CN114902841A

CN114902841A - Ditching fertilization all-wheel-drive agricultural robot

Info

Publication number: CN114902841A
Application number: CN202210587409.2A
Authority: CN
Inventors: 高峰; 范永豪; 程飞飞; 杨林南; 黄川�
Original assignee: Beijing Lyutan Technology Co ltd
Current assignee: Beijing Lyutan Technology Co ltd
Priority date: 2022-05-26
Filing date: 2022-05-26
Publication date: 2022-08-16
Anticipated expiration: 2042-05-26
Also published as: CN114902841B

Abstract

The invention provides a ditching and fertilizing all-wheel-drive agricultural robot, wherein a traction crawler is arranged on the front side of a frame, and a traveling wheel mechanism and a ditching and fertilizing mechanism are arranged on the rear side of the frame. The robot is provided with two different walking driving mechanisms at the same time, the front side is provided with the traction crawler belt, and the rear side is provided with the two walking wheels, so that the robot has the advantages of high running speed, good maneuverability, strong climbing capability and the like at the same time, and the robot can work in various severe road environments; meanwhile, the invention only needs one power source to drive the traction track, the walking wheels and the ditching and fertilizing mechanism, and the system has higher integration.

Description

Ditching fertilization all-wheel-drive agricultural robot

Technical Field

The invention relates to the field of machinery, in particular to a ditching and fertilizing all-wheel-drive agricultural robot.

Background

The traction chassis is mainly divided into a wheel chassis or a crawler chassis at present, and the wheel chassis has the greatest advantages of low oil consumption and convenience for maneuvering. The crawler belt walking device has the characteristics of large driving force, good cross-country performance and stability, large climbing capacity, small turning radius and good flexibility. But the crawler-type traveling device has high manufacturing cost, low running speed, large power consumption during running and steering and quick part abrasion. Compared with crawler type running gear, the tyre type running gear has the advantages of high running speed, good maneuverability, no damage to road surface caused by running tyre, and thus is very popular in city construction, and has the defects of large specific pressure of ground connection and small climbing capability.

Here, it is desired to provide a full-drive agricultural robot having both a crawler belt and a tire, which has advantages of a wheel-type chassis and a crawler belt chassis, and is expected to play a positive role in the agricultural field.

Disclosure of Invention

The invention provides a ditching and fertilizing all-wheel-drive agricultural robot which comprises a frame, wherein a gearbox is arranged on the frame, the gearbox is provided with two first gearbox output shafts and a second gearbox output shaft, a clutch brake mechanism is arranged in the gearbox to be connected with the two first gearbox output shafts, the clutch brake mechanism is provided with two shifting forks to respectively control the power output of the two first gearbox output shafts,

the clutch brake mechanism is provided with a steering control mechanism for controlling the two shifting forks;

a traction crawler is arranged on the front side of the frame, and a traveling wheel mechanism and a ditching and fertilizing mechanism are arranged on the rear side of the frame; wherein the content of the first and second substances,

the travelling wheel mechanism comprises travelling wheels positioned on two sides of the frame, and the two travelling wheels are connected with the output shafts of the first gear boxes on the left side and the right side through first rotating shafts;

the traction crawler comprises a crawler and a crawler driving mechanism, the crawler driving mechanism comprises two second rotating shafts, the two second rotating shafts are connected through a differential mechanism, a crawler driving wheel is arranged on the differential mechanism, and the second rotating shafts on the same side are in transmission connection with the first rotating shaft;

ditching fertilizing mechanism comprises fertilizing mechanism and ditching mechanism, and fertilizing mechanism includes pay-off box and feeding mechanism, and feeding mechanism is equipped with drive mechanism and is used for carrying the fertilizer in the pay-off box backward and arrange ground that falls, and ditching mechanism is equipped with the rotary tillage blade disc, by second gearbox output shaft simultaneous drive fertilizing mechanism's feeding mechanism and ditching mechanism's rotary tillage blade disc.

Furthermore, an upper extending plate and a lower extending plate which extend outwards horizontally are fixedly arranged on both sides of the frame,

two the walking wheel is installed in two first pivots through the universal joint respectively, all overlap in the relative inboard pivot of walking wheel and install the rotation cover, it is equipped with articulated seat with the extension board horizontal rotation is connected to rotate the cover.

Furthermore, a walking wheel steering mechanism connected with the two walking wheels is arranged on the frame and used for driving the two walking wheels to perform reverse steering at the same time, the walking wheel steering mechanism consists of two groups of connecting rod mechanisms which are arranged on the left and the right, and one of the connecting rod mechanisms is connected with a steering push rod;

each link mechanism consists of a first link and a second link, one end of each first link horizontally rotates on the frame and is meshed with the other end of each first link, and two ends of each second link are hinged between the rotating sleeve and the other end of each first link.

Furthermore, turn to control the mechanism and include lead screw motor, slide bar and be located the driving lever of the lead screw motor left and right sides, both sides the driving lever with two shift forks of separation and reunion arrestment mechanism link to each other, lead screw motor drives the slide bar slides and drives one side the driving lever swings, by the driving lever drives the shift fork rotates in order to interrupt the power take off of the first gearbox output shaft of this side.

Further, the traction track is provided with a lifting mechanism for lifting the front end of the traction track;

the lifting mechanism comprises a first electric push rod, a shock absorber, a connecting frame, a lifting arm and a swing arm, wherein two ends of the first electric push rod are respectively connected with the frame and the connecting frame in a rotating mode, the shock absorber is fixed on the connecting frame, one end of the connecting frame is connected with the frame through a third connecting rod, the other end of the connecting frame is connected with the lifting arm in a rotating mode, the lifting arm is fixedly connected with the swing arm and a crawler wheel supporting frame, and the rear end portion of the swing arm is installed on a second rotating shaft in a rotating mode.

