CN113207340A

CN113207340A - Power platform for paddy field operation

Info

Publication number: CN113207340A
Application number: CN202110626832.4A
Authority: CN
Inventors: 靳航嘉; 吴文福; 林吉照; 吴子丹; 韩峰; 董平
Original assignee: Changchun Jilin University Scientific Instruments Co ltd; Jilin University
Current assignee: Changchun Jilin University Scientific Instruments Co ltd; Jilin University
Priority date: 2021-06-04
Filing date: 2021-06-04
Publication date: 2021-08-06

Abstract

The invention discloses a paddy field operation power platform, comprising: the two racks are arranged at intervals along the longitudinal direction of the power platform; two groups of spiral buoy wheels which are respectively arranged on the two racks; each group of spiral buoy wheels comprises two spiral buoy wheels, and the two spiral buoy wheels are symmetrically arranged on two sides of the same machine frame; the spiral buoy wheel includes: a barrel and a plurality of blades; the cylinder body is of a sealed hollow structure, the axis of the cylinder body is arranged along the longitudinal direction of the power platform, and the cylinder body is rotatably connected to the rack; the blades are spirally wound in the same direction and are arranged on the outer side of the cylinder; the blades of the two spiral buoy wheels in the same group rotate in opposite directions, and in the two groups of spiral buoy wheels, the blades of the spiral buoy wheels positioned on the same side of the power platform rotate in opposite directions; the four driving devices are arranged in one-to-one correspondence with the spiral buoy wheels and are respectively used for driving the spiral buoy wheels to rotate; the two connecting rods are arranged between the two racks in parallel; two ends of the connecting rod are respectively connected with the two racks in a rotating way.

Description

Power platform for paddy field operation

Technical Field

The invention belongs to the technical field of mechanical devices for paddy field operation, and particularly relates to a power platform for paddy field operation.

Background

At present, the mechanization level of seeding and harvesting of paddy fields is greatly improved, but people still know paddy field tillage machinery deeply, and the bottleneck of paddy field mechanization lies in tillage. At present, in the tillage power machinery used in paddy fields, the proportion of the walking tractor is the largest, and a small amount of medium-power paddy field wheel tractors are adopted. When a tractor is used for paddy field operation, a driver needs to enter the paddy field for operation, the labor intensity is high, and the operation environment is severe; and the problems of difficult field steering, incapability of long-time continuous operation and the like exist. In addition, the continuous cultivation of the wheeled tractor leads to the deepening of mud feet of paddy fields year by year, and causes the difficulty of subsequent rice transplanting, field management and harvesting.

Combine paddy field environmental analysis, the power running gear of paddy field operation has: the special weeding robot for the farmland adopts a wheel type walking mechanism, and has the problems of skidding, sinking and the like due to the adoption of the wheel type walking mechanism in view of certain water depth of a paddy field environment, large mud foot depth and weak pressure bearing capacity of paddy field soil. An unmanned boat tractor and rotary tillage system that patent CN202010763674.2 published, an assembled paddy field wheel for boat tractor that patent CN201921262638.7 published all adopted ship formula running gear, and required power is more during the drive, and the trouble is more when meetting great resistance during the operation. A paddy field track tractor that patent CN201610731288.9 published, a track running gear who is used for paddy field weeding robot that patent CN201921000607.4 published, an intelligent recognition self-propelled paddy field weeding robot that patent CN202010263275.X published all adopts crawler-type running gear, has that the structure is complicated, easily topples, easily rolls the rice seedling, turns to inconvenient scheduling problem.

Disclosure of Invention

The invention aims to overcome the defects of the existing paddy field operation travelling mechanism, and provides a paddy field operation power platform which has better anti-sinking capability, maneuverability and obstacle crossing capability and can realize flexible steering.

