CN112078657A - Agricultural machine and automatic steering device and automatic steering method thereof - Google Patents

Agricultural machine and automatic steering device and automatic steering method thereof Download PDF

Info

Publication number
CN112078657A
CN112078657A CN201910518536.5A CN201910518536A CN112078657A CN 112078657 A CN112078657 A CN 112078657A CN 201910518536 A CN201910518536 A CN 201910518536A CN 112078657 A CN112078657 A CN 112078657A
Authority
CN
China
Prior art keywords
axle steering
front axle
rear axle
steering arm
axle
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Pending
Application number
CN201910518536.5A
Other languages
Chinese (zh)
Inventor
王佳斌
张剑
吴迪
姚远
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
FJ Dynamics Technology Co Ltd
Original Assignee
FJ Dynamics Technology Co Ltd
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by FJ Dynamics Technology Co Ltd filed Critical FJ Dynamics Technology Co Ltd
Priority to CN201910518536.5A priority Critical patent/CN112078657A/en
Publication of CN112078657A publication Critical patent/CN112078657A/en
Pending legal-status Critical Current

Links

Images

Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62D—MOTOR VEHICLES; TRAILERS
    • B62D5/00—Power-assisted or power-driven steering
    • B62D5/04—Power-assisted or power-driven steering electrical, e.g. using an electric servo-motor connected to, or forming part of, the steering gear
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • 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
    • B62D11/10—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 using gearings with differential power outputs on opposite sides, e.g. twin-differential or epicyclic gears
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62D—MOTOR VEHICLES; TRAILERS
    • B62D3/00—Steering gears
    • B62D3/02—Steering gears mechanical

Abstract

The invention discloses an agricultural machine, an automatic steering device and an automatic steering method thereof, wherein the agricultural machine comprises a frame body and a pair of front axles, the front axle comprises a front axle high end part and a front axle low end part which is rotatably arranged at the front axle high end part, the front axle high end part is arranged at the side part of the front end part of the stander body, wherein the automatic steering device comprises a driving motor, a driving disk which is arranged on the driving motor in a driving way, and two front axle steering mechanisms of the automatic steering device, the drive motor is mounted to the frame body, the front axle steering mechanism includes a first front axle steering arm and a second front axle steering arm pivotally mounted to the first front axle steering arm, the mounting end of the first front axle steering arm is rotatably mounted to the drive plate, and the mounting end of the second front axle steering arm is mounted to the forward low end.

