-track type micro-tillage robot chassis, a brake resistor is arranged on the upper surface of the power lithium battery, a motor driver is arranged near one side of the brake resistor, the remote control type pure electric orchard track micro-tillage robot adopts a track type structure, can meet the requirement of complex terrains, improves the stability of the device, greatly reduces the subsidence rate, simultaneously adopts the lithium battery as a power source, reduces the damage to fruit trees and the environmental pollution, utilizes remote control to carry out remote adjustment, realizes unmanned operation, the labor intensity of the operator is reduced.
Description
Technical Field
The invention relates to the technical field of mechanical automation, in particular to a remote control type pure electric orchard crawler micro-cultivator robot.
Background
The agricultural internet of things demonstration application is enlarged, and the micro-tillage robot is taken as a novel agricultural machine, has the greatest advantages that the micro-tillage robot can freely walk in the field, is convenient for a user to use, solves the problem that a large agricultural machine cannot enter an orchard, and faces the following problems in the existing orchard micro-tillage robot product: 1. the micro-farming machine is operated manually with complex operation and high intensity; 2. the tail gas of the traditional heat engine damages fruit trees, and the emission pollutes the environment.
Disclosure of Invention
The technical problem to be solved by the invention is to overcome the existing defects, provide a remote control type pure electric orchard crawler belt mini-tiller robot, and the device can be controlled remotely, so that the labor intensity of a user is reduced, the operation is simple and flexible, meanwhile, the electric power is adopted as an energy source, the pollution is greatly reduced, the noise is lower, the defects of high heat value, large pollution and large vibration of the existing diesel engine are avoided, and the problems in the background technology can be effectively solved.
In order to achieve the purpose, the invention provides the following technical scheme: a remote control type pure electric orchard track micro-tillage robot comprises a double-track micro-tillage robot chassis and a steering running mechanism of the micro-tillage robot, wherein the double-track micro-tillage robot chassis is connected with the steering running mechanism of the micro-tillage robot through a running motor bracket, the steering running mechanism of the micro-tillage robot is provided, the other end of the double-track micro-tillage robot chassis is provided with a power lithium battery, the upper surface of the power lithium battery is provided with a brake resistor, a motor driver is arranged near one side of the brake resistor, an electric control box is arranged near one side of the motor driver, a hydraulic power output device is arranged above the steering running mechanism of the micro-tillage robot through a support frame and is connected with a hydraulic cylinder arranged near one side of the steering running mechanism of the micro-tillage robot through a hydraulic oil pipe, and a bracket is arranged near one side of the hydraulic cylinder, the support is fixedly connected with a power output motor, one side of the support is provided with a power output mechanism, and the power output motor is connected with the power output mechanism through a speed reducer.
As a preferable technical scheme, the double-crawler type micro-tillage robot chassis comprises an agricultural implement support, a power output support, a positioning flange, a rib plate, a support connecting plate, a power lithium battery support, a crawler tensioning mechanism, a guide wheel, a crawler, a thrust wheel support, a traveling wheel and a vehicle body support.
According to a preferred technical scheme, the double-crawler-type micro-tillage robot chassis comprises a vehicle body support, one end of the vehicle body support is connected with a power lithium battery support through a fastener, the other end of the vehicle body support is provided with a power output support, a support connecting plate is arranged on the outer side surfaces of the vehicle body support and the power lithium battery support, a supporting wheel support is arranged on the outer side surface of the support connecting plate, a supporting wheel is hinged to the supporting wheel support, two ends of the support connecting plate are respectively provided with a guide wheel and a traveling wheel, and the guide wheel is connected with a crawler tensioning mechanism fixedly arranged on the vehicle body support.
As a preferred technical scheme of the invention, the two sides of the power output bracket are symmetrically provided with the farm tool brackets.
As a preferable technical scheme of the invention, the running wheel is sleeved with a positioning flange arranged below the power output support.
In a preferred embodiment of the present invention, the guide wheels, the track wheels, and the traveling wheels are provided with crawler belts on outer side surfaces thereof.