The technical scheme provided by the invention is as follows:

a paddy field work power platform comprising:

the two racks are arranged at intervals along the longitudinal direction of the power platform;

two groups of spiral buoy wheels which are respectively arranged on the two racks;

each group of spiral buoy wheels comprises two spiral buoy wheels, and the two spiral buoy wheels are symmetrically arranged on two sides of the same rack;

the spiral buoy wheel includes: a barrel and a plurality of blades;

the cylinder body is of a sealed hollow structure, the axis of the cylinder body is arranged along the longitudinal direction of the power platform, and the cylinder body is rotatably connected to the rack;

the blades are spirally wound in the same direction and are arranged on the outer side of the cylinder;

the blade rotating directions of the two spiral buoy wheels in the same group are opposite, and in the two groups of spiral buoy wheels, the blade rotating directions of the spiral buoy wheels positioned on the same side of the power platform are opposite;

the four driving devices are arranged in one-to-one correspondence with the spiral buoy wheels and are respectively used for driving the spiral buoy wheels to rotate;

the two connecting rods are arranged between the two racks in parallel along the longitudinal direction of the power platform; and two ends of the connecting rod are respectively and rotatably connected with the two racks.

Preferably, the cylinder is filled with foam.

Preferably, one end of the machine frame is fixedly provided with a connecting plate, and the connecting plates on the two machine frames are arranged oppositely;

and two ends of the connecting rod are respectively connected with the two connecting plates through universal joints.

Preferably, the driving means includes:

the driving motor is fixedly arranged at one end of the rack and is provided with a power output shaft;

the cylinder rotating shaft coaxially penetrates through the cylinder, one end of the cylinder rotating shaft is fixedly connected with the power output shaft, and the other end of the cylinder rotating shaft is rotatably supported on the rack;

the rotating shaft of the cylinder body is fixedly connected with the cylinder body.

Preferably, the four driving motors are symmetrically arranged at two ends of the power platform in pairs.

Preferably, the two ends of the cylinder body are respectively provided with a conical surface closed end cover, and the end covers are in sealing connection with the rotating shaft of the cylinder body.

Preferably, the blade is made of stainless steel, and a cutting edge is arranged at the outer edge of the blade.

Preferably, a cylinder support is fixedly connected to one end of the frame, which is far away from the driving motor, and the cylinder rotating shaft is rotatably supported on the cylinder support.

Preferably, the paddy field work power platform, still include:

and the two power supplies and the control unit are respectively and fixedly arranged on the two racks.

Preferably, the frame is made of aluminum alloy.

The invention has the beneficial effects that:

(1) the invention adopts four spiral buoy wheels to replace crawler-type and wheel-type traveling structures, solves the problems of skidding and sinking of paddy field traveling, and improves the efficiency of paddy field operation.

(2) The invention fills light materials such as foam and the like in the cylinder body of the spiral buoy wheel, and ensures that the spiral buoy wheel has enough buoyancy.

(3) The invention adopts a four-screw four-drive structure, the whole power platform is of a two-end structure, the two racks are connected by a universal joint and a connecting rod mechanism, and the power is sufficient, the maneuverability and the obstacle crossing capability are strong.

(4) The four driving devices are symmetrically arranged at two ends of the power platform in pairs, so that the whole power platform is in a symmetrical structure, the integral gravity center of the power platform is in the center position, and the problems of forward inclination or postfix, sinking, overturning and the like caused by unbalance of the front and rear gravity centers are solved.

Drawings

Fig. 1 is a schematic overall structure diagram of the paddy field work power platform provided by the invention.

Fig. 2 is a top view of the paddy field work power platform of the present invention.

Fig. 3 is a schematic view of the external structure of the spiral buoy wheel of the invention.

Fig. 4 is a schematic view of the connection of the spiral pontoon wheel and the driving device according to the invention.

Fig. 5 is a schematic view of the internal structure of the spiral pontoon wheel according to the invention. .

Fig. 6 is a schematic view of the connection mode between the link mechanism and the connecting plate according to the present invention.

Detailed Description

The present invention is further described in detail below with reference to the attached drawings so that those skilled in the art can implement the invention by referring to the description text.

As shown in fig. 1 to 6, the present invention provides a paddy field work power platform, which mainly comprises: the device comprises two racks, two groups of spiral buoy wheels, four driving devices and two connecting rod mechanisms.

Two

frames

100 and 200 are spaced apart in the longitudinal direction of the power platform. Two groups of spiral buoy wheels which are respectively arranged on the two

racks

100 and 200; wherein, every group spiral pontoon wheel includes two spiral pontoon wheels. The spiral pontoon wheel 110 and the spiral pontoon wheel 120 are respectively installed at two sides of the lower part of the machine frame 100, and the spiral pontoon wheel 110 and the spiral pontoon wheel 120 are symmetrically arranged. The spiral buoy wheel 210 and the spiral buoy wheel 220 are respectively installed at two sides of the lower part of the machine frame 200, and the spiral buoy wheel 210 and the spiral buoy wheel 220 are symmetrically arranged.