Furthermore, the connecting frame is U-shaped, the first electric push rod is positioned on the inner side of the U-shaped connecting frame, and two shock absorbers are fixedly mounted on two sides of the outer portion of the U-shaped connecting frame respectively;

the lifting arm is a door-shaped frame, and both sides of the bottom of the lifting arm are provided with a swing arm.

Furthermore, the differential comprises a differential shell coaxially and fixedly connected with the crawler driving wheel, a first bevel gear, a second bevel gear and a middle planet wheel shaft are arranged in the differential shell, two opposite clamping grooves are formed in the inner ring of the differential shell, the planet wheel shaft is arranged between the two clamping grooves, the first bevel gear and the second bevel gear are respectively fixed at the opposite ends of the two second rotating shafts, and third bevel gears which are simultaneously meshed with the first bevel gear and the second bevel gear are fixed at the two ends of the planet wheel shaft.

Furthermore, a reverser is installed on the frame, an input shaft of the reverser is in transmission connection with an output shaft of the second gearbox, and the output shaft of the reverser provides power for the fertilizing mechanism and the ditching mechanism.

Furthermore, the feeding box is arranged on the front side of the frame, the feeding mechanism sequentially comprises a feeding pipe, a V-shaped conversion pipe and a discharging pipe from front to back, two feeding pipes are symmetrically arranged on the left side and the right side of the frame, the front ends of the feeding pipes are connected with an opening at the bottom of the feeding box, a first auger is arranged in each feeding pipe, the rear ends of the two feeding pipes are respectively connected with feeding ports on the left side and the right side of the V-shaped conversion pipe, a discharging port connected with the discharging pipe is arranged at the bottom of the V-shaped conversion pipe, a second auger is arranged in the discharging pipe, a shaft of the second auger is in transmission connection with an output shaft of the commutator through a first chain, and the two first augers are driven to rotate by the first chain;

the ditching mechanism is provided with two rotary tillage cutter heads, the two rotary tillage cutter heads are respectively arranged on two output shafts of a right-angle coupler, an input shaft of the right-angle coupler is in transmission connection with an output shaft of a commutator through a second chain, and a ditcher is arranged on the right-angle coupler.

Furthermore, an opening is formed in the upper half part of the front end, connected with the bottom of the feeding box, of the feeding pipe, and an adjusting sliding cover is arranged at the opening in a sliding mode and used for adjusting the opening width of the opening.

Further, a mounting frame is fixed at the tail of the frame, and the output shaft of the commutator, the second auger shaft and the input shaft of the right-angle coupler are rotatably mounted on the mounting frame;

the output shaft of the commutator is provided with a first output chain wheel and a second output chain wheel, the second auger shaft and the right-angle coupling input shaft are respectively fixed with a second auger chain wheel and a rotary tillage cutter chain wheel, and the first output chain wheel and the second output chain wheel are respectively in transmission connection with the second auger chain wheel and the rotary tillage cutter chain wheel through a first chain and a second chain.

Furthermore, be equipped with two driven shafts between first output sprocket and second auger sprocket, all coaxial third sprocket and the fourth sprocket of being equipped with on every driven shaft, two third sprockets all interlock with first chain, and two fourth sprockets are connected with two first auger sprocket transmissions through the third chain respectively, and two third chain bilateral symmetry install in the V-arrangement converting pipe, and are equipped with the scraper blade on the third chain.

Further, the second packing auger shaft is connected with a second packing auger chain wheel through a first universal joint coupling;

an input shaft of the right-angle coupling is connected with the rotary tillage cutter sprocket through a second universal joint coupling, and fourth connecting rods which are rotatably connected with the mounting rack are arranged on two sides of the right-angle coupling;

be equipped with second electric push rod on the mounting bracket, second electric push rod one end is rotated with the mounting bracket and is connected, and the other end links to each other with the right angle shaft coupling through first pendulum rod, and first pendulum rod upper end is rotated with second electric push rod and is connected and the lower extreme is fixed on the right angle shaft coupling, is connected with the second pendulum rod between right angle shaft coupling and discharging pipe, and the both ends and the right angle shaft coupling of second pendulum rod, discharging pipe are rotated and are connected.

The invention has the advantages that:

1) the frame is simultaneously provided with two different walking driving mechanisms, the front side is provided with the traction crawler belt, and the rear side is provided with two walking wheels, so that the robot has the advantages of high running speed, good maneuverability, strong climbing capability and the like, and can work in various severe road environments;

2) two first gearbox output shafts of the gearbox are used for driving the travelling wheels on two sides to rotate, and rotating shafts of the two travelling wheels drive a traction crawler belt on the front side of the frame to rotate through a transmission belt/chain; in addition, the gearbox is also provided with a second gearbox output shaft for driving the ditching and fertilizing mechanism to ditch and fertilize simultaneously, only one power source is needed to drive the traction crawler, the traveling wheels and the ditching and fertilizing mechanism, the driving mechanism is simplified, and meanwhile, multiple functions are realized;

3) two pivot steering modes can be realized through a gearbox between the travelling wheels and a differential mechanism between the crawler shafts, and one mode is that the directions of the travelling wheels at two sides are changed through a travelling wheel steering mechanism to realize the left-right steering of the robot; the other mode is that the power output of the walking wheels on one side is interrupted through the steering control mechanism, the walking wheels on the other side continue to rotate, and steering is realized through the rotating speed difference between the walking wheels on the two sides. The robot provided by the invention has the in-situ steering capability, is more flexible in movement, can turn around in a narrow place, and is strong in maneuverability;