As a preferable technical scheme of the invention, rib plates are symmetrically arranged on the upper surface of the traveling motor support.
As a preferred technical scheme, the steering driving mechanism of the mini-tiller robot comprises a first driving motor and a second driving motor, wherein the first driving motor is connected with a first small reduction gearbox through a first motor flange, the second driving motor is connected with a second small reduction gearbox through a second motor flange, the first small reduction gearbox is connected with a first transmission shaft through a first reduction gearbox flange and a coupler, the second small reduction gearbox is connected with a second transmission shaft through a second reduction gearbox flange and a coupler, a first transmission wheel is arranged on the outer side surface of the first transmission shaft, a second transmission wheel is arranged on the outer side surface of the second transmission shaft, and shaft end fastening nuts are in threaded connection with the end portions of the first transmission shaft and the second transmission shaft.
As a preferred technical scheme of the invention, the output end of the power lithium battery is respectively and electrically connected with the input ends of the power output motor, the steering running mechanism of the mini-tiller robot, the electric control box and the hydraulic power output device.
Compared with the prior art, the invention has the beneficial effects that: this remote control formula electricelectric moves orchard track ploughs machine people a little adopts the crawler-type structure can satisfy the needs of complicated topography, great improvement the device's stationarity, greatly reduced land rate of sinking adopts the lithium cell as the power supply simultaneously, greatly reduced to the injury and the environmental pollution of fruit tree, utilize the remote control to carry out remote adjustment, realize unmanned operation, greatly reduced operator's intensity of labour.
Drawings
FIG. 1 is a schematic structural view of the present invention;
FIG. 2 is a front view of the present invention;
FIG. 3 is a schematic structural view of a chassis of the double-track type micro-tillage robot;
FIG. 4 is a front view of a chassis of the dual-track micro-tillage robot;
fig. 5 is a front view of a steering driving mechanism of the mini-tiller robot.
In the figure: 1 double-crawler-belt type micro-tillage robot chassis, 11 farm tool supports, 12 power output supports, 13 positioning flanges, 14 rib plates, 15 support connecting plates, 16 power lithium battery supports, 17 crawler belt tensioning mechanisms, 18 guide wheels, 19 crawler belts, 110 guide wheels, 111 guide wheel supports, 112 running wheels, 113 vehicle body supports, 2 micro-tillage robot steering running mechanisms, 21 shaft end fastening nuts, 22 first running motors, 23 second running motors, 24 first motor flanges, 25 first small reduction gearbox, 26 second motor flanges, 27 second small reduction gearbox, 28 first reduction gearbox flanges, 29 first shaft sleeve, 210 first transmission wheel, 211 first transmission shaft, 212 second reduction gearbox flanges, 213 second shaft sleeve, 214 second transmission wheel, 215 second transmission shaft, 3 power lithium batteries, 4 brake resistors, 5 motor drivers and 6 electric control box, 7 power output motors, 8 power output mechanisms, 9 hydraulic cylinders, 1000 hydraulic power output devices, 1100 supports and 1111 running motor supports.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, but not all of the embodiments (for convenience of description and understanding, the upper side of fig. 2 is referred to as the upper side below). All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
Referring to fig. 1-5, the present invention provides a technical solution: a remote control type pure electric orchard crawler belt micro-tillage robot comprises a double-crawler belt type micro-tillage robot chassis 1 and a steering running mechanism 2 of the micro-tillage robot, wherein the double-crawler belt type micro-tillage robot chassis 1 comprises an agricultural implement support 11, a power output support 12, a positioning flange 13, a rib plate 14, a support connecting plate 15, a power lithium battery support 16, a crawler belt tensioning mechanism 17, a guide wheel 18, a crawler belt 19, a supporting wheel 110, a supporting wheel support 111, a running wheel 112 and a vehicle body support 113, the double-crawler belt type micro-tillage robot chassis 1 comprises a vehicle body support 113, one end of the vehicle body support 113 is connected with the power lithium battery support 16 through a fastener, the other end of the vehicle body support 113 is provided with the power output support 12, agricultural implement supports 11 are symmetrically arranged on two sides of the power output support 12, the agricultural implement