CN114560026A - Orchard transporter with wheels and feet used together and method - Google Patents
Orchard transporter with wheels and feet used together and method Download PDFInfo
- Publication number
- CN114560026A CN114560026A CN202210176536.3A CN202210176536A CN114560026A CN 114560026 A CN114560026 A CN 114560026A CN 202210176536 A CN202210176536 A CN 202210176536A CN 114560026 A CN114560026 A CN 114560026A
- Authority
- CN
- China
- Prior art keywords
- wheel
- foot
- legs
- push rod
- electric push
- 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
Links
Images
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D57/00—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track
- B62D57/02—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members
- B62D57/028—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members having wheels and mechanical legs
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T10/00—Road transport of goods or passengers
- Y02T10/60—Other road transportation technologies with climate change mitigation effect
- Y02T10/70—Energy storage systems for electromobility, e.g. batteries
Abstract
The invention relates to a wheel-foot combined orchard conveyor and a method, wherein the wheel-foot combined orchard conveyor comprises a carrying platform, a conveyor chassis, wheel legs, foot legs and a control system; the carrying platform is fixedly connected to the upper end face of the conveyor chassis; the three wheel legs and the three foot legs are arranged on the lower end surface of the chassis of the conveyor; the wheel legs comprise wheel leg long-stroke electric push rods, driving wheel mounting discs and driving wheels; the foot legs comprise long-stroke electric push rods, electric foot fixing discs and electric feet; the electric foot comprises a short-stroke electric push rod and a foot pad. The wheel legs and the foot legs of the invention are both composed of electric push rods, thus realizing the lifting and steering of the loading platform and the obstacle-crossing walking action alternately carried out by the wheel legs; the controller realizes steering, lifting of the loading platform and alternate walking control of wheel feet through the length change rule of the electric push rod obtained by simulation before operation.
Description
Technical Field
The invention belongs to the field of agricultural automation, and particularly relates to a wheel-foot combined orchard conveyor and a method.
Background
The orchard transporter is used as a main machine for transporting orchard crops and mainly comprises a wheel transporter, a crawler-type transporter and a rail-type transporter. Wheel-type conveyors and crawler-type conveyors are widely applied, however, orchards in mountainous regions and hills in China account for most of all orchards in China, and in these regions, the terrains are complex and rugged, gullies are vertical and horizontal, branches are staggered and vertical and horizontal, no rules exist, so that the problems not only make the traditional orchard conveyor with the chassis height incapable of being adjusted extremely difficult to work in the region, but also greatly improve the labor intensity of farmers.
In northern China, fruit growers mainly use wheel type and crawler belt transportation machines to transport fruits; in south China, the crawler conveyor is widely applied. The spacing between fruit trees in many orchards in China is narrow, the branches are criss-cross, and the terrain of some orchards is complex, so that wheel type and crawler type transport machinery cannot smoothly enter the orchards. Meanwhile, some wheeled conveyers and crawler conveyers have higher or lower chassis and are not easy to flexibly shuttle in old densely planted orchards. For example, in the chinese patent application (application No. 201910646749.6) "an orchard hillside conveyor and a self-balancing object stage thereof", although the problem of leveling of the crawler conveyor during transportation is solved by adjusting the extension length of a balancing electric cylinder, the crawler conveyor still has the problems of a lower chassis and difficulty in adjusting the height of the chassis, and is not easy to realize a larger obstacle crossing function. For example, the chinese utility model patent application (application No. 201621451998.8) "a running gear applied to hillside orchard conveyor" is a rail conveyor, although it can adapt to the hillside terrain well, but is affected by natural disasters and market prices, and fruit growers are reluctant to purchase a rail conveyor with high cost. In addition, the rail transport machine has a problem of insufficient reliability.
Disclosure of Invention
The invention aims to provide a wheel-foot combined orchard conveyor and a method, aiming at the problems that the traditional orchard conveyor is difficult to work in an orchard with complex terrain, the height of a chassis is difficult to adjust, and the obstacle-crossing capability needs to be improved; the controller realizes steering, lifting of the loading platform and alternate walking control of wheel feet through the length change rule of the electric push rod obtained by simulation before operation.