Description

Agricultural machine and automatic steering device and automatic steering method thereof
Technical Field
The invention relates to an agricultural machine, in particular to an agricultural machine and an automatic steering device and an automatic steering method thereof.
Background
Agricultural machinery is a working device widely used in agricultural production, such as but not limited to rice transplanter, tiller, plant protection machine, etc., and the advent of agricultural machinery has greatly improved agricultural production efficiency and reduced labor intensity, and has prompted rapid progress of agricultural production toward mechanization and modernization. In recent years, with the rapid development of scientific technology, especially the rapid development of sensing technology and positioning technology, the development of automated agricultural machinery has been proposed on a routine basis. Different from the existing agricultural machinery, the automatic agricultural machinery based on sensing technology and positioning technology is expected to realize unmanned driving and operation so as to further improve the agricultural production efficiency and reduce the labor intensity. Currently, there is an auxiliary steering apparatus in the market, which includes a main body portion and an operating portion that is drivably connected to the main body portion, wherein the main body portion of the auxiliary steering apparatus is mounted to an agricultural machine, and the operating portion is mounted to a steering control mechanism such as a steering wheel or an armrest of the agricultural machine, and the main body portion is capable of driving the operating portion to further control the steering control mechanism of the agricultural machine, thereby achieving steering of the agricultural machine. That is, the auxiliary steering device needs to be installed on the agricultural machine by means of refitting, and the refitting needs to involve refitting of the circuit part of the agricultural machine, so that the safety of the refitted agricultural machine cannot be guaranteed. In addition, the steering control mechanism of the agricultural machine is generally a circular steering wheel, and such a structure of the steering wheel results in that the reliability of the fixed relationship between the operating portion of the auxiliary steering device and the steering wheel cannot be effectively ensured, and in case of occurrence of a "slip" phenomenon between the operating portion of the auxiliary steering device and the steering wheel, that is, a relative slip phenomenon between the operating portion of the auxiliary steering device and the steering wheel, it is likely to result in steering failure to affect the safety of the agricultural machine.
Disclosure of Invention
An object of the present invention is to provide an agricultural machine, an automatic steering apparatus and an automatic steering method thereof, wherein the agricultural machine can realize automatic steering to improve the automation level of the agricultural machine.
An object of the present invention is to provide an agricultural machine, an automatic steering apparatus and an automatic steering method thereof, wherein the agricultural machine provides an automatic steering apparatus capable of controlling at least one pair of front wheels to steer relative to a frame body of the agricultural machine, thereby achieving automatic steering of the agricultural machine.
An object of the present invention is to provide an agricultural machine, and an automatic steering apparatus and an automatic steering method thereof, wherein the automatic steering apparatus is capable of controlling a differential speed of a pair of rear wheels to control the pair of rear wheels to steer relative to the frame body of the agricultural machine, thereby achieving automatic steering of the agricultural machine.
An object of the present invention is to provide an agricultural machine, an automatic steering device and an automatic steering method thereof, wherein the automatic steering device is capable of controlling a differential speed of a pair of rear wheels to steer a pair of rear wheels relative to a frame body while controlling the pair of front wheels to steer relative to the frame body, in such a manner that a turning radius of the agricultural machine can be reduced.
An object of the present invention is to provide an agricultural machine, and an automatic steering apparatus and an automatic steering method thereof, wherein the automatic steering apparatus provides a driving motor, a driving disk drivably mounted on the driving motor, and two front axle steering mechanisms, wherein one end of each front axle steering mechanism is rotatably mounted on the driving disk, and the other end is mounted on a front axle lower end of a front axle of the agricultural machine, so that when the driving disk is driven by the driving motor to rotate, the driving disk can drive the front axle lower end of the front axle to rotate relative to a front axle higher end of the front axle through the front axle steering mechanism, thereby achieving steering of the front wheels.
An object of the present invention is to provide an agricultural machine, an automatic steering apparatus and an automatic steering method thereof, wherein the automatic steering apparatus provides two rear axle steering mechanisms, one end of each of the rear axle steering mechanisms is rotatably mounted to a driving disk, and the other end is mounted to a power distribution mechanism of the agricultural machine, so that when the driving motor drives the driving disk to rotate, the driving disk can cut off power transmitted from the power distribution mechanism to the rear wheels through the rear axle driving mechanism, so as to realize differential speed of a pair of the rear wheels, thereby realizing steering of the rear wheels.
An object of the present invention is to provide an agricultural machine, and an automatic steering apparatus and an automatic steering method thereof, in which a steering angle of the agricultural machine can be controlled to accurately control a traveling path of the agricultural machine.
In accordance with one aspect of the present invention, there is provided an automatic steering apparatus of an agricultural machine, wherein the agricultural machine includes a frame body and a pair of front axles, each of the front axles includes a front axle high end portion and a front axle low end portion rotatably disposed at a lower portion of the front axle high end portion, and the front axle high end portions of each of the front axles are symmetrically mounted to opposite sides of a front end portion of the frame body with respect to each other, wherein the automatic steering apparatus includes:
a driving motor, wherein the driving motor is disposed on the rack body;
a drive plate, wherein said drive plate is drivably mounted to said drive motor; and
two front axle steering mechanisms, wherein each of said front axle steering mechanisms respectively comprises a first front axle steering arm and a second front axle steering arm pivotally mounted to said first front axle steering arm, wherein the mounting ends of said first front axle steering arms of each of said front axle steering mechanisms are symmetrically and rotatably mounted to each other to said drive plate, and the mounting end of said second front axle steering arm of each of said front axle steering mechanisms is mounted to said front axle lower end of each of said front axles.
According to an embodiment of the present invention, the driving motor is mounted to the housing body from top to bottom to allow the driving disc to be held in a lower space of the housing body.
According to an embodiment of the present invention, the agricultural machine includes a power distribution mechanism including a distribution portion and two power distribution output shafts, each of the power distribution output shafts being detachably provided to a side portion of the distribution portion, wherein the automatic steering device further comprises two rear axle steering mechanisms, each of the rear axle steering mechanisms respectively comprises a first rear axle steering arm, a second rear axle steering arm, a third rear axle steering arm and a fourth rear axle steering arm, both ends of the first rear axle steering arm are rotatably mounted to one end of the drive disc and one end of the second rear axle steering arm, respectively, both ends of the third rear axle steering arm are rotatably mounted to the other end of the second rear axle steering arm and one end of the fourth rear axle steering arm, respectively, the other end portion of the fourth rear axle steering arm is rotatably mounted to the power distribution output shaft.
According to an embodiment of the present invention, the power distribution mechanism includes a power distribution case having a housing space, an output shaft passage and an arm passage respectively communicating with the housing space at both ends of the power distribution case, the distribution portion is rotatably held in the housing space, the power distribution output shaft extends from the housing space to the outside through the output shaft passage, and the fourth rear axle steering arm extends from the outside to the housing space through the arm passage.
According to an embodiment of the present invention, the first front-axle steering arms of each of the front-axle steering mechanisms are mounted on both sides of the front portion of the drive plate symmetrically with each other, and the first rear-axle steering arms of each of the rear-axle steering mechanisms are mounted on both sides of the rear portion of the drive plate symmetrically with each other.
According to one embodiment of the invention, the distance between the ends of the second rear-axle steering arms of the two rear-axle steering mechanisms connected to the first rear-axle steering arm is greater than the distance between the ends of the second rear-axle steering arms connected to the third rear-axle steering arm.
According to another aspect of the present invention, there is further provided an agricultural machine comprising:
a running gear including a pair of front wheels and a pair of rear wheels;
a power plant including a power mechanism and a transmission driveably connected to the power mechanism, wherein the transmission has a pair of transmission output shafts;
a frame device including a frame body, a pair of front axles, and a pair of rear axles, wherein each of the front axles respectively includes a front axle high end portion, a front axle low end portion, and a front axle transmitting portion, the front axle high end portion of each of the front axles respectively being mounted to both sides of the front end portion of the frame body symmetrically to each other, the front axle low end portion being rotatably held at a lower portion of the front axle high end portion, the front axle transmitting portion being rotatably held inside the front axle high end portion and inside the front axle low end portion, and the front axle transmitting portion extending to an outside of the front axle low end portion, the front wheels being mounted to the front axle transmitting portion, wherein each of the rear axles respectively being disposed to both sides of the rear end portion of the frame body symmetrically to each other, the rear wheels being disposed to the rear axles wherein the transmission case is disposed to the frame body in such a manner as to be held between a pair of the front axles, and each said gearbox output shaft of said gearbox extends towards each said front axle respectively to be connected to said front axle transfer portion; and
an automatic steering apparatus comprising a driving motor, a driving disc, and two front axle steering mechanisms, wherein said driving motor is disposed on said frame body, said driving disc is drivably mounted to said driving motor, each of said front axle steering mechanisms comprises a first front axle steering arm and a second front axle steering arm pivotally mounted to said first front axle steering arm, wherein a mounting end of said first front axle steering arm of each of said front axle steering mechanisms is mutually symmetrically and rotatably mounted to said driving disc, and a mounting end of said second front axle steering arm of each of said front axle steering mechanisms is mounted to said front axle lower end of each of said front axles.