4) the crawler belt is also provided with a lifting mechanism, the front end of the crawler belt can be driven to be lifted, the capability of crossing obstacles and crossing gullies is improved, and the lifting mechanism is arranged above the rear side of the crawler belt, does not occupy the transverse space, avoids the obstacles on the two sides from colliding with the lifting mechanism in the advancing process of the crawler belt, and plays a role in protecting the lifting mechanism;

5) the fertilizer in the feeding box falls into the material conveying pipes through the bottom opening and is conveyed backwards by the first auger, the fertilizer in the two material conveying pipes falls into the material discharging pipe through the V-shaped conversion pipe, and the fertilizer is conveyed backwards by the second auger and falls to the ground. According to the invention, the auger is adopted to convey the fertilizer in the front feeding box backwards, so that the fertilizer is prevented from being blocked in a pipeline, the fertilizer is discharged more uniformly, and the rotating speed of the auger can be adjusted to adjust the fertilizing speed;

6) the adjustable and ground contained angle of ditching mechanism is convenient for adjust the ditching degree of depth, and conveying pipeline and ditching mechanism adopt the linkage design, and the conveying pipeline can swing in step when adjusting ditching mechanism for fertilizer falls into the position more accurate.

Drawings

In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings needed to be used in the embodiments or the prior art descriptions will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art to obtain other drawings based on these drawings without inventive exercise.

FIG. 1 is a front side perspective view of a ditching fertilization all-wheel drive agricultural robot provided by the invention;

FIG. 2 is a rear side perspective view of the ditching fertilization all-wheel-drive agricultural robot provided by the invention;

fig. 3 is a perspective view showing only the chassis frame, the gearbox, the travelling wheel mechanism and the traction track of the all-wheel-drive agricultural robot of the present invention;

FIG. 4 is a perspective view of FIG. 3 from another perspective;

FIG. 5 is a perspective view of the transmission of FIG. 1 after it has been hidden;

FIG. 6 shows a schematic view of the chassis frame, road wheels and two axles of the traction tracks;

FIG. 7 is a side view of FIG. 5;

FIG. 8 is a top view of the orientation of the road wheels of the all-wheel-drive agricultural robot when the robot is moving straight;

FIG. 9 is a top view of the orientation of the road wheels of the all-wheel-drive agricultural robot when turning;

FIG. 10 is a front view of the transmission and its associated steering mechanism;

FIG. 11 is a side view of FIG. 10;

FIG. 12 is a perspective view of the steering control mechanism;

FIG. 13 is a schematic view of the track drive wheel and internal differential;

FIG. 14 is a schematic view of the connection of the gears of the differential between the second shafts;

FIG. 15 is a schematic view of the second shafts of the tracks each having a swing arm mounted thereon;

FIG. 16 is a schematic view of the connection between the second shafts via the reduction box;

FIG. 17 is a schematic view of a first pivot steering mode of the present invention;

FIG. 18 is a schematic diagram of a second in-situ steering mode of the present invention;

FIG. 19 is a perspective view of a traction track configured with a lifting mechanism;

FIG. 20 is a top view block diagram of the traction track;

FIG. 21 is a side view block diagram of the traction track;

FIG. 22 is a perspective view of the connection of the transmission to the reverser;

FIG. 23 is a perspective view of FIG. 22 from another perspective;

FIG. 24 is a side view of the ditching and fertilizing mechanism;

FIG. 25 is a top view of FIG. 24;

FIG. 26 is a schematic structural view of the tail part of the ditching and fertilizing device;

FIG. 27 is a side view of the tail of the ditching and fertilizing apparatus;

FIG. 28 is a top view of FIG. 7;

FIG. 29 is a driving schematic diagram of the fertilizing mechanism;

FIG. 30 is a schematic partial structure view of FIG. 29;

FIG. 31 is a schematic view of a feed delivery pipe according to an embodiment.

Detailed Description

In the following description, numerous specific details are set forth in order to provide a more thorough understanding of the present invention. It will be apparent, however, to one skilled in the art, that the present invention may be practiced without one or more of these specific details. In other instances, well-known features have not been described in order to avoid obscuring the invention.

In the following description, for the purposes of explanation, numerous specific details are set forth in order to provide a thorough understanding of the present invention. The following detailed description of the preferred embodiments of the invention, however, the invention is capable of other embodiments in addition to those detailed.

Referring to fig. 1-3, the invention provides a ditching and fertilizing all-wheel-drive agricultural robot, which comprises a frame 100, wherein a gearbox 110 is mounted on the frame 100, the gearbox 110 is provided with two first gearbox output shafts 111 and a second gearbox output shaft 113 (as shown in fig. 22 and 23), a clutch brake mechanism is arranged in the gearbox 110 to connect the two first gearbox output shafts 111, and the clutch brake mechanism is provided with two shifting forks 112 to disconnect the power output of the two first gearbox output shafts 111. It should be noted that the gearbox 110 adopted in the present invention is an existing gearbox purchased in the market, and the gearbox 110 is provided with two shifting forks 112 for controlling the power output of two output shafts, so the detailed structure of the present invention is not described in detail in the specification.

In the present invention, three main structures, namely, a traveling wheel mechanism 200, a ditching and fertilizing mechanism, and a traction crawler 300, are mounted on a frame 100. The three structures and their operating principles are explained below.