In order to achieve the purpose, the invention provides the following technical scheme:
a wheel-foot combined orchard conveyor comprises a carrying platform 1, a conveyor chassis 2, wheel legs 3, foot legs 5 and a control system.
The carrying platform 1 is fixedly connected to the upper end face of the conveyor chassis 2; three wheel legs 3 and three foot legs 5 are arranged on the lower end surface of the conveyor chassis 2.
The wheel leg 3 comprises a wheel leg long-stroke electric push rod 6, a driving wheel mounting disc 10 and a driving wheel 7.
The telescopic rod ends of the six wheel leg long-stroke electric push rods 6 are fixedly connected to the upper end face of a driving wheel mounting plate 10 through a universal joint 8 and a flange plate 9, and the cylinder body ends are fixedly connected to the lower end face of a conveyor chassis 2 through the universal joint 8 and the flange plate 9.
The driving wheel 7 is arranged on the lower end surface of the driving wheel mounting disc 10; the direction of each driving wheel 7 is adjusted by changing the length of the leg long stroke electric push rod 6 of each leg 3.
The foot legs 5 comprise foot leg long-stroke electric push rods 4, electric foot fixing discs 14 and electric feet 11; the electric foot 11 comprises a short-stroke electric push rod 15 and a foot pad 16; the telescopic rod end of the short-stroke electric push rod 15 is fixedly connected with a foot pad 16 through a flange 9; the cylinder body end of the short-stroke electric push rod 15 is fixedly connected to the lower end surface of the electric foot fixing disc 14; the telescopic rod ends of the two long-stroke electric push rods 4 of the legs are fixedly connected to the upper end face of the electric foot fixing disc 14 in a bilateral symmetry mode through a universal joint 8 and a flange disc 9, and the cylinder body ends are fixedly connected to the lower end face of the conveyor chassis 2 through the universal joint 8 and the flange disc 9.
A foot-leg connecting central frame 12 is arranged below the conveyor chassis 2, and the foot-leg connecting central frame 12 is fixedly connected with electric foot fixing discs 14 of three foot legs 5 through three foot-leg connecting rods 13.
The control system comprises a remote controller and a controller, wherein the remote controller sends a control signal to the controller through an infrared signal receiving port of the controller; the controller respectively controls the driving wheel 7, the wheel leg long-stroke electric push rod 6, the foot leg long-stroke electric push rod 4 and the short-stroke electric push rod 15 through the output port.
The edge of the carrying platform 1 is fixedly connected with a fence.
The straight lines of the two foot leg long-stroke electric push rods 4 of each foot leg 5 at the two mounting points of the conveyor chassis 2 jointly form a first equilateral triangle taking the shape center of the conveyor chassis 2 as the center, and the two mounting points of the two foot leg long-stroke electric push rods 4 of each foot leg 5 on the conveyor chassis 2 are symmetrical about a symmetry axis perpendicular to the side of the first equilateral triangle where the two mounting points are located.
Every two of the six wheel leg long-stroke electric push rods 6 of each wheel leg 3 form a group, namely a first push rod group, a second push rod group and a third push rod group; straight lines of the three first push rod groups of the three wheel legs 3 at the two mounting points of the conveyor chassis 2 jointly form a second equilateral triangle taking the shape center of the conveyor chassis 2 as the center, the first push rod groups of the wheel legs 3 at the two mounting points of the conveyor chassis 2 are symmetrical about a symmetrical axis of the side of the second equilateral triangle where the two mounting points of the first push rod groups are perpendicular to, the second push rod groups and the third push rod groups are also symmetrical about a symmetrical axis of the side of the second equilateral triangle where the two mounting points of the first push rod groups are perpendicular to, and straight lines of the two mounting points of the second push rod groups at the conveyor chassis 2 and straight lines of the two mounting points of the third push rod groups at the conveyor chassis 2 are perpendicular to straight lines of the two mounting points of the first push rod groups at the conveyor chassis 2.