supports 11 play a role in supporting agricultural implements, the support connecting plate 15 is arranged on the outer side surfaces of the vehicle body support 113 and the power, the outer side surface of the support connecting plate 15 is provided with a supporting wheel support 111, the supporting wheel support 111 is hinged with a supporting wheel 110, two ends of the support connecting plate 15 are respectively provided with a guide wheel 18 and a running wheel 112, the outer side surfaces of the guide wheel 18, the supporting wheel 110 and the running wheel 112 are provided with a crawler belt 19, the running wheel 112 is sleeved with a positioning flange 13 arranged below the power output support 12, the guide wheel 18 is connected with a crawler belt tensioning mechanism 17 fixedly arranged on a vehicle body support 113, the double-crawler belt type micro-tillage robot chassis 1 is connected with a steering running mechanism 2 of the micro-tillage robot through a running motor support 1111, the steering running mechanism 2 of the micro-tillage robot comprises a first running motor 22 and a second running motor 23, the first running motor 22 is connected with a first small reduction gearbox 25 through a first motor flange 24, the second running motor 23 is connected with a second small reduction gearbox 27 through a second motor flange 26, the first small reduction gearbox 25 is connected with a first transmission shaft 211 through a first reduction gearbox flange 28 and a coupler, the second small reduction gearbox 27 is connected with a second transmission shaft 215 through a second reduction gearbox flange 212 and a coupler, a first transmission wheel 210 is arranged on the outer side surface of the first transmission shaft 211, a second transmission wheel 214 is arranged on the outer side surface of the second transmission shaft 215, shaft end fastening nuts 21 are connected with the end parts of the first transmission shaft 211 and the second transmission shaft 215 through threads, rib plates 14 are symmetrically arranged on the upper surface of the traveling motor support 1111 to improve the structural strength, a power lithium battery 3 is arranged at the other end of the double-track micro-tillage robot chassis 1, a brake resistor 4 is arranged on the upper surface of the power lithium battery 3, a motor driver 5 is arranged near one side of the brake resistor 4, an electric control box 6 is arranged near one side of the motor driver 5, and a hydraulic power output device 1000 is arranged above a steering traveling, the hydraulic power output device 1000 is connected with a hydraulic cylinder 9 arranged near one side of a steering running mechanism 2 of the mini-tiller robot through a hydraulic oil pipe, a support 1100 is arranged near one side of the hydraulic cylinder 9, the support 1100 is fixedly connected with a power output motor 7, one side of a support 11 is provided with a power output mechanism 8, the power output motor 7 is connected with the power output mechanism 8 through a speed reducer, the output end of a power lithium battery 3 is respectively connected with the power output motor 7, the steering running mechanism 2 of the mini-tiller robot, an electrical control box 6 and the input end of the hydraulic power output device 1000 are electrically connected, the device is high in stability and can be applied to various terrains, steering is convenient and flexible, and working efficiency is improved.
When in use: the external server sends a signal, the electric control box 6 receives a command, the motor driver 5 drives the first traveling motor 22 and the second traveling motor 23 to work, the driving wheel 11 works under the action of the speed reducer, and the device moves; when left steering is needed, the electric control box 6 receives an instruction, the power supply of the second driving motor 23 is disconnected, the second driving motor 23 stops working, the first driving motor 22 normally operates, the power of the first driving motor 22 is transmitted to the first small reduction gearbox 25, the first small reduction gearbox 25 transmits the power to the first transmission shaft 211 through the first reduction gearbox flange 28 and the coupling, the first transmission wheel 210 is further enabled to deflect in angle, left steering is achieved, when right steering is needed, the external electric control box 26 receives the instruction, the power supply of the first driving motor 22 is disconnected, the first driving motor 22 stops working, the second driving motor 23 normally operates, the second driving motor 23 transmits the power to the second small reduction gearbox 27, the second small reduction gearbox 27 transmits the power to the second transmission shaft 215 through the second reduction gearbox flange 212 and the coupling, and the second transmission wheel 214 deflects in angle, thereby achieving right steering.