Traveling wheel mechanism 200

Referring to fig. 3-12, the travelling wheel mechanism 200 includes travelling wheels 201 located at two sides of the frame 100, two travelling wheels 201 are respectively mounted on two first rotating shafts 203 through universal joints 202, the two first rotating shafts 203 are respectively connected with the first gearbox output shafts 111 at the left and right sides, a travelling wheel steering mechanism 210 connected with the two travelling wheels is arranged on the frame 100, and the travelling wheel steering mechanism 210 is used for simultaneously driving the two travelling wheels 201 to perform reverse steering (for example, inner eight or outer eight rotation).

In an alternative embodiment, as shown in fig. 5, two upper and lower extending plates 101 extending horizontally outward are fixedly mounted on both sides of the frame 100; the rotating shaft on the inner side of each walking wheel 201 is sleeved with a rotating sleeve 204, the rotating sleeve 204 is connected with the walking wheel 201, and the rotating sleeve 204 is provided with a hinge seat which is rotatably connected with the extending plate 101. Because the walking wheel 201 is connected with the first rotating shaft 203 through the universal joint 202, the walking wheel 201 can swing so as to realize left-right steering of the walking wheel.

In order to realize the steering of the travelling wheels, the invention is realized by the following mechanisms:

as shown in fig. 5, 8 and 9, the road wheel steering mechanism 210 is composed of two sets of link mechanisms 211 symmetrically arranged on the frame 100 from left to right, wherein one link mechanism 211 is connected with a steering push rod 214; each link mechanism 211 is composed of a first link 212 and a second link 213, one end of the two first links 212 horizontally rotates on the frame 100 and is engaged with each other (as shown in fig. 5), and both ends of the second link 213 are hingedly connected between the rotating sleeve 204 and the other end of the first link 212. As shown in the figure, the push rod of the steering push rod 214 drives the first link 212 of the right link mechanism 211 to rotate by the link rotating shaft 2120, and the first link 212 band pulls the rotating sleeve 204 through the second link 213 to swing in the left-right direction, thereby steering the right road wheel. Meanwhile, the first link 212 of the right link mechanism 211 drives the first link 212 of the left link mechanism 211 to swing, so that the left link mechanism 211 drives the left road wheels to rotate synchronously and reversely, and fig. 9 is a top view of the embodiment after the two steering wheels rotate. The invention realizes that the two walking wheels on two sides can simultaneously realize reverse steering by using one steering push rod 214 through the ingenious combination of two groups of linked connecting rods.

In an optional embodiment, the two road wheels are symmetrically arranged at two sides of the frame 100 (as shown in fig. 6) in a splayed distribution, so that the ground contact area during turning can be increased, the vehicle has strong ground holding force, and the controllability of the vehicle can be obviously improved.

In an alternative embodiment, an internal combustion engine or an electric motor is mounted on the frame 100, and the transmission 110 is provided with a power input shaft connected to a power output shaft of the engine/motor by a belt, the transmission 110 being powered by the internal combustion engine/motor.

Traction track 300

Referring to fig. 13-21, the traction track 300 comprises a track 301 and a track driving mechanism 310, wherein the track driving mechanism 310 comprises two second rotating shafts 311, the two second rotating shafts 311 are connected with each other through a differential 312, a track driving wheel 313 is mounted on the differential 312, and the second rotating shaft 311 and the first rotating shaft 203 which are positioned on the same side of the frame 100 are respectively connected with each other through a transmission belt/chain/transmission shaft (the transmission belt 220 is shown in fig. 4).

As shown in fig. 13-15, the differential 312 has the following specific structure:

the differential 312 comprises a differential case 312-4 coaxially and fixedly connected with the crawler driving wheel 313, a first bevel gear 312-1, a second bevel gear 312-2 and a middle planet wheel shaft 312-3 are arranged in the differential case 312-4, an inner ring of the differential case 312-4 is provided with two opposite clamping grooves 312-4a, the planet wheel shaft 312-3 is arranged between the two clamping grooves 312-4a, the first bevel gear 312-1 and the second bevel gear 312-2 are respectively fixed at opposite ends of two second rotating shafts 311, and a third bevel gear 312-3a which is simultaneously meshed with the first bevel gear 312-1 and the second bevel gear 312-2 is fixed at two ends of the planet wheel shaft 312-3. When the differential case 312-4 is rotating, it drives the track 301 to rotate, and conversely, when the differential case 312-4 is braking, the track 301 is also braked.

In an alternative embodiment, the present invention is designed with a steering mechanism 120 for operating two forks 112. As shown in fig. 10-12, the steering control mechanism 120 includes a screw motor 121, a sliding rod 122, and shift levers 123 located at the left and right sides of the screw motor 121, the shift levers 123 at the two sides are connected to two shift forks 112 of the clutch brake mechanism, the screw motor 121 drives the sliding rod 122 to slide and drives the shift lever 123 at one side to swing, and the shift fork 112 is driven by the shift lever 123 to rotate so as to interrupt the power output of the first transmission output shaft 111 at the one side.

The moving working process of the invention is as follows:

1) robot forward/backward movement:

an engine or a motor provides power for the gearbox 110, two first gearbox output shafts 111 of the gearbox 110 rotate forwards or reversely at the same time, and the first gearbox output shafts 111 drive two first rotating shafts 203 to rotate so as to realize the rotation of two travelling wheels 201; meanwhile, the two first rotating shafts 203 respectively drive the two second rotating shafts 311 of the traction crawler 300 to rotate through the two transmission belts 220, and the rotation of the crawler is realized.

2) The robot turns to: in the present invention, there are two ways in which the robot can steer.