The side length of the second equilateral triangle is larger than that of the first equilateral triangle.
In the initial state, the shape center of the foot leg connecting center frame 12 is coaxial with the shape center of the conveyor chassis 2.
An orchard transportation method using the wheel feet and an orchard transporter comprises the steps of wheel type advancing, steering, lifting of a carrying platform and alternate walking of the wheel feet;
s0, setting the initial state of the orchard transporter with wheel feet: the loading platform 1 is kept horizontal; the three driving wheels 7 are in the same direction; the length of the three wheel legs 3 is between the maximum length of the wheel legs and the minimum length of the wheel legs, namely, the long-stroke electric push rods 6 of all the wheel legs of the wheel legs 3 have the allowance of extension and contraction; the three legs 5 are in the minimum length of the legs, namely, the long-stroke electric push rod 4 and the short-stroke electric push rod 15 of the legs 5 are in the complete contraction state, and the shape center of the leg connecting central frame 12 is coaxial with the shape center of the conveyor chassis 2;
s1, wheel-type traveling:
a control signal is sent to the controller through the remote controller, and the controller controls the three driving wheels 7 to rotate, so that the rapid walking on the flat road surface is realized;
s2, steering:
sending a control signal to a controller through a remote controller, and adjusting the length of each wheel leg long-stroke electric push rod 6 on the three wheel legs 3 to enable the driving wheels 7 to rotate in situ until the three driving wheels 7 are tangent to a circle; then the three driving wheels 7 are controlled to rotate towards the same clockwise direction, and after the target direction is reached, the wheel feet are restored to the initial state by using the orchard conveyor;
s3, lifting the loading platform:
sending a control signal to a controller through a remote controller, adjusting the length of each wheel leg long-stroke electric push rod 6 on the three wheel legs 3, synchronously changing the lengths of the three wheel legs 3, and keeping the loading platform 1 horizontal;
s4, alternately walking by wheel feet:
sending a control signal to a controller through a remote controller, adjusting the length of each foot leg long-stroke electric push rod 4 on three foot legs 5, enabling the foot leg connecting center frame 12 to horizontally deviate towards the advancing direction and reduce the height to the limit position; then, the short-stroke electric push rod 15 of the three electric feet 11 is extended to the maximum length, so that the three foot pads 16 are vertically contacted with the ground and the loading platform 1 is lifted, and the driving wheels 7 of the three wheel legs 3 leave the ground; the length of each foot leg long-stroke electric push rod 4 on the three foot legs 5 is adjusted again, so that the foot leg connecting central frame 12 keeps the horizontal height to return to the shape center to be coaxial with the shape center of the conveyor chassis 2, then, the length of each foot leg long-stroke electric push rod 4 on the three foot legs 5 is continuously adjusted, so that the foot leg connecting central frame 12 is restored to the initial state, and meanwhile, the short-stroke electric push rods 15 of the three electric feet 11 are contracted to the minimum length, so that the driving wheels 7 of the three wheel legs 3 are in contact with the ground; the wheel and the foot alternate walking on the irregular road surface are realized by the cyclic reciprocating.
The controller realizes steering, lifting of the loading platform and alternate walking control of the wheel and the foot through the length change rule of the long-stroke electric push rod 6 of the wheel leg, the long-stroke electric push rod 4 of the foot leg and the short-stroke electric push rod 15 obtained by simulation before operation.
Compared with the prior art, the invention has the beneficial effects that:
(1) the controller and the electric push rod type of the orchard conveyor can be automatically selected according to actual conditions, and the orchard conveyor is convenient and flexible to operate and reliable in work.
(2) The control system comprises a length change rule of the electric push rod of the orchard conveyor in various motion processes, which is obtained through motion simulation, and the orchard conveyor can reliably execute required actions according to the instructions of the remote controller.
(3) The carrying platform of the orchard conveyor keeps horizontal in the obstacle crossing or turning process of the conveyor, and the safety of goods is guaranteed.