According to an embodiment of the present invention, the front axle transmitting portion includes a front axle high end transmitting portion extending from the front axle high end portion to the front axle low end portion in such a manner as to be rotatably held inside the front axle high end portion and inside the front axle low end portion, the transmission output shaft of the transmission is connected to the front axle high end transmitting portion, the front axle low end transmitting portion is engaged with the front axle high end transmitting portion inside the front axle low end portion, and the front axle low end transmitting portion extends to outside the front axle low end portion, the front wheels being mounted to the front axle low end transmitting portion.
According to an embodiment of the present invention, the driving motor is mounted to the housing body from top to bottom to allow the driving disc to be held in a lower space of the housing body.
According to one embodiment of the present invention, a pair of the rear axles respectively include a rear axle main body and a rear axle transmitting portion, the high end of the rear axle main body is mounted on the side part of the rear end part of the frame body, the rear axle transmission part is rotatably held in the rear axle main body, and the rear axle transmitting part extends from a lower end of the rear axle main body to an outside of the rear axle main body, the rear wheel being mounted to the rear axle transmitting part, wherein the power device comprises a power transmission mechanism and a power distribution mechanism, the power distribution mechanism further comprises a distribution part and two power distribution output shafts, the distribution portion is held between a pair of the rear axles, each of the power distribution output shafts extends from the distribution portion to and is connected to the rear axle transmission portion, respectively, and both ends of the power transmission mechanism are connected to the transmission case and the distribution portion, respectively.
According to an embodiment of the invention, the power distribution output shaft is detachably mounted to the distribution portion.
According to an embodiment of the present invention, the automatic steering apparatus further includes two rear axle steering mechanisms, each of the rear axle steering mechanisms includes a first rear axle steering arm, a second rear axle steering arm, a third rear axle steering arm, and a fourth rear axle steering arm, both ends of the first rear axle steering arm are rotatably mounted to one end portions of the drive disc and the second rear axle steering arm, respectively, both ends of the third rear axle steering arm are rotatably mounted to the other end portion of the second rear axle steering arm and one end portion of the fourth rear axle steering arm, respectively, and the other end portion of the fourth rear axle steering arm is rotatably mounted to the power distribution output shaft.
According to an embodiment of the present invention, the power distribution mechanism includes a power distribution case having a housing space, an output shaft passage and an arm passage respectively communicating with the housing space at both ends of the power distribution case, the distribution portion is rotatably held in the housing space, the power distribution output shaft extends from the housing space to the outside through the output shaft passage, and the fourth rear axle steering arm extends from the outside to the housing space through the arm passage.
According to an embodiment of the present invention, the first front-axle steering arms of each of the front-axle steering mechanisms are mounted on both sides of the front portion of the drive plate symmetrically with each other, and the first rear-axle steering arms of each of the rear-axle steering mechanisms are mounted on both sides of the rear portion of the drive plate symmetrically with each other.
According to one embodiment of the invention, the distance between the ends of the second rear-axle steering arms of the two rear-axle steering mechanisms connected to the first rear-axle steering arm is greater than the distance between the ends of the second rear-axle steering arms connected to the third rear-axle steering arm.
According to another aspect of the present invention, there is further provided an automatic steering method of an agricultural machine, wherein the automatic steering method comprises the steps of:
(a) driving a driving disc to rotate;
(b) the driving disc drives a first front axle steering arm of a front axle steering mechanism to rotate relative to the driving disc and drives a second front axle steering arm of the front axle steering mechanism to rotate relative to the first front axle steering arm so as to pull a front axle low end part of a front axle to rotate relative to a front axle high end part; and
(c) the driving disc drives the first front axle steering arm of the other front axle steering mechanism to rotate relative to the driving disc and drives the second front axle steering arm of the front axle steering mechanism to rotate relative to the first front axle steering arm so as to push the lower end part of the front axle of the other front axle to rotate relative to the higher end part of the front axle.
According to an embodiment of the invention, the automatic steering method further comprises the steps of:
(d) the driving disc cuts off the power output of a power distribution mechanism to a rear axle transmission part of a rear axle in a mode that a first rear axle steering arm, a second rear axle steering arm, a third rear axle steering arm and a fourth rear axle steering arm of the rear axle steering mechanism are driven to rotate cooperatively; and the drive disk maintains the power output of the power distribution mechanism to the rear axle transmission portion of the other rear axle by maintaining the first rear axle steering arm, the second rear axle steering arm, the third rear axle steering arm, and the fourth rear axle steering arm of the other rear axle steering mechanism to rotate in unison.
According to an embodiment of the present invention, the step (b), the step (c) and the step (d) are performed synchronously, so that the driving disc drives two front axle steering mechanisms and two rear axle steering mechanisms simultaneously.
Drawings
Fig. 1 shows a perspective view of an agricultural machine according to a preferred embodiment of the present invention.
Fig. 2A and 2B show the disassembled state of the agricultural machine according to the above preferred embodiment of the present invention, respectively.
Fig. 3A and 3B are perspective views showing an automatic steering apparatus of an agricultural machine according to the above preferred embodiment of the present invention.
Fig. 4A and 4B show a partial state of the agricultural machine according to the above-described preferred embodiment of the present invention when the agricultural machine is driven straight, from different perspectives, respectively.
Fig. 5 shows a state of a power distribution mechanism of the agricultural machine according to the above preferred embodiment of the present invention when the agricultural machine is driven in a left turn.
Fig. 6A and 6B show a partial state of the agricultural machine according to the above-described preferred embodiment of the present invention when the agricultural machine is driven in a left turn, from different perspectives, respectively.
Fig. 7 shows the state of the power split mechanism of the agricultural machine according to the above preferred embodiment of the present invention when the agricultural machine is running in a left turn.
Fig. 8A and 8B are views showing a partial state of the agricultural machine according to the above-described preferred embodiment of the present invention when driving in a right turn, respectively, from different perspectives.
Fig. 9 shows the state of the power split mechanism of the agricultural machine according to the above preferred embodiment of the present invention when the agricultural machine is running in a left turn.
Detailed Description
The following description is presented to disclose the invention so as to enable any person skilled in the art to practice the invention. The preferred embodiments in the following description are given by way of example only, and other obvious variations will occur to those skilled in the art. The basic principles of the invention, as defined in the following description, may be applied to other embodiments, variations, modifications, equivalents, and other technical solutions without departing from the spirit and scope of the invention.
It will be understood by those skilled in the art that in the present disclosure, the terms "longitudinal," "lateral," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," and the like are used in an orientation or positional relationship indicated in the drawings for ease of description and simplicity of description, and do not indicate or imply that the referenced devices or components must be constructed and operated in a particular orientation and thus are not to be considered limiting.
It is understood that the terms "a" and "an" should be interpreted as meaning that a number of one element or element is one in one embodiment, while a number of other elements is one in another embodiment, and the terms "a" and "an" should not be interpreted as limiting the number.
Referring to fig. 1 to 9 of the drawings accompanying the present specification, an agricultural machine including a frame device 10, a power device 20 and a traveling device 30 according to a preferred embodiment of the present invention is disclosed and illustrated in the following description.
Specifically, the rack device 10 includes a rack body 11, a pair of front axles 12, and a pair of rear axles 13, wherein the rack body 11 has a front end 111 and a rear end 112 corresponding to the front end 111, wherein the pair of front axles 12 are symmetrically disposed to each other on the rack body 11, and the pair of front axles 12 are held at the front end 111 of the rack body 11, and accordingly, the pair of rear axles 13 are symmetrically disposed to each other on the rack body 11, and the pair of rear axles 13 are held at the rear end 112 of the rack body 11. The power unit 20 is mounted to the housing body 11 to be supported by the housing body 11. The running gear 30 includes a pair of front wheels 31 and a pair of rear wheels 32, wherein the pair of front wheels 31 are respectively provided to the pair of front axles 12 such that the pair of front wheels 31 are symmetrically held to each other on both sides of the front end portion 111 of the frame body 11, and correspondingly, the pair of rear wheels 32 are respectively provided to the pair of rear axles 13 such that the pair of rear wheels 32 are symmetrically held to each other on both sides of the rear end portion 112 of the frame body 11. The power output from the power unit 20 can be transmitted to a pair of front wheels 31 through a pair of front axles 12 to drive a pair of front wheels 31 to rotate, and can be transmitted to a pair of rear wheels 32 through a pair of rear axles 13 to drive a pair of rear wheels 32 to rotate, so that the pair of front wheels 31 and the pair of rear wheels 32 can drive the agricultural machine to walk. For example, when the power output from the power unit 20 is transmitted to a pair of the front wheels 31 through a pair of the front axles 12 and to a pair of the rear wheels 32 through a pair of the rear axles 13, the pair of the front wheels 31 and the pair of the rear wheels 32 can propel the agricultural machine forward, backward, turn, and the like.
More specifically, the power device 20 includes a power mechanism 21, a transmission 22, a power transmission mechanism 23, and a power distribution mechanism 24. The transmission case 22 is mounted to the frame body 11, and the transmission case 22 is held between a pair of the front axles 12, wherein the transmission case 22 has two transmission case output shafts 221, each of the transmission case output shafts 221 extends toward each of the front axles 12 at the front end portion 111 of the frame body 11 and is connected to each of the front axles 12 to output power to each of the front axles 12 in a rotating manner, and the power is transmitted to each of the front wheels 31 via each of the front axles 12 to drive each of the front wheels 31 to rotate. The power distribution mechanism 24 is mounted to the frame body 11, and the power distribution mechanism 24 is held between a pair of the rear axles 13, wherein the power distribution mechanism 24 has two power distribution output shafts 241, each of the power distribution output shafts 241 extends toward each of the rear axles 13 located at the rear end portion 112 of the frame body 11 and is connected to each of the rear axles 13 to output power to each of the rear axles 13 in a rotating manner, and the power is transmitted to each of the rear wheels 32 via each of the rear axles 13 to drive each of the rear wheels 32 to rotate. The power transmission mechanism 23 is provided to connect the transmission case 23 and the power distribution mechanism 24 to transmit the power output from the transmission case 22 to the power distribution mechanism 24. The power mechanism 21 is mounted to the housing body 11, wherein the gear box 22 is drivably connected to the power mechanism 21. When the power mechanism 21 outputs power to the transmission case 22, the two transmission case output shafts 221 of the transmission case 22 can rotate to output power to each front axle 12, the power transmission mechanism 23 can transmit the power output by the transmission case 22 to the power distribution mechanism 24, and the two power distribution output shafts 241 of the power distribution mechanism 24 can rotate to output power to each rear axle 13.