The first method is as follows: the walking wheel steering mechanism 210 drives the two walking wheels to steer left and right. As shown in fig. 8-9, the electric push rod of the steering push rod 214 drives the first link 212 on one side to rotate via the link rotating shaft 2120, the first link 212 pulls the rotating sleeve 204 via the second link 213 to swing in the left-right direction, and the swing of the rotating sleeve 204 drives the traveling wheels on the one side to steer. At the same time, the first link 212 connected to the steering push rod 214 drives the other first link 212 to swing, so that the road wheels on the other side rotate synchronously and reversely.

The second method comprises the following steps: and the steering is realized by using the rotating speed difference between the travelling wheels at the two sides. Taking the power output of the right road wheel as an example, the screw motor 121 of the steering control mechanism 120 drives the sliding rod 122 to slide rightward and drive the shift lever 123 on one side to swing, and the shift lever 123 drives the shift fork to rotate to interrupt the power output of the right first transmission output shaft 111, so that the right road wheel 201 stops rotating, and the left road wheel 201 continues to rotate, thereby the robot steers with the right road wheel 201 as the rotation center. It should be noted that, because the first rotating shaft 203 and the second rotating shaft 311 on the left and right sides of the same side are synchronously rotated or stopped, once the right first rotating shaft 203 stops rotating, the right second rotating shaft 311 also stops rotating, so we connect between the two second rotating shafts 311 of the traction crawler 300 through the differential 312, and therefore even if the right second rotating shaft 311 of the traction crawler 300 stops rotating, the rotation of the left second rotating shaft 311 will not be affected, and the crawler 301 will continue to rotate and pull the robot.

In addition, the mechanism provided by the invention also has two pivot steering modes:

taking fig. 17 as an example, a pivot steering method is described:

1) the left half shaft is in a power-off state but is not braked by a gearbox clutch brake mechanism, and at the moment, the left road wheel 201 (namely the wheel at the lower side of the figure 17) is in a follow-up free state.

2) The differential case 312-4 of the differential 312 is fixedly connected with the rotating shaft of the caterpillar driving wheel. This condition requires the differential case to be braked, i.e. the track drive wheels 313 are in a braked condition.

3) Under the above two conditions, as shown in fig. 17, when the machine is moving forward, the right half shaft rotates to drive the wheels to move forward, so as to drive the right sprocket/belt to move forward, and the right half shaft of the differential 312 rotates, at this time, since the differential housing 312-4 is fixed, the left half shaft of the differential 312 rotates reversely, so as to drive the left sprocket/belt pulley to move backward, so as to drive the left wheels to rotate reversely, as shown by the arrow directions of the two road wheels in fig. 17. The advancing directions of the two wheels of the whole machine are shown in figure 17, the front crawler type brake is carried out, and the final result is that the whole machine takes the contact point A of the crawler type and the ground as the origin to carry out pivot steering movement.

A pivot steering mode will be described with reference to fig. 18 as an example:

1) unlike the steering mode, the left half shaft is in a braking state (i.e. the lower wheel in fig. 18) by engaging and disengaging the brake mechanism through the gearbox.

2) In this state, the crawler drive wheel 313 is in a non-braking state (free state).

3) Under the above two conditions, as shown in fig. 18, when the machine advances, the right half shaft rotates to drive the traveling wheels to advance, so as to drive the right sprocket/belt to advance, the right half shaft of the differential rotates, and at this time, the differential case 312-4 is not braked, so that the left wheel is in a braking state, and the left sprocket/belt pulley is in a static state. Then the differential left half shaft is stationary. According to the differential principle, the differential housing operates under the drive of a right half shaft, thereby driving the track to operate.

The final result is that the machine will make pivot steering motion with the contact point B of the left wheel and the ground as the origin.

The traction crawler 300 is further equipped with a lifting mechanism 320 for raising and lowering the front end of the traction crawler to improve the ability to negotiate obstacles and ravines, as will be further described with reference to fig. 19-21.

The lifting mechanism comprises a first electric push rod 321, a shock absorber, a connecting frame, a lifting arm and a swing arm, wherein two ends of the first electric push rod 321 are respectively connected with the frame 100 and the connecting frame in a rotating mode, the shock absorber is fixed on the connecting frame, one end of the connecting frame is connected with the frame 100 through a third connecting rod 326, the other end of the connecting frame is connected with the lifting arm in a rotating mode, the lifting arm is fixedly connected with the swing arm and a crawler wheel supporting frame, and the rear end portion of the swing arm is rotatably installed on a second rotating shaft.

The frame 100 is fixedly provided with a mounting base plate (327), and one ends of the first electric push rod 321) and the third connecting rod 326 are rotatably connected to the mounting base plate (327).

The connecting frame is U-shaped, and first electric push rod is located the inboard of U-shaped connecting frame, and fixed mounting has a bumper shock absorber respectively in the outside both sides of U-shaped connecting frame. In addition, the lifting arm is a door-shaped frame, and both sides of the bottom of the lifting arm are provided with a swing arm.

To ensure the stability of the track rotation, a plurality of tension pulleys 316 are mounted on the track wheel support 315. For tensioning the track 301, as shown in figure 21.

Ditching and fertilizing mechanism

Referring to fig. 24, the ditching and fertilizing device consists of a fertilizing mechanism 400 and a ditching mechanism 500; the fertilizing mechanism 400 and the furrowing mechanism 500 are powered simultaneously by the second gearbox output shaft 113. The second gearbox output shaft 113 is located on the left side and the right side of the frame, so that a reverser 114 is installed on the frame 100, a reverser input shaft 115 is in transmission connection with the second gearbox output shaft through a belt, and the reverser output shaft 116 is used as an original power input shaft for driving the fertilizing mechanism and the ditching mechanism, as shown in fig. 22 and 23.