(4) The closed-loop adjustment of the length change speed of the electric push rod ensures the reliability and the scientificity of the length change of the electric push rod, so that the action executed by the orchard conveyor is more reasonable and accurate.
(5) All actuating mechanisms of the orchard conveyor are electrically driven, so that the orchard conveyor is energy-saving and environment-friendly.
(6) The height and the whole size of the carrying platform of the orchard conveyor can be changed in real time along with the working environment, and the trafficability characteristic and the environmental adaptability of the orchard conveyor are guaranteed.
(7) The orchard conveyor adopts a walking mode of combining wheel legs, can realize rapid walking by using wheels on a flat road, and can also realize obstacle crossing and walking alternately by using the wheel legs on an irregular road surface, thereby ensuring the transportation efficiency and the trafficability characteristic.
(8) The carrying platform with the fence of the orchard conveyor ensures that fruits do not fall off due to jolt in the fruit conveying process in a mode of welding the fence on the tray.
Drawings
FIG. 1 is a schematic diagram of a wheel-foot orchard conveyor according to the invention;
fig. 2 is a schematic structural view of the wheel leg 3 of the present invention;
FIG. 3 is a schematic view of the structure of the foot leg 5 of the present invention;
fig. 4 is a schematic structural diagram of the electric foot 11 of the present invention;
FIG. 5 is a schematic structural view of the foot-leg connecting central frame 12 and the foot-leg connecting rod 13 of the present invention;
fig. 6 is a schematic view of the lower end surface structure of the conveyor pan 2 of the present invention;
fig. 7 is a schematic diagram of the system composition of the control system of the present invention.
Wherein the reference numerals are:
1 cargo platform 2 conveyer chassis
3-wheel leg and 4-foot leg long-stroke electric push rod
5-foot-leg 6-wheel-leg long-stroke electric push rod
7 driving wheel 8 cross axle universal joint
9 flange 10 driving wheel mounting disc
11 electronic sufficient 12 legs connect centre frame
13 electronic foot fixed disk of sufficient leg connecting rod 14
15 short stroke electric push rod 16 foot pad
Detailed Description
The invention is further illustrated with reference to the following figures and examples.
As shown in fig. 1, the wheel-foot orchard conveyor comprises a carrying platform 1, a conveyor chassis 2, wheel legs 3, foot legs 5 and a control system. The carrying platform 1 is fixedly connected to the upper end face of the conveyor chassis 2; three wheel legs 3 and three foot legs 5 are arranged on the lower end surface of the conveyor chassis 2.
Preferably, the edge of the carrying platform 1 is fixedly connected with a fence, so that the fruit can be effectively prevented from falling off due to jolt in the fruit transporting process of the orchard transporter.
As shown in fig. 2, the wheel leg 3 includes a wheel leg long-stroke electric push rod 6, a driving wheel mounting plate 10 and a driving wheel 7.
The telescopic rod ends of the six wheel leg long-stroke electric push rods 6 are fixedly connected to the upper end face of a driving wheel mounting plate 10 through a universal joint 8 and a flange plate 9, and the cylinder body ends are fixedly connected to the lower end face of a conveyor chassis 2 through the universal joint 8 and the flange plate 9.
The driving wheel 7 is mounted on the lower end surface of the driving wheel mounting disk 10. The direction of each driving wheel 7 is adjusted by changing the length of the leg long stroke electric push rod 6 of each leg 3.
As shown in fig. 3, the leg 5 comprises a long-stroke electric push rod 4, an electric foot fixing disc 14 and an electric foot 11. As shown in fig. 4, the electric foot 11 includes a short stroke electric putter 15 and a foot pad 16. The telescopic rod end of the short-stroke electric push rod 15 is fixedly connected with a foot pad 16 through a flange 9; the cylinder body end of the short-stroke electric push rod 15 is fixedly connected to the lower end face of the electric foot fixing disc 14; the telescopic rod ends of the two long-stroke electric push rods 4 of the legs are fixedly connected to the upper end face of the electric foot fixing disc 14 in a bilateral symmetry mode through a universal joint 8 and a flange disc 9, and the cylinder body ends are fixedly connected to the lower end face of the conveyor chassis 2 through the universal joint 8 and the flange disc 9.