The invention has reliable performance and reasonable structure, adopts a crawler-type structure, greatly improves the stability of the device, enables the device to be suitable for different terrains, further improves the application range of the device, adopts remote control to greatly reduce the labor intensity of a user, improves the working efficiency, realizes unmanned operation of agricultural mini-tiller robots, simultaneously adopts a lithium battery as an energy source to reduce air pollution, can also avoid tail gas of a heat engine from hurting fruit trees, and improves the practicability of the device.
Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that changes, modifications, substitutions and alterations can be made in these embodiments without departing from the principles and spirit of the invention, the scope of which is defined in the appended claims and their equivalents.
Claims (9)
1. The utility model provides a remote control formula electricelectric moves orchard track machine people that ploughs a little which characterized in that: comprises a double-crawler-belt type micro-tillage robot chassis (1) and a steering running mechanism (2) of a micro-tillage robot, wherein the double-crawler-belt type micro-tillage robot chassis (1) is connected with the steering running mechanism (2) of the micro-tillage robot through a running motor bracket (1111), a power lithium battery (3) is arranged at the other end of the double-crawler-belt type micro-tillage robot chassis (1), a brake resistor (4) is arranged on the upper surface of the power lithium battery (3), a motor driver (5) is arranged near one side of the brake resistor (4), an electric control box (6) is arranged near one side of the motor driver (5), a hydraulic power output device (1000) is placed above the steering running mechanism (2) of the micro-tillage robot through a support frame, and the hydraulic power output device (1000) is connected with a hydraulic cylinder (9) arranged near one side of the steering running mechanism (2) of the micro-tillage robot through a hydraulic, a support (1100) is arranged near one side of the hydraulic cylinder (9), the support (1100) is fixedly connected with a power output motor (7), a power output mechanism (8) is arranged at one side of the support (1100), and the power output motor (7) is connected with the power output mechanism (8) through a speed reducer.
2. The remote control type pure electric orchard crawler micro-cultivator robot as claimed in claim 1, characterized in that: the double-crawler-belt type micro-tillage robot chassis (1) comprises an agricultural implement support (11), a power output support (12), a positioning flange (13), a rib plate (14), a support connecting plate (15), a power lithium battery support (16), a crawler belt tensioning mechanism (17), a guide wheel (18), a crawler belt (19), a thrust wheel (110), a thrust wheel support (111), a driving wheel (112) and a vehicle body support (113).
3. The remote control type pure electric orchard crawler micro-cultivator robot as claimed in claim 1 or 2, characterized in that: the double-crawler-belt type micro-tillage robot chassis (1) comprises a vehicle body support (113), one end of the vehicle body support (113) is connected with a power lithium battery support (16) through a fastener, a power output support (12) is arranged at the other end of the vehicle body support (113), a support connecting plate (15) is arranged on the outer side surfaces of the vehicle body support (113) and the power lithium battery support (16), a supporting wheel support (111) is arranged on the outer side surface of the support connecting plate (15), a supporting wheel support (110) is hinged to the supporting wheel support (111), guide wheels (18) and traveling wheels (112) are respectively arranged at two ends of the support connecting plate (15), and the guide wheels (18) are connected with crawler tensioning mechanisms (17) fixedly arranged on the vehicle body support (113).
4. The remote control type pure electric orchard crawler micro-cultivator robot as claimed in claim 2 or 3, characterized in that: agricultural implement supports (11) are symmetrically arranged on two sides of the power output support (12).
5. The remote control type pure electric orchard crawler micro-cultivator robot as claimed in claim 2 or 3, characterized in that: the running wheel (112) is sleeved with a positioning flange (13) arranged below the power output support (12).
6. The remote control type pure electric orchard crawler micro-cultivator robot as claimed in claim 2 or 3, characterized in that: and the outer side surfaces of the guide wheels (18), the thrust wheels (110) and the running wheels (112) are provided with crawler belts (19).