It should be noted that in the preferred example of the agricultural machine shown in fig. 1 to 9, a pair of the front wheels 31 and a pair of the rear wheels 32 of the agricultural machine are both driving wheels, so that the power output from the transmission case 22 can be directly transmitted to each of the front wheels 31 through each of the front axles 12 to drive each of the front wheels 31 to rotate, and the power output from the transmission case 22 is transmitted to the power distribution mechanism 24 through the power transmission mechanism 23 and then indirectly transmitted to each of the rear wheels 32 through the power distribution mechanism 24 to drive each of the rear wheels 32 to rotate, thereby driving the agricultural machine to walk. Alternatively, in another example of the agricultural machine of the present invention, the pair of front wheels 31 of the agricultural machine are driving wheels, so that the power unit 20 of the agricultural machine may not need to be provided with the power transmission mechanism 23 and the power splitting mechanism 24, that is, each front wheel 31 can propel the agricultural machine when the power output from the transmission case 22 is transmitted to each front wheel 31 via each front axle 12 to drive each front wheel 31 to rotate.
It is also worth mentioning that the type of the power mechanism 21 is not limited in the agricultural machine of the present invention, for example, the power mechanism 21 may be, but not limited to, an internal combustion engine, an electric motor. For example, in the preferred example of the agricultural machine of the present invention shown in fig. 1 to 9, the power mechanism 21 is an internal combustion engine, so that the power device 20 further includes a fuel tank 25 for containing chemical fuel (such as gasoline, diesel oil, etc.), wherein the power mechanism 21 is connected to the fuel tank 25 to provide power by burning the chemical fuel contained in the fuel tank 25.
Further, referring to fig. 1 and 2A, the agricultural machine includes a mounting bracket 200, the mounting bracket 200 is mounted to the rear end 112 of the frame body 11, wherein a functional component can be mounted to the mounting bracket 200, for example, the functional component can be, but is not limited to, a seedling transplanting mechanism, so that the agricultural machine has a seedling transplanting function after the seedling transplanting mechanism is mounted to the mounting bracket 200. Preferably, referring to fig. 2B, the agricultural machine further includes a functional component output shaft 300, the functional component output shaft 300 is drivably connected to the transmission case 22 and extends from the transmission case 22 toward the rear end 112 of the frame body 11, and when the functional component is mounted on the mounting bracket 200, the functional component output shaft 300 can be mounted on the functional component to transmit the power output from the transmission case 22 to the functional component. In addition, the agricultural machine further includes a housing 400, and the housing 400 is mounted to the frame body 11 to form an integral appearance of the agricultural machine.
With continued reference to fig. 1 to 9, in this preferred example of the agricultural machine of the present invention, each of the front axles 12 includes a front axle high end 121, a front axle low end 122, and a front axle transfer portion 123. The front-axle high end 121 of each front axle 12 is mounted to a side portion of the front end 111 of the frame body 11. The front axle low end portion 122 of each front axle 12 is rotatably held at a lower portion of the front axle high end portion 121 of each front axle 12, respectively, so as to allow the front axle low end portion 122 to rotate relative to the front axle high end portion 121. The front axle transmitting portion 123 of each front axle 12 further includes a front axle high-end transmitting portion 1231 and a front axle low-end transmitting portion 1232, respectively, wherein the front axle high-end transmitting portion 1231 extends from the front axle high-end portion 121 to the front axle low-end portion 122 in such a manner as to be rotatably held inside the front axle high-end portion 121 and inside the front axle low-end portion 122, such that the front axle high-end transmitting portion 1231 enables the front axle low-end portion 122 to be securely held at a lower portion of the front axle high-end portion 121, and the front axle high-end transmitting portion 1231 is drivably connected to the transmission case output shaft 221 of the transmission case 22, wherein the front axle low-end transmitting portion 1232 extends from inside to outside of the front axle low-end portion 122, and the front axle low-end transmitting portion 1232 and the front axle high-end transmitting portion 1231 are engaged with each other inside the front axle low-end portion 122, the front wheel 31 is mounted on the front axle lower end transmission part 1232, so that when the front axle lower end part 122 is driven to rotate relative to the front axle upper end part 121, the front axle lower end part 122 drives the front wheel 31 to rotate synchronously and at the same amplitude to realize the steering of the front wheel 31. The power output from the gearbox 22 can be transmitted to the front wheels 31 through the power output shaft 221 of the gearbox 22 and the front axle high end transmission part 1231 and the front axle low end transmission part 1232 of the front axle 12 in sequence to drive the front wheels 31 to rotate, so that the rotation of the front wheels 31 drives the agricultural machine to walk.
Preferably, the gearbox output shaft 221 of the gearbox 22 extends inwardly of the front axle high end portion 121 of the front axle 12, such that the front axle high end transmission portion 1231 is drivably connected to the gearbox output shaft 221 in a manner that allows the front axle high end transmission portion 1231 and the gearbox output shaft 221 to intermesh within the front axle high end portion 121. More preferably, the front axle high end portion 121 of the front axle 12 is mounted to the transmission case 22, so that stability and reliability of the structural relationship of the front axle 12 and the transmission case 22 can be ensured. For example, the front axle high end portion 121 of the front axle 12 is mounted to a transmission housing of the transmission 22 to allow the transmission output shaft 221 of the transmission 22 to extend inside the front axle high end portion 121 of the front axle 12 while allowing the front axle high end transmission portion 1231 and the transmission output shaft 221 to mesh with each other inside the front axle high end portion 121.
With continued reference to fig. 1-9, each of the rear axles 13 includes a rear axle body 131 and a rear axle transfer portion 132. The high end of the rear axle main body 131 of each rear axle 13 is mounted on the side of the rear end 112 of the housing body 11. The rear axle transmitting portion 132 of each rear axle 13 further includes a rear axle high-end transmitting portion 1321 and a rear axle low-end transmitting portion 1322 engaged with the rear axle high-end transmitting portion 1321, respectively, wherein the rear axle high-end transmitting portion 1321 is rotatably held inside the rear axle main body 131, and the rear axle high-end transmitting portion 1231 is drivably connected to the power distribution output shaft 241 of the power distribution mechanism 24, the rear axle low-end transmitting portion 1322 extends from the inside to the outside of the rear axle main body 131, wherein the rear wheel 32 is mounted to the rear axle low-end transmitting portion 1322. The power output from the power distribution output shaft 241 of the power distribution mechanism 24 is transmitted to the rear wheel 32 through the rear axle high end transmission portion 1321 and the rear axle low end transmission portion 1322 in this order, so as to drive the rear wheel 32 to rotate, and thus the rotation of the rear wheel 32 drives the agricultural machine to travel.
Preferably, the power distribution output shaft 241 of the power distribution mechanism 24 extends to the inside of the rear axle main body 131 of the rear axle 13, and the rear axle high end transmission portion 1321 is drivably connected to the power distribution output shaft 241 in such a manner as to allow the rear axle high end transmission portion 1321 and the power distribution output shaft 241 to mesh with each other inside the rear axle main body 131. More preferably, the rear axle main body 131 of the rear axle 13 is mounted to the power distribution mechanism 24, so that the reliability and stability of the structural relationship of the rear axle 13 and the power distribution mechanism 24 can be ensured. For example, the rear axle body 131 of the rear axle 13 is mounted to the power distribution mechanism 24 to allow the power distribution output shaft 241 of the power distribution mechanism 24 to extend to the inside of the rear axle body 131 of the rear axle 13 while allowing the rear axle high end transmission portion 1321 and the power distribution output shaft 241 to mesh with each other inside the rear axle body 131.
With continued reference to fig. 1-9, the agricultural machine further includes an automatic steering device 40, wherein the automatic steering device 40 is capable of controlling at least one pair of the front wheels 31 to steer the agricultural machine. For example, the automatic steering device 40 can steer the front wheels 31 by controlling the front axle low end portion 122 of the front axle 12 to rotate relative to the front axle high end portion 121. For example, when the agricultural machine generates a steering signal, the automatic steering device 40 can drive the front axle low end 122 of the front axle 12 to rotate relative to the front axle high end 121 based on the steering signal to control the front wheels 31 to steer, so as to achieve automatic steering of the agricultural machine.
Specifically, referring to fig. 3A and 3B, the automatic steering device 40 includes a driving motor 41, a driving disk 42 and two front axle steering mechanisms 43, wherein the driving motor 41 is mounted on the frame body 11, the driving disk 42 is drivably mounted on the driving motor 41, one end of each front axle steering mechanism 43 is rotatably mounted on the driving disk 42, and the other end of each front axle steering mechanism 43 is mounted on the front axle lower end 122 of each front axle 12, so that when the driving disk 42 is driven by the driving motor 41 to rotate, the driving disk 42 can drive each front axle steering mechanism 43 to rotate, so as to pull the front axle lower end 122 of one front axle 12 to rotate relative to the front axle higher end 121 by one front axle steering mechanism 43, and pushing the front axle low end part 122 of the other front axle 12 to rotate relative to the front axle high end part 121 by the other front axle steering mechanism 43, so that when the front axle low end part 122 rotates relative to the front axle high end part 121, the front wheels 31 are driven by the front axle low end part 122 to steer relative to the frame body 11, so as to steer the agricultural machine.
For example, when the agricultural machine generates the steering signal, the driving motor 41 can be powered (the driving motor 41 can operate) and controlled (the operation mode of the driving motor 41 is controlled, such as the rotation speed and the rotation amplitude are controlled) to drive the driving disk 42 to rotate, so that the driving disk 42 drives each front axle steering mechanism 43 when rotating, so that one front axle steering mechanism 43 pulls the front axle low end portion 122 of one front axle 12 to rotate relative to the front axle high end portion 121, and the other front axle steering mechanism 43 pushes the front axle low end portion 122 of the other front axle 12 to rotate relative to the front axle high end portion 121.