As shown in fig. 5, a foot-leg connecting central frame 12 is arranged below the conveyor chassis 2, and the foot-leg connecting central frame 12 is fixedly connected with electric foot fixing discs 14 of three foot legs 5 through three foot-leg connecting rods 13. In the initial state, the shape center of the foot leg connecting center frame 12 is coaxial with the shape center of the conveyor chassis 2.
As shown in fig. 6, the straight lines of the two mounting points of the two long-stroke electric push rods 4 of each foot leg 5 on the conveyor chassis 2 form a first equilateral triangle with the shape center of the conveyor chassis 2 as the center, and the two mounting points of the two long-stroke electric push rods 4 of each foot leg 5 on the conveyor chassis 2 are symmetrical with respect to the symmetry axis perpendicular to the side of the first equilateral triangle where the two mounting points are located.
Every two of the six wheel leg long-stroke electric push rods 6 of each wheel leg 3 are in one group, namely a first push rod group, a second push rod group and a third push rod group; straight lines of the three first push rod groups of the three wheel legs 3 at the two mounting points of the conveyor chassis 2 jointly form a second equilateral triangle taking the shape center of the conveyor chassis 2 as the center, the first push rod groups of the wheel legs 3 at the two mounting points of the conveyor chassis 2 are symmetrical about a symmetrical axis of the side of the second equilateral triangle where the two mounting points of the first push rod groups are perpendicular to, the second push rod groups and the third push rod groups are also symmetrical about a symmetrical axis of the side of the second equilateral triangle where the two mounting points of the first push rod groups are perpendicular to, and straight lines of the two mounting points of the second push rod groups at the conveyor chassis 2 and straight lines of the two mounting points of the third push rod groups at the conveyor chassis 2 are perpendicular to straight lines of the two mounting points of the first push rod groups at the conveyor chassis 2.
The side length of the second equilateral triangle is larger than that of the first equilateral triangle.
The orchard conveyor provided by the invention has the advantages that the control of the wheel leg extension and wheel leg rotation, the foot leg extension and wheel foot alternate walking motion finally depends on the control of the length change of the electric push rod.
As shown in fig. 7, the control system includes a remote controller and a controller, wherein the remote controller sends a control signal to the controller through an infrared signal receiving port of the controller; the controller respectively controls the driving wheel 7, the wheel leg long-stroke electric push rod 6, the foot leg long-stroke electric push rod 4 and the short-stroke electric push rod 15 through the output port.
The orchard transportation method using the wheel feet and the orchard transporter comprises the steps of wheel type advancing, steering, lifting of a carrying platform and alternate walking of the wheel feet;
s0, setting the initial state of the orchard transporter with wheel feet: the loading platform 1 is kept horizontal; the three driving wheels 7 are in the same direction; the length of the three wheel legs 3 is between the maximum length of the wheel legs and the minimum length of the wheel legs, namely, the long-stroke electric push rods 6 of all the wheel legs of the wheel legs 3 have the allowance of extension and contraction; the three legs 5 are in the minimum length of the legs, namely the long-stroke electric push rod 4 and the short-stroke electric push rod 15 of the legs 5 are in the complete contraction state, and the shape center of the leg connecting central frame 12 is coaxial with the shape center of the conveyor chassis 2;
s1, wheel-type traveling:
a control signal is sent to the controller through the remote controller, and the controller controls the three driving wheels 7 to rotate, so that the rapid walking on the flat road surface is realized;
s2, steering:
sending a control signal to a controller through a remote controller, and adjusting the length of each wheel leg long-stroke electric push rod 6 on the three wheel legs 3 to enable the driving wheels 7 to rotate in situ until the three driving wheels 7 are tangent to a circle; then the three driving wheels 7 are controlled to rotate towards the same clockwise direction, and after the target direction is reached, the wheel feet are restored to the initial state by using the orchard conveyor;
s3, lifting the loading platform:
sending a control signal to the controller through a remote controller, and adjusting the length of each wheel leg long-stroke electric push rod 6 on the three wheel legs 3 to synchronously change the lengths of the three wheel legs 3 and keep the loading platform 1 horizontal;
s4, alternately walking by wheel feet:
sending a control signal to a controller through a remote controller, adjusting the length of each foot leg long-stroke electric push rod 4 on three foot legs 5, enabling the foot leg connecting center frame 12 to horizontally deviate towards the advancing direction and reduce the height to the limit position; then, the short-stroke electric push rods 15 of the three electric feet 11 are extended to the maximum length, so that the three foot pads 16 are vertically contacted with the ground and the loading platform 1 is lifted, and the driving wheels 7 of the three wheel legs 3 leave the ground; the length of each foot leg long-stroke electric push rod 4 on the three foot legs 5 is adjusted again, so that the foot leg connecting central frame 12 keeps the horizontal height to return to the shape center to be coaxial with the shape center of the conveyor chassis 2, then, the length of each foot leg long-stroke electric push rod 4 on the three foot legs 5 is continuously adjusted, so that the foot leg connecting central frame 12 is restored to the initial state, and meanwhile, the short-stroke electric push rods 15 of the three electric feet 11 are contracted to the minimum length, so that the driving wheels 7 of the three wheel legs 3 are in contact with the ground; the wheel and the foot alternate walking on the irregular road surface are realized by the cyclic reciprocating.
The controller realizes steering, lifting of the loading platform and alternate walking control of the wheel and the foot through the length change rule of the long-stroke electric push rod 6 of the wheel leg, the long-stroke electric push rod 4 of the foot leg and the short-stroke electric push rod 15 obtained through simulation before operation.
Claims (7)
1. A wheel-foot combined orchard conveyor is characterized by comprising an object carrying platform (1), a conveyor chassis (2), wheel legs (3), foot legs (5) and a control system;
the loading platform (1) is fixedly connected to the upper end face of the conveyor chassis (2); three wheel legs (3) and three foot legs (5) are arranged on the lower end surface of the conveyor chassis (2);
the wheel legs (3) comprise wheel leg long-stroke electric push rods (6), a driving wheel mounting disc (10) and a driving wheel (7);
the telescopic rod ends of the six wheel leg long-stroke electric push rods (6) are fixedly connected to the upper end face of a driving wheel mounting plate (10) through a universal joint (8) and a flange plate (9), and the cylinder end is fixedly connected to the lower end face of a conveyor chassis (2) through the universal joint (8) and the flange plate (9);
the driving wheel (7) is arranged on the lower end face of the driving wheel mounting disc (10); the direction of each driving wheel (7) is adjusted by changing the length of the wheel leg long-stroke electric push rod (6) of each wheel leg (3);
the foot legs (5) comprise long-stroke electric push rods (4), electric foot fixing discs (14) and electric feet (11); the electric foot (11) comprises a short-stroke electric push rod (15) and a foot pad (16); the telescopic rod end of the short-stroke electric push rod (15) is fixedly connected with the foot pad (16) through a flange plate (9); the cylinder body end of the short-stroke electric push rod (15) is fixedly connected to the lower end face of the electric foot fixing disc (14); telescopic rod ends of two long-stroke electric push rods (4) of the legs are fixedly connected to the upper end face of an electric foot fixing disc (14) in a bilateral symmetry mode through a universal joint (8) and a flange disc (9), and cylinder body ends are fixedly connected to the lower end face of a conveyor chassis (2) through the universal joint (8) and the flange disc (9);
a foot leg connecting central frame (12) is arranged below the conveyor chassis (2), and the foot leg connecting central frame (12) is fixedly connected with electric foot fixing discs (14) of three foot legs (5) through three foot leg connecting rods (13);
the control system comprises a remote controller and a controller, wherein the remote controller sends a control signal to the controller through an infrared signal receiving port of the controller; the controller respectively controls the driving wheel (7), the wheel leg long-stroke electric push rod (6), the foot leg long-stroke electric push rod (4) and the short-stroke electric push rod (15) through the output port.