As shown in fig. 24-30, the fertilizing mechanism 400 comprises a feeding box 403, feeding pipes 401, and a discharging pipe 402, wherein the feeding pipes 401 are symmetrically arranged on the left and right sides of the tractor, a first packing auger 401-1 is arranged in each feeding pipe 401, the front ends of the two feeding pipes 401 are connected with the bottom opening of the feeding box 403, the rear ends of the two feeding pipes 401 are connected with the feeding ports on the left and right sides of a V-shaped switching pipe 404, and the bottom of the V-shaped switching pipe 404 is provided with an opening connected with the discharging pipe 402. The fertilizer in the feed conveying pipe 401 is conveyed to a discharge pipe 402 through a V-shaped conversion pipe 404 by the rotation of a first packing auger 401-1, a second packing auger is arranged in the discharge pipe 402, a discharge chain wheel 402-3 is arranged at one end of a second packing auger shaft 402-2, the discharge chain wheel 402-3 is in transmission connection with a commutator output shaft 116 through a first chain 150, and the first chain 150 is also used for driving two first packing augers 401-1 to rotate.

The ditching mechanism 500 comprises a ditcher 501 and rotary tillage cutterheads 502 arranged on the left side and the right side of the ditcher 501, the two rotary tillage cutterheads 502 are respectively arranged on two output shafts of a right-angle coupling 504, as shown in the figure, the right-angle coupling 504 is provided with an input shaft and two output shafts, the output shafts of the right-angle coupling 504 are in transmission connection with a commutator output shaft 116 through second chains, and the ditcher 501 is fixed on a tail end shell of the right-angle coupling 504.

During the advancing process, the output shaft 116 of the reverser drives the fertilizing mechanism 400 and the ditching mechanism 500 at the same time, fertilizer in the feeding box 403 falls into the feeding pipes 401 and is conveyed forwards by the first packing auger 401-1 in the feeding pipes 401, fertilizer in the two feeding pipes 401 falls into the discharging pipe 402 through the V-shaped conversion pipe 404, and is conveyed backwards by the second packing auger (not shown in the discharging pipe 402) in the discharging pipe 402 and falls to the ground. The invention can drive the fertilizing mechanism 400 and the ditching mechanism 500 by one power shaft, and simultaneously meets the requirements of ditching and fertilizing. In addition, the invention is detachably arranged at the tail of the vehicle, if the feeding box 403 is also arranged at the tail of the vehicle, the weight of the tail part is too heavy to influence the stability, so the invention adopts the front feeding box 403, the feeding box 403 is arranged at the front end of the traction piece, and fertilizer is conveyed backwards through the material conveying pipe 401 and the material discharging pipe 402, thereby being beneficial to balancing the weight.

In an alternative embodiment, the upper half of the front end of the feed delivery pipe 401 connected to the bottom of the feed box 403 is provided with an opening 401-4, and an adjusting slide cover 401-2 is slidably provided at the opening 401-4, so that the opening width of the opening 401-4 can be adjusted by slidably adjusting the slide cover 401-2, and further the speed of fertilizer falling into the feed delivery pipe 401 can be adjusted, as shown in FIG. 31.

The tail part of the tractor is fixed with a mounting frame 410, the input shaft of the commutator output shaft 116, the second auger shaft 402-2 and the rotary tillage cutter head driving shaft 504 is rotatably arranged on the mounting frame 410, and the V-shaped conversion pipe 404 is fixed on the mounting frame 410. As shown in fig. 29-30, a first output sprocket 116-1 and a second output sprocket 116-2 are coaxially mounted on the output shaft 116 of the reverser, and the first output sprocket 116-1 and the second output sprocket 116-2 are in transmission connection with the discharge sprocket 402-3 and the rotary blade sprocket 504-1 through a first chain 150 and a second chain, respectively.

Referring to fig. 28-30, the first chain 150 drives the two first winches 401-1 to rotate as follows: two driven shafts 140 are arranged between the first output chain wheel 116-1 and the discharge chain wheel 402-3, a third chain wheel 141 and a fourth chain wheel 142 are coaxially arranged on each driven shaft 140, the two third chain wheels 141 are meshed with the first chain 150, and the two fourth chain wheels 142 are in transmission connection with the two first auger chain wheels 401-3 through third chains 160 respectively. The two third chains 160 are symmetrically installed in the V-shaped transition pipe 404, and the third chains 160 are provided with scrapers 161 (see fig. 29). The principle is as follows: the first chain 150 drives the second auger to rotate and simultaneously drives the two driven shafts 140 to rotate in the same direction, the fourth chain wheels 142 on the two driven shafts 140 drive the two first augers 401-1 to rotate through the third chain 160, so that fertilizer falling into the conveying pipe 401 is conveyed forwards and enters the V-shaped conversion pipe 404, and the third chain 160 rotates in the V-shaped conversion pipe 404, scrapes the fertilizer to a bottom discharge hole of the V-shaped conversion pipe 404 through the scraper 161 and finally falls into the conveying pipe 401.

Two first output chain wheels 116-1 are fixed on the output shaft 116 of the commutator, correspondingly, two discharging chain wheels 402-3 are also arranged on the second auger shaft 402-2, the second auger and the driven shaft 140 are driven by double chains, and the transmission is more stable and firm. It should be noted that all the chain and sprocket drive mechanisms described above may be replaced with belt and pulley drives.