It should be noted that the manner in which the agricultural machine generates the turn signal is not limited in the present disclosure, e.g., the agricultural machine provides a controller and a positioning device communicatively coupled to the controller, and other mechanisms of the agricultural machine are each controllably coupled to the controller. In the process that the controller controls the agricultural machine to walk according to the predetermined path, the positioning device provides the current position of the agricultural machine in real time, the controller can judge whether the agricultural machine needs to turn according to the current position of the agricultural machine provided by the positioning device and the predetermined path, and if the controller judges that the agricultural machine needs to turn, the controller can generate the turning signal so as to control power supply to the driving motor 41 and control the working mode of the driving motor 41 based on the turning signal subsequently.
Preferably, the distance between the driving motor 41 and one of the front axles 12 is the same as the distance between the driving motor 41 and the other front axle 12, so that the two front axle steering mechanisms 43 are symmetrical to each other. More preferably, the distance between the drive disk 42 and the front axle 12 is smaller than the distance between the drive disk 42 and the rear axle 13, so that the drive disk 42 is close to the front axle 12, thus enabling the steering flexibility of the agricultural machine to be improved.
Preferably, in this specific example of the agricultural machine shown in fig. 1 to 9, the drive motor 41 is mounted to the frame body 11 from top to bottom, and the rotor of the drive motor 41 extends to the lower space of the frame body 11 body, so that the drive disk 42 drivably mounted to the rotor of the drive motor 41 is held in the lower space of the frame body 11, in such a manner that the structure of the agricultural machine can be made more compact.
With continued reference to fig. 3A and 3B, each of the front axle steering mechanisms 43 includes a first front axle steering arm 431 and a second front axle steering arm 432 pivotally mounted to an end of the first front axle steering arm 431 such that the second front axle steering arm 432 is rotatably mounted to the first front axle steering arm 431. Preferably, the first front axle steering arm 431 and the second front axle steering arm 432 of the front axle steering mechanism 43 can only rotate in one plane of rotation, so that the manner of rotation of the first front axle steering arm 431 and the second front axle steering arm 432 is limited. It is understood that the first front axle steering arm 431 and the second front axle steering arm 432 of the front axle steering mechanism 43 respectively have a pivot end and a mounting end corresponding to the pivot end, wherein the mounting end of the first front axle steering arm 431 is rotatably mounted to the drive disc 42, and the mounting end of the second front axle steering arm 432 is mounted to the front axle lower end 122 of the front axle 12. It is to be noted that, in the agricultural machine of the present invention, the mounting end of the second front-axle steering arm 432 of the front-axle steering mechanism 43 is fixedly mounted to the front-axle lower end portion 122 of the front axle 12 so as to prevent the second front-axle steering arm 432 from rotating relative to the front-axle lower end portion 122 of the front axle 12.
When the driving motor 41 rotates in the first direction, the mounting end of the first front axle steering arm 431 of the front axle steering mechanism 43 on the left side of the agricultural machine is driven by the driving disc 42 to rotate relative to the driving disc 42, and at the same time, the pivot end of the second front axle steering arm 432 rotates relative to the pivot end of the first front axle steering arm 431, so as to push the front axle low end 122 of the front axle 12 on the left side of the agricultural machine to rotate relative to the front axle high end 121, thereby driving the front wheel 31 on the left side of the agricultural machine to steer; accordingly, the mounting end of the first front-axle steering arm 431 of the front-axle steering mechanism 43 on the right side of the agricultural machine is rotated by the drive disk 42 relative to the drive disk 42, and at the same time, the pivot end of the second front-axle steering arm 432 is rotated relative to the pivot end of the first front-axle steering arm 431, so as to pull the front-axle low end 122 of the front axle 12 on the right side of the agricultural machine to rotate relative to the front-axle high end 121, thereby steering the front wheel 31 on the right side of the agricultural machine.
When the driving motor 41 rotates in a second direction opposite to the first direction, the mounting end of the first front axle steering arm 431 of the front axle steering mechanism 43 on the right side of the agricultural machine is driven by the driving disc 42 to rotate relative to the driving disc 42, and at the same time, the pivot end of the second front axle steering arm 432 rotates relative to the pivot end of the first front axle steering arm 431, so as to push the front axle low end 122 of the front axle 12 on the right side of the agricultural machine to rotate relative to the front axle high end 121, thereby driving the front wheel 31 on the right side of the agricultural machine to steer; accordingly, the mounting end of the first front-axle steering arm 431 of the front-axle steering mechanism 43 on the left side of the agricultural machine is rotated by the drive disk 42 relative to the drive disk 42, and at the same time, the pivot end of the second front-axle steering arm 432 is rotated relative to the pivot end of the first front-axle steering arm 431, so as to pull the front-axle low end 122 of the front axle 12 on the left side of the agricultural machine to rotate relative to the front-axle high end 121, thereby driving the front wheel 31 on the left side of the agricultural machine to steer.
With continued reference to fig. 1 to 9, the power distribution mechanism 24 further includes a distribution portion 242, the distribution portion 242 being drivably connected to the power transmission mechanism 23, wherein each of the power distribution output shafts 241 is detachably connected to each side portion of the distribution portion 242, respectively. In other words, each of the power distribution output shafts 241 extends from the distribution portion 242 to the rear axle high end transmission portion 1321 of each of the rear axles 13, respectively. When the power distribution output shaft 241 is connected to the distribution portion 242 and the power output from the power mechanism 21 is sequentially transmitted to the distribution portion 242 of the power distribution mechanism 24 through the transmission case 22 and the power transmission mechanism 23, the distribution portion 242 can further transmit the power to the rear wheel 32 through the power distribution output shaft 241 and the rear axle high end transmission portion 1321 and the rear axle low end transmission portion 1322 of the rear axle 13 to drive the rear wheel 32 to rotate. Accordingly, when the power distribution output shaft 241 is separated from the distribution portion 242, the rear wheel 32 is stationary.
Further, the automatic steering device 40 includes two rear axle steering mechanisms 44, wherein the two rear axle steering mechanisms 44 can achieve steering of the agricultural machine by controlling the differential speed of the pair of rear wheels 32. Specifically, each of the rear axle steering mechanisms 44 includes a first rear axle steering arm 441, a second rear axle steering arm 442, a third rear axle steering arm 443, and a fourth rear axle steering arm 444, respectively, wherein both ends of the first rear axle steering arm 441 are pivotally mounted to one end portions of the drive disc 42 and the second rear axle steering arm 442, both end portions of the third rear axle steering arm 443 are pivotally mounted to the other end portion of the second rear axle steering arm 442 and one end portion of the fourth rear axle steering arm 444, respectively, and the other end portion of the fourth rear axle steering arm 444 is pivotally mounted to the power distribution output shaft 241 of the power distribution mechanism 24. Preferably, the first rear axle steering arm 441 and the second rear axle steering arm 442 of the rear axle steering mechanism 44 can only rotate in one plane of rotation, so as to limit the manner of rotation of the first rear axle steering arm 441 and the second rear axle steering arm 442; the second rear axle steering arm 442 and the third rear axle steering arm 443 of the rear axle steering mechanism 44 can only rotate in one plane of rotation, thereby limiting the manner of rotation of the second rear axle steering arm 442 and the third rear axle steering arm 443; the third rear axle steering arm 443 and the fourth rear axle steering arm 444 of the rear axle steering mechanism 44 can only rotate in one plane of rotation, thereby limiting the manner of rotation of the third rear axle steering arm 443 and the fourth rear axle steering arm 444.
Specifically, when the drive motor 41 rotates in the first direction, the first rear axle steering arm 441, the second rear axle steering arm 442, the third rear axle steering arm 443, and the fourth rear axle steering arm 444 of the rear axle steering mechanism 44 on the left side of the agricultural machine can cooperate with each other to drive the power distribution output shaft 241 of the power distribution mechanism 24 to be disengaged from the distribution portion 242, so that the rear wheels 32 on the left side of the agricultural machine are stationary. Accordingly, when the driving motor 41 rotates in the second direction, the first rear axle steering arm 441, the second rear axle steering arm 442, the third rear axle steering arm 443, and the fourth rear axle steering arm 444 of the rear axle steering mechanism 44 on the right side of the agricultural machine can cooperate with each other to drive the power distribution output shaft 241 of the power distribution mechanism 24 to be disengaged from the distribution portion 242, so that the rear wheels 32 on the right side of the agricultural machine are stationary. For example, the first rear axle steering arm 441, the second rear axle steering arm 442, the third rear axle steering arm 443, and the fourth rear axle steering arm 444 of the rear axle steering mechanism 44 can cooperate with each other to push the power distribution output shaft 241 inward to disengage the power distribution output shaft 241 from the distribution portion 242; or the first rear axle steering arm 441, the second rear axle steering arm 442, the third rear axle steering arm 443, and the fourth rear axle steering arm 444 of the rear axle steering mechanism 44 can cooperate with each other to pull the power distribution output shaft 241 outward so that the power distribution output shaft 241 is drivably connected to the distribution portion 242.
Further, the power distribution mechanism 24 includes a power distribution case 243, wherein the power distribution case 243 has a receiving space 2431 and an output shaft passage 2432 communicating with the receiving space 2431 at both ends of the power distribution case 243, respectively, wherein the distributing portion 242 is held in the receiving space 2431 of the power distribution case 243, and each of the power distribution output shafts 241 extends from the receiving space 2431 to the outside through each of the output shaft passages 2432 of the power distribution case 243, respectively. The fourth rear axle steering arm 444 of the rear axle steering mechanism 44 is held in the accommodating space 2431 of the power distribution case 243. The power distribution case 243 further has two arm passages 2433 respectively communicating with the accommodating space 2431, wherein the third rear axle steering arm 443 of the rear axle steering mechanism 44 is pivotally connected to the fourth rear axle steering arm 444 after extending to the accommodating space 2431 of the power distribution case 243 through the arm passages 2433 of the power distribution case 243.