2. Wheel-foot orchard conveyor according to claim 1, characterised in that rails are fastened to the edges of the carrier platform (1).
3. The wheel-foot orchard conveyor according to claim 1, wherein straight lines where the two foot-leg long-stroke electric push rods (4) of each foot leg (5) are located at the two mounting points of the conveyor chassis (2) jointly form a first equilateral triangle with the shape center of the conveyor chassis (2) as the center, and the two mounting points of the two foot-leg long-stroke electric push rods (4) of each foot leg (5) on the conveyor chassis (2) are symmetrical about a symmetry axis perpendicular to the side of the first equilateral triangle where the two mounting points are located;
every two of the six wheel leg long-stroke electric push rods (6) of each wheel leg (3) form a group, and the groups are respectively a first push rod group, a second push rod group and a third push rod group; straight lines where three first push rod groups of three wheel legs (3) are located at two mounting points of a conveyor chassis (2) jointly form a second equilateral triangle taking the shape center of the conveyor chassis (2) as the center, the two mounting points of the first push rod groups of the wheel legs (3) on the conveyor chassis (2) are symmetrical about a symmetrical axis which is perpendicular to the side of the second equilateral triangle where the two mounting points of the first push rod groups are located, the second push rod groups and the third push rod groups are also symmetrical about a symmetrical axis which is perpendicular to the side of the second equilateral triangle where the two mounting points of the first push rod groups are located, and the straight lines where the two mounting points of the second push rod groups on the conveyor chassis (2) and the straight lines where the two mounting points of the third push rod groups on the conveyor chassis (2) are both perpendicular to the straight lines where the two mounting points of the first push rod groups on the conveyor chassis (2) are located.
4. The wheel-foot-combined orchard conveyor according to claim 3, wherein the side length of the second equilateral triangle is larger than the side length of the first equilateral triangle.
5. Wheel-foot orchard conveyor according to claim 1, characterised in that in the initial state the centre of shape of the foot-leg connecting steady (12) is coaxial with the centre of shape of the conveyor chassis (2).
6. An orchard transportation method using wheel feet and an orchard transporter according to any one of claims 1 to 5, wherein the method comprises the steps of wheel type traveling, steering, carrying platform lifting and carrying, and wheel feet alternating walking;
s0, setting the initial state of the orchard transporter with wheel feet: the loading platform (1) is kept horizontal; the three driving wheels (7) are in the same direction; the length of the three wheel legs (3) is between the maximum length of the wheel legs and the minimum length of the wheel legs, namely, the long-stroke electric push rods (6) of the wheel legs (3) have extension and contraction allowance; the three legs (5) are in the minimum length of the legs, namely, the long-stroke electric push rod (4) and the short-stroke electric push rod (15) of the legs (5) are in a fully contracted state, and the shape center of the leg connecting center frame (12) is coaxial with the shape center of the conveyor chassis (2);
s1, wheel-type traveling:
a control signal is sent to the controller through the remote controller, and the controller controls the three driving wheels (7) to rotate, so that the rapid walking on the flat road surface is realized;
s2, steering:
sending a control signal to a controller through a remote controller, adjusting the length of each wheel leg long-stroke electric push rod (6) on the three wheel legs (3), and enabling the driving wheels (7) to rotate in situ to the three driving wheels (7) and simultaneously tangent to a circle; then the three driving wheels (7) are controlled to rotate towards the same clockwise direction, and after the target direction is reached, the wheels and the orchard conveyor are used for restoring the initial state;
s3, lifting the carrying platform:
sending a control signal to a controller through a remote controller, adjusting the length of each wheel leg long-stroke electric push rod (6) on the three wheel legs (3), synchronously changing the lengths of the three wheel legs (3), and keeping the objective platform (1) horizontal;
s4, alternately walking by wheel feet:
sending a control signal to a controller through a remote controller, adjusting the length of each foot leg long-stroke electric push rod (4) on the three foot legs (5), enabling the foot legs to be connected with a central frame (12) to horizontally deviate in the advancing direction and reduce the height to the limit position; then, the short-stroke electric push rods (15) of the three electric feet (11) are extended to the maximum length, so that the three foot pads (16) are vertically contacted with the ground and the loading platform (1) is lifted, and the driving wheels (7) of the three wheel legs (3) are separated from the ground; the length of each foot leg long-stroke electric push rod (4) on the three foot legs (5) is adjusted again, so that the foot leg connecting central frame (12) keeps the horizontal height to return to the shape center to be coaxial with the shape center of the conveyor chassis (2), then, the length of each foot leg long-stroke electric push rod (4) on the three foot legs (5) is continuously adjusted, so that the foot leg connecting central frame (12) restores to the initial state, and meanwhile, the short-stroke electric push rods (15) of the three electric feet (11) shrink to the minimum length, so that the driving wheels (7) of the three wheel legs (3) contact the ground; the wheel and the foot alternate walking on the irregular road surface are realized by the cyclic reciprocating.