In an alternative embodiment, the ditching and fertilizing apparatus is provided with an angle adjustment mechanism for adjusting the angle between the tapping pipe 402 and the ditching mechanism 500 and the ground. As shown in fig. 26 to 27, the specific structure of the angle adjusting mechanism is as follows:

1) the second auger shaft 402-2 is connected with the discharging chain wheel 402-3 through a first universal joint coupling 402-2 a.

2) An input shaft of the right-angle coupling 504 is connected with a rotary blade chain wheel 504-1 through a second universal joint coupling 504-2a, fourth connecting rods 505 rotatably connected with the mounting frame 410 are arranged on two sides of the right-angle coupling 504, the front end of each fourth connecting rod 505 is rotatably connected with the mounting frame 410, and the rear end of each fourth connecting rod 505 is fixedly connected with the right-angle coupling 504. Be equipped with second electric push rod 420 on mounting bracket 410, second electric push rod 420 one end is rotated with mounting bracket 410 and is connected, and the other end links to each other with right angle shaft coupling 504 through first pendulum rod 421, and first pendulum rod 421 upper end is rotated with second electric push rod 420 and is connected and the lower extreme is fixed on right angle shaft coupling 504, is connected with second pendulum rod 506 between right angle shaft coupling 504 and discharging pipe 402, and the both ends and right angle shaft coupling 504, discharging pipe 402 of second pendulum rod 506 are rotated and are connected.

When the angle needs to be adjusted, the second electric push rod 420 pushes the first swing rod 421 forwards or backwards to enable the ditching mechanism 500 to swing up and down, and further the ditching depth is changed; in addition, the ditching mechanism 500 swings while driving the discharging pipe 402 to synchronously tilt downwards or lift upwards through the second swing rod 506, so that the relative position of the discharging port at the rear end of the discharging pipe 402 and the ditcher is not changed, and the falling position of the fertilizer is more accurate.

In an alternative embodiment, arc-shaped shields 508 are fixed on both sides of the right-angle coupling 504 above the rotary tillage cutterhead 502. When the rotary tillage cutter head 502 works, thrown soil hits the arc-shaped guard plate 508 and then naturally falls down. The rear end of the fourth link 505 is fixed to the arc-shaped shield 508.

In summary, the innovation of the invention is as follows:

1) the wheel-track combined type walking mechanism with the ankle simulating function and the two side-by-side driving wheels which are distributed in a regular triangle shape has flexible follow-up and active ground profiling capability and intelligent posture regulation capability. The sufficient grounding is ensured, the optimal traction capacity is exerted, and meanwhile, the passing performance is improved;

2) the unique ground-attached walking mode greatly reduces the gravity center height and the overall height of the machine body, improves the anti-tipping capability of the operation and the stability of the whole machine, and is convenient for planting and breeding operation in a greenhouse, an orchard and the like or between livestock pens and poultry houses in a limited narrow space;

3) the pivot steering function enables the machine to work flexibly. The bidirectional driving can carry various working machines and tools, and can expand various application scenes. The whole machine adopts a modular design, so that the requirements of different operation scenes can be met, and the practicability and the utilization rate of the machine are greatly improved;

4) the Beidou/5G high-precision navigation and artificial intelligence control system is provided, and three operation modes of remote control, teleoperation, autonomy and complete autonomy can be provided according to application scenes and user requirements;

5) the management and control platform based on the digital twin technology realizes multi-machine cooperative operation, is simpler and more convenient to operate and has higher operation efficiency.

The above description is of the preferred embodiment of the invention. It is to be understood that the invention is not limited to the particular embodiments described above, in that devices and structures not described in detail are understood to be implemented in a manner common in the art; those skilled in the art can make many possible variations and modifications to the disclosed embodiments, or modify equivalent embodiments, without affecting the spirit of the invention, using the methods and techniques disclosed above, without departing from the scope of the invention. Therefore, any simple modification, equivalent change and modification made to the above embodiments according to the technical essence of the present invention are still within the scope of the protection of the technical solution of the present invention, unless the contents of the technical solution of the present invention are departed.

Claims

1. A ditching and fertilizing all-wheel-drive agricultural robot comprises a frame (100), wherein a gearbox (110) is mounted on the frame (100), the gearbox (110) is provided with two first gearbox output shafts (111) and a second gearbox output shaft (113), a clutch brake mechanism is arranged in the gearbox (110) to be connected with the two first gearbox output shafts (111), the clutch brake mechanism is provided with two shifting forks (112) to respectively control power output of the two first gearbox output shafts (111), and the ditching and fertilizing all-wheel-drive agricultural robot is characterized in that,

the clutch brake mechanism is provided with a steering control mechanism (120) for controlling the two shifting forks (112);

a traction crawler (300) is arranged on the front side of the frame (100), and a traveling wheel mechanism (200) and a ditching and fertilizing mechanism are arranged on the rear side of the frame (100); wherein the content of the first and second substances,

the walking wheel mechanism (200) comprises walking wheels (201) positioned on two sides of the frame (100), and the two walking wheels (201) are connected with the first gearbox output shafts (111) on the left side and the right side through first rotating shafts (203);

the traction crawler (300) comprises a crawler (301) and a crawler driving mechanism (310), the crawler driving shaft (310) mechanism comprises two second rotating shafts (311), the two second rotating shafts (311) are connected through a differential (312), a crawler driving wheel (313) is mounted on the differential (312), and the second rotating shaft (311) and the first rotating shaft (203) on the same side are in transmission connection;

ditching fertilizing mechanism comprises fertilizing mechanism (400) and ditching mechanism (500), and fertilizing mechanism (400) include pay-off case (403) and feeding mechanism, and feeding mechanism is equipped with drive mechanism and is used for carrying the fertilizer in pay-off case (403) backward and land side by side, and ditching mechanism (500) are equipped with rotary tillage blade disc (502), by feeding mechanism and ditching mechanism's (500) rotary tillage blade disc (502) of second gearbox output shaft (113) simultaneous drive fertilizing mechanism (400).