The structure and installation of the spiral pontoon wheel 110, the spiral pontoon wheel 120, the spiral pontoon wheel 210 and the spiral pontoon wheel 220 are the same. The structure of the spiral float wheel will be further described below by taking the spiral float wheel 110 as an example.

As shown in fig. 3-4, the helical float wheel 110 includes: a barrel 111 and a plurality of blades 112. The main body of the cylinder 111 is a hollow cylinder structure, two ends of the cylinder 111 are respectively provided with an

end cover

111a and 111b, the end cover 111a and the end cover 111b are coaxial with the cylinder 111, and the end cover 111a and the end cover 111b are symmetrically arranged. The axis of the cylinder 111 is arranged along the longitudinal direction of the power platform, and the cylinder 111 is rotatably connected to the frame 100. The plurality of blades 112 are spirally and fixedly wound in the same direction on the outer side of the cylinder 111. Preferably, the blades 112 are uniformly arranged at equal intervals to ensure that the stress of the spiral buoy wheel is balanced in the walking process, so that the stability of the spiral buoy wheel in the walking process is further improved.

Wherein the blades on the spiral pontoon wheel 110 and the spiral pontoon wheel 120 (mounted on the machine frame 100) of the same group are oppositely rotated, and the blades on the spiral pontoon wheel 110 and the spiral pontoon wheel 210 on the same side of the power platform are oppositely rotated in two groups of the spiral pontoon wheels (mounted on different machine frames). Similarly, the blades on the same set of the spiral pontoon wheel 210 and the spiral pontoon wheel 220 (mounted on the frame 200) are turned in opposite directions, and in the two sets of the spiral pontoon wheels, the blades on the spiral pontoon wheel 120 and the spiral pontoon wheel 220 on the same side of the power platform are turned in opposite directions.

The four driving devices are in one-to-one correspondence with the spiral buoy wheels and are respectively used for driving the spiral buoy wheels to rotate. The four driving devices include: drive 130, drive 140, drive 230, and drive 240; wherein, the driving device 130 is used for driving the spiral buoy wheel 110, the driving device 140 is used for driving the spiral buoy wheel 120, the driving device 230 is used for driving the spiral buoy wheel 210, and the driving device 140 is used for driving the spiral buoy wheel 220.

The four driving devices are identical in structure and installation, and the following description will be made only by taking the driving device 130 as an example. As shown in fig. 3 to 4, the driving device 130 includes: a driving motor 131 fixedly installed at one end of the frame 100 through a motor bracket 131a, the driving motor 131 having a power output shaft; a cylinder rotating shaft 132 coaxially penetrating through the cylinder 111, one end of the cylinder rotating shaft 132 being fixedly connected with the power output shaft through a spline, and the other end thereof being rotatably supported on the frame 100; wherein, the cylinder rotating shaft 132 is fixedly connected with the cylinder 111; when the driving motor 131 rotates, the barrel rotating shaft 132 and the barrel 111 are driven to rotate synchronously. Wherein the drive motor 131 is provided with a speed reducer.

As shown in fig. 4, in the present embodiment, two ends of the interior of the cylinder 111 are respectively provided with a connecting frame 113, and the connecting frame 113 is composed of an annular outer frame 113a and a plurality of support rods 113 b; the support rods 113b are in a radial shape radiating outward from the center, one ends of the support rods 113b are converged to form a circular ring structure 113c, the other ends are fixedly connected with the outer frame 113a, and the outer edge of the outer frame 113a is fixedly connected with the inner wall of the cylinder 111. The two ends of the cylinder rotating shaft 132 are respectively fixedly connected with the center of the circular ring structure 124 c. The connecting frame 113 is provided to facilitate the connection between the barrel 111 and the barrel rotating shaft 132, and the connecting frame 113 is provided to be a disk frame structure to further support the barrel rotating shaft 132.