7. The method according to claim 6, wherein the controller realizes steering, loading platform lifting and wheel-foot alternate walking control through the length change rule of the wheel-leg long-stroke electric push rod (6), the foot-leg long-stroke electric push rod (4) and the short-stroke electric push rod (15) obtained by simulation before operation.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210176536.3A CN114560026A (en) | 2022-02-25 | 2022-02-25 | Orchard transporter with wheels and feet used together and method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210176536.3A CN114560026A (en) | 2022-02-25 | 2022-02-25 | Orchard transporter with wheels and feet used together and method |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN114560026A true CN114560026A (en) | 2022-05-31 |
Family
ID=81716212
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202210176536.3A Pending CN114560026A (en) | 2022-02-25 | 2022-02-25 | Orchard transporter with wheels and feet used together and method |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN114560026A (en) |
-
2022
- 2022-02-25 CN CN202210176536.3A patent/CN114560026A/en active Pending
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN104255185B (en) | Crawler type rape cutter-rower | |
| CN207157328U (en) | A kind of multivariable mobile platform adaptive for farming and animal husbandry complicated landform | |
| CN106965627B (en) | Road clearance adjustable multifunctional tractor chassis | |
| CN204697493U (en) | A kind of agro-farming platform | |
| CN112520654A (en) | Leveling hilly and mountainous area orchard mechanized operation platform | |
| CN108791547A (en) | A kind of intelligent walking chassis of tractor transport and operation compatibility | |
| CN216916092U (en) | Orchard conveyor with wheels and feet | |
| CN204104356U (en) | Crawler type rape cutter-rower | |
| CN107628136A (en) | A kind of crawler tractor side leveling device based on parallel four-bar suspension fork mechanism | |
| CN114560026A (en) | Orchard transporter with wheels and feet used together and method | |
| CN106629529A (en) | Lifting operation device capable of being leveled and applicable to orchards in hilly and mountainous areas | |
| CN206371109U (en) | Self-propelled orchard picking platform | |
| CN102975786B (en) | Automatic vertical level-adjusting mechanism for vehicle chassis | |
| CN206666056U (en) | A kind of hilly and mountainous land orchard levelling lift work device | |
| CN206061561U (en) | A kind of self-propelled Fructus Jujubae cropper | |
| CN208085425U (en) | Agricultural greenhouse transport vehicle | |
| CN207931564U (en) | A kind of handling device | |
| CN213768189U (en) | Agricultural cross type variable-wheel-track electric mobile platform | |
| CN206491012U (en) | A kind of rape cutter-rower | |
| CN205510822U (en) | Self -propelled automatic transplanter | |
| CN203399636U (en) | Four-wheel self-propelled elevated pesticide spraying machine | |
| CN211521483U (en) | Simple fork lifting mechanism for picking operation platform | |
| CN106115287A (en) | Pickup carloader is moved in a kind of woven bag field | |
| RU2492620C2 (en) | Agricultural robot | |
| CN205892185U (en) | Braided bag field is removed and is picked up carloader |
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 |