It will be understood by those skilled in the art that the agricultural machine of the present invention can prevent the relative position of the third rear axle steering arm 443 and the power distribution casing 243 from being changed and only allow the third rear axle steering arm 443 to rotate relative to the power distribution casing 243 by allowing the third rear axle steering arm 443 of the rear axle steering mechanism 44 to be pivotally connected to the fourth rear axle steering arm 444 after extending to the accommodating space 2431 of the power distribution casing 243 through the arm passage 2433 of the power distribution casing 243, so that the fourth rear axle steering arm 444 can drive the power distribution output shaft 241 to be separated from the distributing part 242 or drive the power distribution output shaft 241 to be connected to the distributing part 242 when the third rear axle steering arm 443 rotates to drive the fourth rear axle steering arm 444.
Fig. 4A to 5 show a partial state of the agricultural machine according to the present invention in a straight line driving state in which the two front axle steering mechanisms 43 of the automatic steering apparatus 40 and the two rear axle steering mechanisms 44 of the automatic steering apparatus 40 are symmetrical to each other, respectively. In addition, both of the power distribution output shafts 241 can be connected to the distribution portion 242. When the power mechanism 21 and the transmission case 22 are engaged with each other to output power, power is transmitted to each front wheel 31 through each transmission case output shaft 221 of the transmission case 22 and the front axle high-end transmission portion 1231 and the front axle low-end transmission portion 1232 of each front axle 12 in turn to drive the front wheels 31 to rotate, and power is transmitted to each rear wheel 32 through the power transmission mechanism 23, the distribution portion 242 of the power distribution mechanism 24 and each power distribution output shaft 241 and the rear axle high-end transmission portion 1321 and the rear axle low-end transmission portion 1322 of each rear axle 13 in turn to drive the rear wheels 32 to rotate, so that the agricultural machine is driven to be in a traveling state.
Fig. 6A to 7 respectively show a partial state of the agricultural machine according to the present invention when the agricultural machine is driven in a left-turn mode, in which the driving motor 41 of the automatic steering apparatus 40 rotates in the first direction, the mounting end of the first front axle steering arm 431 of the front axle steering mechanism 43 on the left side of the agricultural machine is rotated by the driving disc 32 relative to the driving disc 42, and at the same time, the pivot end of the second front axle steering arm 432 rotates relative to the pivot end of the first front axle steering arm 431, so as to push the front axle low end 122 of the front axle 12 on the left side of the agricultural machine to rotate relative to the front axle high end 121, thereby driving the front wheel 31 on the left side of the agricultural machine to steer; accordingly, the mounting end of the first front-axle steering arm 431 of the front-axle steering mechanism 43 on the right side of the agricultural machine is rotated by the drive disk 32 relative to the drive disk 42, and at the same time, the pivot end of the second front-axle steering arm 432 is rotated relative to the pivot end of the first front-axle steering arm 431, so as to pull the front-axle low end 122 of the front axle 12 on the right side of the agricultural machine to rotate relative to the front-axle high end 121, thereby steering the front wheel 31 on the right side of the agricultural machine. When the power mechanism 21 and the transmission case 22 are matched with each other to output power, the power is transmitted to each front wheel 31 through each transmission case output shaft 221 of the transmission case 22 and the front axle high end transmission part 1231 and the front axle low end transmission part 1232 of each front axle 12 in turn to drive the front wheels 31 to rotate. At the same time, the first rear axle steering arm 441, the second rear axle steering arm 442, the third rear axle steering arm 443, and the fourth rear axle steering arm 444 of the rear axle steering mechanism 44 on the left side of the agricultural machine cooperate with each other to drive the power distribution output shaft 241 of the power distribution mechanism 24 to move inward to disengage from the distribution portion 242, so that power transmission to the power distribution output shaft 241 on the left side through the distribution portion 242 is prevented. That is, power is allowed to be transmitted only to the power distribution output shaft 241 on the right side through the distribution portion 242, and is continuously transmitted to the rear wheel 32 on the right side through the rear axle high end transmission portion 1321 and the rear axle low end transmission portion 1322 of the rear axle 13 to drive the rear wheel 32 on the right side to rotate. In this manner, the agricultural machine can be steered to the left.
It should be noted that when the agricultural machine is shifted from the left-turning state to the straight-going state, the first rear axle steering arm 441, the second rear axle steering arm 442, the third rear axle steering arm 443 and the fourth rear axle steering arm 444 of the rear axle steering mechanism 44 on the left side of the agricultural machine cooperate with each other to drive the power distribution output shaft 241 of the power distribution mechanism 24 to move outward to connect the distribution portion 242, thereby allowing the rear wheels 32 on the left side to be driven to rotate.
Fig. 8A to 9 respectively show a partial state of the agricultural machine according to the present invention when the agricultural machine is driven to turn right, in which the driving motor 41 of the automatic steering device 40 rotates in the second direction, the mounting end of the first front axle steering arm 431 of the front axle steering mechanism 43 on the right side of the agricultural machine is rotated by the driving disc 42 relative to the driving disc 42, and at the same time, the pivot end of the second front axle steering arm 432 rotates relative to the pivot end of the first front axle steering arm 431, so as to push the front axle low end portion 122 of the front axle 12 on the right side of the agricultural machine to rotate relative to the front axle high end portion 121, thereby driving the front wheel 31 on the right side of the agricultural machine to turn; accordingly, the mounting end of the first front-axle steering arm 431 of the front-axle steering mechanism 43 on the left side of the agricultural machine is rotated by the drive disk 42 relative to the drive disk 42, and at the same time, the pivot end of the second front-axle steering arm 432 is rotated relative to the pivot end of the first front-axle steering arm 431, so as to pull the front-axle low end 122 of the front axle 12 on the left side of the agricultural machine to rotate relative to the front-axle high end 121, thereby driving the front wheel 31 on the left side of the agricultural machine to steer. When the power mechanism 21 and the transmission case 22 are matched with each other to output power, the power is transmitted to each front wheel 31 through each transmission case output shaft 221 of the transmission case 22 and the front axle high end transmission part 1231 and the front axle low end transmission part 1232 of each front axle 12 in turn to drive the front wheels 32 to rotate. At the same time, the first rear axle steering arm 441, the second rear axle steering arm 442, the third rear axle steering arm 443, and the fourth rear axle steering arm 444 of the rear axle steering mechanism 44 on the right side of the agricultural machine cooperate with each other to drive the power distribution output shaft 241 of the power distribution mechanism 24 to move inward to disengage the distribution portion 242, so that power transmission to the power distribution output shaft 241 on the right side through the distribution portion 242 is prevented. That is, the power is only allowed to be transmitted to the power distribution output shaft 241 on the left side through the distribution portion 242, and is continuously transmitted to the rear wheel 32 on the left side through the rear axle high end transmission portion 1321 and the rear axle low end transmission portion 1322 of the rear axle 13 to drive the rear wheel 32 on the left side to rotate. In this manner, the agricultural machine can be steered to the right.
It is to be noted that, when the agricultural machine is shifted from the right-turn state to the straight-ahead state, the first rear-axle steering arm 441, the second rear-axle steering arm 442, the third rear-axle steering arm 443, and the fourth rear-axle steering arm 444 of the rear-axle steering mechanism 44 on the right side of the agricultural machine cooperate with each other to drive the power distribution output shaft 241 of the power distribution mechanism 24 to move outward to connect the distribution portion 242, thereby allowing the rear wheels 32 on the right side to be driven to rotate.
Further, referring to fig. 2A, 2B, 4A, 4B, 6A, 6B, 8A and 8B, the automatic steering apparatus 40 further comprises a rotation angle detector 45, wherein the rotation angle detector 45 comprises a sensor assembly 451 and a detecting rod 452, the sensor assembly 451 has a slide slot 4511, a lower end of the detecting rod 452 is mounted to the driving disc 42, and a higher end of the detecting rod 452 is slidably mounted to the slide slot 4511 of the sensor assembly 451 to allow the higher end of the detecting rod 452 to slide in the slide slot 4511 of the sensor assembly 451. When the driving disc 42 is driven to rotate, the driving disc 42 drives the detection rod 452 to rotate synchronously, so as to drive the sensor assembly 451 to rotate synchronously relative to the frame body 11 while the high end of the detection rod 452 rotates in the sliding groove 4511 of the sensor assembly 451, thereby controlling the steering angle of the agricultural machine by obtaining the detection data of the sensor assembly 451, and further accurately controlling the walking path of the agricultural machine. According to another aspect of the present invention, the present invention further provides an automatic steering method of the agricultural machine, wherein the automatic steering method comprises the steps of:
(a) driving the driving disk 42 to rotate;
(b) the driving disc 42 drives the first front axle steering arm 431 of one of the front axle steering mechanisms 43 to rotate relative to the driving disc 42 and drives the second front axle steering arm 432 of the front axle steering mechanism 43 to rotate relative to the first front axle steering arm 431, so as to pull the front axle low end portion 122 of one of the front axles 12 to rotate relative to the front axle high end portion 121; and
(c) the driving disc 42 drives the first front axle steering arm 431 of the other front axle steering mechanism 43 to rotate relative to the driving disc 42 and drives the second front axle steering arm 432 of the front axle steering mechanism 43 to rotate relative to the first front axle steering arm 431, so as to push the front axle low end portion 122 of the other front axle 12 to rotate relative to the front axle high end portion 121.
Preferably, the automatic steering method further comprises the steps of:
(d) the drive disk 42 cuts off the power output of the power distribution mechanism 24 to the rear axle transmitting portion 132 of one of the rear axles 13 by bringing the first rear axle steering arm 441, the second rear axle steering arm 442, the third rear axle steering arm 443, and the fourth rear axle steering arm 444 of one of the rear axle steering mechanisms 44 into cooperative rotation; and the drive disk 42 maintains the power output of the power distribution mechanism 24 to the rear axle transmitting portion 132 of the other rear axle 13 by maintaining the first rear axle steering arm 441, the second rear axle steering arm 442, the third rear axle steering arm 443, and the fourth rear axle steering arm 444 of the other rear axle steering mechanism 44 to rotate in unison.
It will be appreciated by persons skilled in the art that the above embodiments are only examples, wherein features of different embodiments may be combined with each other to obtain embodiments which are easily conceivable in accordance with the disclosure of the invention, but which are not explicitly indicated in the drawings.
It will be appreciated by persons skilled in the art that the embodiments of the invention described above and shown in the drawings are given by way of example only and are not limiting of the invention. The objects of the invention have been fully and effectively accomplished. The functional and structural principles of the present invention have been shown and described in the examples, and any variations or modifications of the embodiments of the present invention may be made without departing from the principles.