Preferably, the cylinder 111 has two

conical end caps

111a and 111b at two ends thereof, the end cap 111a is disposed coaxially with the cylinder 111, two ends of the cylinder rotating shaft 132 pass through the centers of the

end caps

111a and 111b, and the cylinder rotating shaft 132 and the

end caps

111a and 111b are hermetically connected to each other, so as to prevent water from entering the cylinder 111 during operation and reduce buoyancy applied to the spiral buoy wheel. The

end caps

111a and 111b are designed in a conical shape as baffles at both ends of the cylinder 111, and can reduce the forward resistance during the operation of the power platform.

As shown in fig. 2 and 5, in the present embodiment, two cartridge holders 101 are fixedly connected to one end (rear end) of the frame 100 away from the driving

motors

131 and 141, and bearings are provided on the two cartridge holders 101, respectively, and the cartridge rotary shaft 132 is rotatably supported in the bearings on the cartridge holders 101; meanwhile, two cylinder supports 201 are fixedly connected to one end (front end) of the frame 200, which is far away from the driving

motors

231 and 241, bearings are arranged on the two cylinder supports 201, and the cylinder rotating shafts of the driving device 230 and the driving device 240 are respectively and rotatably supported in the bearings on the two cylinder supports 201.

More preferably, the foam 111c is filled in the cylinder 111; the filling of the foam 111c can prevent water from entering the cylinder 111 and keep the spiral buoy wheel with sufficient buoyancy under the condition that the cylinder 111 is damaged and the sealing is poor.

In another embodiment, blades 112 are made of stainless steel, and blades 112 have cutting edges on their outer edges. The blades 112 can twist off the weeds from the roots in the advancing process of the power platform, so that the weeding purpose is achieved. Meanwhile, front and rear suspension frames (not shown in the figure) are arranged on the two

racks

100 and 200, and related devices can be hung to complete subsequent operations such as fertilization and inter-cut, so that one machine has multiple functions.

Two link mechanisms are arranged in parallel between the machine frame 100 and the machine frame 200 along the longitudinal direction of the power platform. As shown in fig. 6, the link mechanism includes: a connecting rod 310 and two

universal joints

320, 330;

universal joints

320 and 330 are connected to both ends of the connecting rod 310, respectively. The two ends of the connecting rod 310 are connected to the rack 100 and the rack 200 through

universal joints

320 and 330, respectively, so that the two ends of the connecting rod 310 are rotatably connected to the rack 100 and the rack 200, respectively.

In this embodiment, the rear end of the frame 100 is fixedly provided with the connection plate 150, the front end of the frame 200 is fixedly provided with the connection plate 250, and the connection plate 150 and the connection plate 250 are oppositely disposed. Wherein, both ends of the connecting rod 310 are respectively connected with the two connecting

plates

150 and 250 through

universal joints

320 and 330.

The universal joint and the connecting rod mechanism are adopted to connect the two frames, and the power is sufficient; the two

frames

100 and 200 can generate displacement with multiple degrees of freedom, so that the maneuverability and obstacle crossing capability of the power platform are improved.

Preferably, the four driving motors are symmetrically arranged at two ends of the power platform in pairs. Namely, the driving motor 131 and the driving motor 231 are symmetrically arranged, and the driving motor 141 and the driving motor 241 are symmetrically arranged; the driving motor 131 and the driving motor 141 are fixedly installed at the front end of the frame 100, and the driving motor 231 and the driving motor 241 are fixedly installed at the rear end of the frame 200. The whole power platform is in a symmetrical structure, the whole gravity center of the power platform is in the center position, and the problems of forward inclination or postfix, sinking, overturning and the like caused by unbalance of the front and rear gravity centers are solved.

As shown in fig. 1, the power platform for paddy field work further comprises: two power and control units 102 and 202 fixedly disposed at upper portions of the two

racks

100 and 200, respectively; and sealing and waterproofing. The power and control units 102 and 202 are used to power the drive motors and control the rotational direction and speed of the drive motors.

Preferably, the frame 100 is made of aluminum alloy section and has a double-layer frame structure, so that the strength of the vehicle body is enhanced, and the vehicle body is prevented from being distorted due to the acting force between the driving force and the road resistance in the operation process; and the weight of the power platform can be effectively reduced.