7. The remote control type pure electric orchard crawler micro-cultivator robot as claimed in claim 2 or 3, characterized in that: rib plates (14) are symmetrically arranged on the upper surface of the traveling motor support (1111).
8. The remote control type pure electric orchard crawler micro-cultivator robot as claimed in claim 1, characterized in that: the steering driving mechanism (2) of the mini-tiller robot comprises a first driving motor (22) and a second driving motor (23), wherein the first driving motor (22) is connected with a first small reduction gearbox (25) through a first motor flange (24), the second driving motor (23) is connected with a second small reduction gearbox (27) through a second motor flange (26), the first small reduction gearbox (25) is connected with the first transmission shaft (211) through a first reduction gearbox flange (28) and a coupling, the second small reduction gearbox (27) is connected with a second transmission shaft (215) through a second reduction gearbox flange (212) and a coupler, a first transmission wheel (210) is arranged on the outer side face of the first transmission shaft (211), a second transmission wheel (214) is arranged on the outer side face of the second transmission shaft (215), and shaft end fastening nuts (21) are connected to end portions of the first transmission shaft (211) and the second transmission shaft (215) in a threaded mode.
9. The remote control type pure electric orchard crawler micro-cultivator robot as claimed in claim 1, characterized in that: the output end of the power lithium battery (3) is respectively electrically connected with the power output motor (7), the steering running mechanism (2) of the mini-tiller robot, the electric control box (6) and the input end of the hydraulic power output device (1000).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201911286670.3A CN110893887A (en) | 2019-12-14 | 2019-12-14 | Remote control type pure electric orchard crawler micro-cultivator robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201911286670.3A CN110893887A (en) | 2019-12-14 | 2019-12-14 | Remote control type pure electric orchard crawler micro-cultivator robot |
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| CN110893887A true CN110893887A (en) | 2020-03-20 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201911286670.3A Pending CN110893887A (en) | 2019-12-14 | 2019-12-14 | Remote control type pure electric orchard crawler micro-cultivator robot |
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| CN (1) | CN110893887A (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114953956A (en) * | 2022-05-24 | 2022-08-30 | 宁波送变电建设有限公司 | A crawler vehicle chassis system controlled by electric deceleration and double drive |
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| CN102017831A (en) * | 2010-08-14 | 2011-04-20 | 山西卓里集团有限公司 | Minitype remote-control chain-type tractor |
| CN102450120A (en) * | 2010-10-20 | 2012-05-16 | 山东常林机械集团股份有限公司 | Crawler-type field management machine |
| CN109229220A (en) * | 2018-10-11 | 2019-01-18 | 南京农业大学 | A kind of industrialized agriculture crawler type pure electric vehicle |
| CN110063097A (en) * | 2019-04-09 | 2019-07-30 | 丰疆智能科技股份有限公司 | Crawler belt type miniature ploughing machine and its arable land method |
| CN211809925U (en) * | 2019-12-14 | 2020-10-30 | 洛阳智能农业装备研究院有限公司 | Remote control type pure electric orchard crawler micro-cultivator robot |
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2019
- 2019-12-14 CN CN201911286670.3A patent/CN110893887A/en active Pending
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
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| JP2003320052A (en) * | 2002-04-30 | 2003-11-11 | Mitsubishi Heavy Ind Ltd | Fire-extinguishing appliance |
| CN102017831A (en) * | 2010-08-14 | 2011-04-20 | 山西卓里集团有限公司 | Minitype remote-control chain-type tractor |
| CN102450120A (en) * | 2010-10-20 | 2012-05-16 | 山东常林机械集团股份有限公司 | Crawler-type field management machine |
| CN109229220A (en) * | 2018-10-11 | 2019-01-18 | 南京农业大学 | A kind of industrialized agriculture crawler type pure electric vehicle |
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| CN114953956A (en) * | 2022-05-24 | 2022-08-30 | 宁波送变电建设有限公司 | A crawler vehicle chassis system controlled by electric deceleration and double drive |
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