Claims (20)

1. An automatic steering apparatus of an agricultural machine including a frame body and a pair of front axles, each of the front axles including a front axle high end and a front axle low end rotatably provided at a lower portion of the front axle high end, and the front axle high ends of each of the front axles being symmetrically mounted to opposite sides of a front end of the frame body, comprising:
a driving motor, wherein the driving motor is disposed on the rack body;
a drive plate, wherein said drive plate is drivably mounted to said drive motor; and
two front axle steering mechanisms, wherein each of said front axle steering mechanisms respectively comprises a first front axle steering arm and a second front axle steering arm pivotally mounted to said first front axle steering arm, wherein the mounting ends of said first front axle steering arms of each of said front axle steering mechanisms are symmetrically and rotatably mounted to each other to said drive plate, and the mounting end of said second front axle steering arm of each of said front axle steering mechanisms is mounted to said front axle lower end of each of said front axles.
2. The automatic steering device according to claim 1, wherein the drive motor is mounted to the rack body from top to bottom to allow the drive disk to be held in a lower space of the rack body.
3. The automatic steering device according to claim 1 or 2, wherein the agricultural machine includes a power distribution mechanism including a distribution portion and two power distribution output shafts each detachably provided to a side portion of the distribution portion, wherein the automatic steering device further includes two rear axle steering mechanisms each including a first rear axle steering arm, a second rear axle steering arm, a third rear axle steering arm, and a fourth rear axle steering arm, both ends of the first rear axle steering arm being rotatably mounted to one end portions of the drive disc and the second rear axle steering arm, respectively, both ends of the third rear axle steering arm being rotatably mounted to the other end portion of the second rear axle steering arm and one end portion of the fourth rear axle steering arm, respectively, the other end portion of the fourth rear axle steering arm is rotatably mounted to the power distribution output shaft.
4. The automatic steering device according to claim 3, wherein the power distributing mechanism includes a power distributing case having a housing space, an output shaft passage and an arm passage communicating with the housing space at both ends of the power distributing case, respectively, the distributing portion is rotatably held in the housing space, the power distributing output shaft extends from the housing space to the outside through the output shaft passage, and the fourth rear axle steering arm extends from the outside to the housing space through the arm passage.
5. The automatic steering device according to claim 3, wherein the first front-axle steering arms of each of the front-axle steering mechanisms are mounted on both sides of a front portion of the drive plate symmetrically with each other, and the first rear-axle steering arms of each of the rear-axle steering mechanisms are mounted on both sides of a rear portion of the drive plate symmetrically with each other.
6. The automatic steering device according to claim 4, wherein the first front-axle steering arms of each of the front-axle steering mechanisms are mounted on both sides of a front portion of the drive plate symmetrically with each other, and the first rear-axle steering arms of each of the rear-axle steering mechanisms are mounted on both sides of a rear portion of the drive plate symmetrically with each other.
7. The automatic steering device according to claim 3, wherein a distance between ends of the second rear axle steering arms of the two rear axle steering mechanisms connected to the first rear axle steering arm is larger than a distance between ends of the second rear axle steering arms connected to the third rear axle steering arm.
8. The automatic steering device according to claim 6, wherein a distance between ends of the second rear axle steering arms of the two rear axle steering mechanisms connected to the first rear axle steering arm is larger than a distance between ends of the second rear axle steering arms connected to the third rear axle steering arm.
9. An agricultural machine, comprising:
a running gear including a pair of front wheels and a pair of rear wheels;
a power plant including a power mechanism and a transmission driveably connected to the power mechanism, wherein the transmission has a pair of transmission output shafts;
a frame device including a frame body, a pair of front axles, and a pair of rear axles, wherein each of the front axles respectively includes a front axle high end portion, a front axle low end portion, and a front axle transmitting portion, the front axle high end portion of each of the front axles respectively being mounted to both sides of the front end portion of the frame body symmetrically to each other, the front axle low end portion being rotatably held at a lower portion of the front axle high end portion, the front axle transmitting portion being rotatably held inside the front axle high end portion and inside the front axle low end portion, and the front axle transmitting portion extending to an outside of the front axle low end portion, the front wheels being mounted to the front axle transmitting portion, wherein each of the rear axles respectively being disposed to both sides of the rear end portion of the frame body symmetrically to each other, the rear wheels being disposed to the rear axles wherein the transmission case is disposed to the frame body in such a manner as to be held between a pair of the front axles, and each said gearbox output shaft of said gearbox extends towards each said front axle respectively to be connected to said front axle transfer portion; and
an automatic steering apparatus comprising a driving motor, a driving disc, and two front axle steering mechanisms, wherein said driving motor is disposed on said frame body, said driving disc is drivably mounted to said driving motor, each of said front axle steering mechanisms comprises a first front axle steering arm and a second front axle steering arm pivotally mounted to said first front axle steering arm, wherein a mounting end of said first front axle steering arm of each of said front axle steering mechanisms is mutually symmetrically and rotatably mounted to said driving disc, and a mounting end of said second front axle steering arm of each of said front axle steering mechanisms is mounted to said front axle lower end of each of said front axles.
10. An agricultural machine according to claim 9, wherein the front axle transmission includes a front axle high end transmission portion and a front axle low end transmission portion, the front axle high end transmission portion extending from the front axle high end portion to the front axle low end portion in such a manner as to be rotatably held inside the front axle high end portion and inside the front axle low end portion, the transmission output shaft of the transmission being connected to the front axle high end transmission portion, the front axle low end transmission portion being engaged with the front axle high end transmission portion inside the front axle low end portion, and the front axle low end transmission portion extending to the outside of the front axle low end portion, the front wheels being mounted to the front axle low end transmission portion.
11. An agricultural machine according to claim 10, wherein the drive motor is mounted to the frame body from above to below to allow the drive disc to be held in the lower space of the frame body.
12. An agricultural machine according to any one of claims 9 to 11, wherein a pair of the rear axles each include a rear axle main body and a rear axle transmitting portion, the high end of the rear axle main body is mounted on the side part of the rear end part of the frame body, the rear axle transmission part is rotatably held in the rear axle main body, and the rear axle transmitting part extends from a lower end of the rear axle main body to an outside of the rear axle main body, the rear wheel being mounted to the rear axle transmitting part, wherein the power device comprises a power transmission mechanism and a power distribution mechanism, the power distribution mechanism further comprises a distribution part and two power distribution output shafts, the distribution portion is held between a pair of the rear axles, each of the power distribution output shafts extends from the distribution portion to and is connected to the rear axle transmission portion, respectively, and both ends of the power transmission mechanism are connected to the transmission case and the distribution portion, respectively.
13. An agricultural machine according to claim 12, wherein the power distribution output shaft is detachably mounted to the distribution portion.
14. An agricultural machine according to claim 13, wherein the automatic steering device further includes two rear axle steering mechanisms, each of the rear axle steering mechanisms including a first rear axle steering arm, a second rear axle steering arm, a third rear axle steering arm, and a fourth rear axle steering arm, both ends of the first rear axle steering arm being rotatably mounted to one end of the drive plate and one end of the second rear axle steering arm, respectively, both ends of the third rear axle steering arm being rotatably mounted to the other end of the second rear axle steering arm and one end of the fourth rear axle steering arm, respectively, the other end of the fourth rear axle steering arm being rotatably mounted to the power distribution output shaft.
15. An agricultural machine according to claim 14, wherein the power distribution mechanism includes a power distribution case having a housing space, an output shaft passage and an arm passage communicating with the housing space at both ends of the power distribution case, respectively, the distribution portion being rotatably held in the housing space, the power distribution output shaft extending from the housing space to the outside through the output shaft passage, and the fourth rear axle steering arm extending from the outside to the housing space through the arm passage.
16. An agricultural machine according to claim 14, wherein the first front axle steering arms of each of the front axle steering mechanisms are symmetrically mounted to each other on both sides of a front portion of the drive plate, and the first rear axle steering arms of each of the rear axle steering mechanisms are symmetrically mounted to each other on both sides of a rear portion of the drive plate.
17. An agricultural machine according to claim 14, wherein the distance between the ends of the second rear axle steering arms of the two rear axle steering mechanisms connected to the first rear axle steering arm is greater than the distance between the ends of the second rear axle steering arms connected to the third rear axle steering arm.
18. An automatic steering method for an agricultural machine, comprising the steps of:
(a) driving a driving disc to rotate;
(b) the driving disc drives a first front axle steering arm of a front axle steering mechanism to rotate relative to the driving disc and drives a second front axle steering arm of the front axle steering mechanism to rotate relative to the first front axle steering arm so as to pull a front axle low end part of a front axle to rotate relative to a front axle high end part; and
(c) the driving disc drives the first front axle steering arm of the other front axle steering mechanism to rotate relative to the driving disc and drives the second front axle steering arm of the front axle steering mechanism to rotate relative to the first front axle steering arm so as to push the lower end part of the front axle of the other front axle to rotate relative to the higher end part of the front axle.
19. The automatic steering method of claim 18, further comprising the steps of:
(d) the driving disc cuts off the power output of a power distribution mechanism to a rear axle transmission part of a rear axle in a mode that a first rear axle steering arm, a second rear axle steering arm, a third rear axle steering arm and a fourth rear axle steering arm of the rear axle steering mechanism are driven to rotate cooperatively; and the drive disk maintains the power output of the power distribution mechanism to the rear axle transmission portion of the other rear axle by maintaining the first rear axle steering arm, the second rear axle steering arm, the third rear axle steering arm, and the fourth rear axle steering arm of the other rear axle steering mechanism to rotate in unison.
20. The automatic steering method of claim 19, wherein said step (b), said step (c), and said step (d) are performed in synchronization such that said drive disk simultaneously moves both of said front axle steering mechanisms and both of said rear axle steering mechanisms.
CN201910518536.5A 2019-06-15 2019-06-15 Agricultural machine and automatic steering device and automatic steering method thereof Pending CN112078657A (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN201910518536.5A CN112078657A (en) 2019-06-15 2019-06-15 Agricultural machine and automatic steering device and automatic steering method thereof