The walking and steering of the platform are realized through the steering and rotating speed control of the four float bowl driving wheels, the forward rotating speed of the spiral float bowl wheels is assumed to be V, the reverse rotating speed is-V, and the rotating speeds of the four spiral float bowl wheels and the driving relation of the power platform are as follows:

advancing: the rotation speed of the first left spiral buoy wheel (spiral buoy wheel 110) is V, the rotation speed of the first right spiral buoy wheel (spiral buoy wheel 120) is-V, the rotation speed of the second left spiral buoy wheel (spiral buoy wheel 210) is-V, and the rotation speed of the second right spiral buoy wheel (spiral buoy wheel 220) is V.

Retreating: when the device moves backwards, the rotating speeds of the four spiral floating drum wheels are opposite to those of the four spiral floating drum wheels when the device moves forwards.

Without considering the rear suspension, the platform may travel without separation of the front and rear ends due to the symmetrical platform structure.

Clockwise rotation steering: the rotating speed of the first left spiral floating cylinder wheel (the spiral floating cylinder wheel 110) is V, the rotating speed of the first right spiral floating cylinder wheel (the spiral floating cylinder wheel 120) is V, the rotating speed of the second left spiral floating cylinder wheel (the spiral floating cylinder wheel 210) is-V, and the rotating speed of the second right spiral floating cylinder wheel (the spiral floating cylinder wheel 220) is-V;

counterclockwise rotation steering: the rotating speed of the first left spiral floating cylinder wheel (the spiral floating cylinder wheel 110) is-V, the rotating speed of the first right spiral floating cylinder wheel (the spiral floating cylinder wheel 120) is-V, the rotating speed of the second left spiral floating cylinder wheel (the spiral floating cylinder wheel 210) is V, and the rotating speed of the second right spiral floating cylinder wheel (the spiral floating cylinder wheel 220) is V;

in addition, the power platform can also transversely run, and when the power platform transversely runs, the four spiral buoy wheels rotate at the same speed and in the same direction; the platform can also be steered according to the differential steering principle.

The paddy field operation power platform provided by the invention can walk on a paddy field with a soft characteristic for operation, and the two frames are connected by the universal joint, the connecting rod and the connecting plate, so that the degree of freedom of the front end and the rear end of the platform is increased, and the climbing and obstacle crossing capabilities of the platform are enhanced; the four spiral buoy driving structures are adopted, so that the problems of slipping, sinking and the like during operation can be solved; can get rid of weeds through helical blade in the paddy field walking, the design is unique novel to the accessible articulates operations such as transplanting, fertilization, the pesticide application of different operating device realization paddy fields, simple structure moreover, easy dismounting, each mechanism part all can realize the modularization, the maintenance in the later stage of being convenient for.

While embodiments of the invention have been described above, it is not limited to the applications set forth in the description and the embodiments, which are fully applicable in various fields of endeavor to which the invention pertains, and further modifications may readily be made by those skilled in the art, it being understood that the invention is not limited to the details shown and described herein without departing from the general concept defined by the appended claims and their equivalents.

Claims

1. The utility model provides a paddy field operation power platform which characterized in that includes:

the spiral buoy wheel includes: a barrel and a plurality of blades;

2. The paddy field work power platform of claim 1 wherein the cylinder is filled with foam.

3. The paddy field work power platform according to claim 2, characterized in that a connecting plate is fixedly arranged at one end of the machine frame, and the connecting plates on the two machine frames are oppositely arranged;

4. The paddy field work power platform of claim 3, wherein the drive means comprises:

5. The paddy field work power platform of claim 4, characterized in that four driving motors are arranged at two ends of the power platform in a symmetric manner.

6. The paddy field operation power platform of claim 4 or 5, characterized in that, both ends of the barrel are respectively provided with a conical surface closed end cover, and the end covers are connected with the rotating shaft of the barrel in a sealing way.

7. The paddy field work power platform of claim 6, characterized in that the blades are made of stainless steel, and the outer edges of the blades are provided with cutting edges.

8. The paddy field work power platform as claimed in claim 7, characterized in that a drum support is fixedly connected to an end of the frame away from the driving motor, and the drum rotating shaft is rotatably supported on the drum support.

9. The paddy field work power platform of claim 8, further comprising:

10. The paddy field work power platform of claim 9, characterized in that the frame is made of aluminum alloy.