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN201910518536.5A CN112078657A (en) 2019-06-15 2019-06-15 Agricultural machine and automatic steering device and automatic steering method thereof

Publications (1)

Publication Number Publication Date
CN112078657A true CN112078657A (en) 2020-12-15

Family

ID=73734235

Family Applications (1)

Application Number Title Priority Date Filing Date
CN201910518536.5A Pending CN112078657A (en) 2019-06-15 2019-06-15 Agricultural machine and automatic steering device and automatic steering method thereof

Country Status (1)

Country Link
CN (1) CN112078657A (en)

Citations (12)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPS55119261U (en) * 1979-02-16 1980-08-23
JPH07172339A (en) * 1993-12-20 1995-07-11 Toyo Umpanki Co Ltd Vehicle wheel turning device
JPH08140555A (en) * 1994-11-17 1996-06-04 Yanmar Agricult Equip Co Ltd Driving part of self-driving controller
JPH09295518A (en) * 1996-05-07 1997-11-18 Iseki & Co Ltd Front wheel driving device of tractor
JP2000318469A (en) * 1999-05-13 2000-11-21 Mitsubishi Agricult Mach Co Ltd Farm working machine
JP2001253258A (en) * 2000-03-10 2001-09-18 Iseki & Co Ltd Riding traveling vehicle
DE10019563A1 (en) * 2000-04-20 2001-10-25 Zahnradfabrik Friedrichshafen Rear axle for heavy motor vehicles has steering lever with pivot point extending horizontally in direction of travel, and hydraulic actuator acts upon lever and its longitudinal axis runs in vertical transverse plane
JP2003052210A (en) * 2001-08-10 2003-02-25 Kubota Corp Rice transplanter
JP2007038728A (en) * 2005-08-01 2007-02-15 Hino Motors Ltd Steering linkage structure
JP2011063151A (en) * 2009-09-18 2011-03-31 Yanmar Co Ltd Riding type farm working machine
CN108313119A (en) * 2018-03-20 2018-07-24 浙江中坚科技股份有限公司 Slow moving vehicle steering mechanism
CN210454944U (en) * 2019-06-15 2020-05-05 丰疆智能科技股份有限公司 Agricultural machine and automatic steering device thereof

Patent Citations (12)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPS55119261U (en) * 1979-02-16 1980-08-23
JPH07172339A (en) * 1993-12-20 1995-07-11 Toyo Umpanki Co Ltd Vehicle wheel turning device
JPH08140555A (en) * 1994-11-17 1996-06-04 Yanmar Agricult Equip Co Ltd Driving part of self-driving controller
JPH09295518A (en) * 1996-05-07 1997-11-18 Iseki & Co Ltd Front wheel driving device of tractor
JP2000318469A (en) * 1999-05-13 2000-11-21 Mitsubishi Agricult Mach Co Ltd Farm working machine
JP2001253258A (en) * 2000-03-10 2001-09-18 Iseki & Co Ltd Riding traveling vehicle
DE10019563A1 (en) * 2000-04-20 2001-10-25 Zahnradfabrik Friedrichshafen Rear axle for heavy motor vehicles has steering lever with pivot point extending horizontally in direction of travel, and hydraulic actuator acts upon lever and its longitudinal axis runs in vertical transverse plane
JP2003052210A (en) * 2001-08-10 2003-02-25 Kubota Corp Rice transplanter
JP2007038728A (en) * 2005-08-01 2007-02-15 Hino Motors Ltd Steering linkage structure
JP2011063151A (en) * 2009-09-18 2011-03-31 Yanmar Co Ltd Riding type farm working machine
CN108313119A (en) * 2018-03-20 2018-07-24 浙江中坚科技股份有限公司 Slow moving vehicle steering mechanism
CN210454944U (en) * 2019-06-15 2020-05-05 丰疆智能科技股份有限公司 Agricultural machine and automatic steering device thereof

Similar Documents

Publication Publication Date Title
US6904985B2 (en) Transmission control device for vehicles and steering assembly for vehicles
US11958558B2 (en) Vehicle control systems and methods and related vehicles
CN210454944U (en) Agricultural machine and automatic steering device thereof
CN106218710A (en) A kind of automobile steering system
CN112078657A (en) Agricultural machine and automatic steering device and automatic steering method thereof
EP1100711B1 (en) Driving apparatus for speed changing and steering of a vehicle
CN210461559U (en) Agricultural machine
JP6193787B2 (en) Working machine
CN210461466U (en) Agricultural machine and automatic clutch device thereof
CN110307303A (en) Agricultural machinery
WO2020244089A1 (en) Agricultural machinery
CN201659887U (en) Differential driving device for ride-on lawnmower
JP2002000023A (en) Sulky-type rice transplanter
JP4589072B2 (en) Three-wheel management machine
CN112081916A (en) Agricultural machine and automatic gear shifting device and automatic gear shifting method thereof
JP5510589B2 (en) Seedling transplanter
KR101257861B1 (en) Steering apparatus of electric drive vehicle
JP2004081104A (en) Riding lawn tractor
US8678113B2 (en) Steering and ground speed control mechanism of a dual-path hydrostatic drive arrangement
JPS5926412Y2 (en) Rotating shaft retaining structure
JP4825411B2 (en) Three-wheel management machine
JP2525175Y2 (en) Rear wheel phase switching device for riding lawn mowers
JP2014193671A (en) Pto transmission structure of service car
JP2008029213A (en) Seedling transplanter
CN108608860A (en) A kind of separable transmission mechanism of radial type driving force

Legal Events

Date Code Title Description
PB01 Publication
PB01 Publication
SE01 Entry into force of request for substantive examination
SE01 Entry into force of request for substantive examination
WD01 Invention patent application deemed withdrawn after publication

Application publication date: 20201215

WD01 Invention patent application deemed withdrawn after publication