2. The ditching and fertilizing all-wheel-drive agricultural robot of claim 1,

an upper extending plate and a lower extending plate (101) which extend outwards horizontally are fixedly arranged on both sides of the frame (100),

two walking wheel (201) is installed on two first pivots (203) through universal joint (202) respectively, all overlap in the pivot of walking wheel (201) relative inboard and install and rotate cover (204), it is equipped with articulated seat with extension board (101) horizontal rotation connects to rotate cover (204).

3. A ditching and fertilizing all-wheel-drive agricultural robot as claimed in claim 2, wherein a walking wheel steering mechanism (210) connected with two walking wheels is arranged on the frame (100), the walking wheel steering mechanism (210) is used for driving the two walking wheels (201) to perform reverse steering at the same time, the walking wheel steering mechanism (210) is composed of two groups of link mechanisms (211) arranged at left and right, and one of the link mechanisms (211) is connected with a steering push rod (214);

each link mechanism (211) consists of a first link (212) and a second link (213), one end of each first link (212) horizontally rotates on the frame (100) and is meshed with the other end of each first link, and two ends of each second link (213) are hinged between the rotating sleeve (204) and the other end of each first link (212).

4. The ditching and fertilizing all-wheel-drive agricultural robot as claimed in claim 1, wherein the steering control mechanism (120) comprises a screw motor (121), a slide rod (122) and shift rods (123) located on the left and right sides of the screw motor (121), the shift rods (123) on the two sides are connected with two shift forks (112) of the clutch brake mechanism, the screw motor (121) drives the slide rod (122) to slide and drives the shift rod (123) on one side to swing, and the shift fork (112) is driven by the shift rod (123) to rotate so as to interrupt the power output of the first gearbox output shaft (111) on the side.

5. A ditching and fertilizing all-wheel-drive agricultural robot as claimed in claim 1, wherein the traction crawler (300) is equipped with a lifting mechanism (320) for lifting the front end of the traction crawler (300);

lifting mechanism (320) include first electric push rod (321), bumper shock absorber (322), link (323), lift arm (324) and swing arm (325), the both ends of first electric push rod (321) respectively with frame (100), link (323) rotate and are connected, bumper shock absorber (322) are fixed on link (323), link (323) one end is passed through third connecting rod (326) and is linked to each other with frame (100), the other end rotates with lift arm (324) and is connected, lift arm (324) and swing arm (325), athey wheel support frame (315) fixed connection, and swing arm (325) rear end rotates and installs on second pivot (311).

6. A ditching and fertilizing all-wheel-drive agricultural robot as claimed in claim 5,

the connecting frame (323) is U-shaped, the first electric push rod (321) is positioned at the inner side of the U-shaped connecting frame (323), and two shock absorbers (322) are respectively and fixedly arranged at two sides of the outer part of the U-shaped connecting frame;

the lifting arm (324) is a 'door' -shaped frame, and both sides of the bottom of the lifting arm (324) are provided with a swing arm (325).

7. A ditching and fertilizing all-wheel-drive agricultural robot as claimed in claim 1, characterized in that the differential (312) comprises a differential housing (312-4) coaxially and fixedly connected with the track drive wheel (313), a first bevel gear (312-1), a second bevel gear (312-2) and a planetary gear shaft (312-3) in the middle are arranged in the differential housing (312-4), two opposite clamping grooves (312-4a) are arranged on the inner ring of the differential housing (312-4), the planetary gear shaft (312-3) is arranged between the two clamping grooves (312-4a), the first bevel gear (312-1) and the second bevel gear (312-2) are respectively fixed on the opposite ends of the two second rotating shafts (311), and two ends of the planetary gear shaft (312-3) are fixed with the first bevel gear (312-1) and the second bevel gear (312-2) at the same time, A third bevel gear (312-3a) engaged with the second bevel gear (312-2).

8. The ditching and fertilizing all-wheel-drive agricultural robot as claimed in claim 1, characterized in that a reverser (114) is mounted on the frame (100), the input shaft (115) of the reverser is in transmission connection with the output shaft (113) of the second gearbox, and the fertilizer application mechanism (400) and the ditching mechanism (500) are powered by the output shaft (116) of the reverser.

9. A ditching and fertilizing all-wheel-drive agricultural robot as claimed in claim 8,

the feeding box (403) is arranged on the front side of the frame (100), the feeding mechanism comprises a feeding pipe (401), a V-shaped conversion pipe (404) and a discharging pipe (402) from front to back in sequence, two material conveying pipes (401) are symmetrically arranged at the left side and the right side of the frame (100), the front ends of the material conveying pipes (401) are connected with an opening at the bottom of the feeding box (403), a first packing auger (401-1) is arranged in each material conveying pipe (401), the rear ends of the two material conveying pipes (401) are respectively connected with the material inlets at the left side and the right side of the V-shaped conversion pipe (404), and the bottom of the V-shaped conversion pipe (404) is provided with a discharge hole connected with the discharge pipe (402), a second packing auger is arranged in the discharge pipe (402), the shaft of the second packing auger is in transmission connection with the output shaft (116) of the commutator through a first chain (150), and the two first packing augers (401-1) are driven to rotate by the first chain (150);

the ditching mechanism (500) is provided with two rotary tillage cutter heads (502), the two rotary tillage cutter heads (502) are respectively arranged on two output shafts of a right-angle coupling (504), an input shaft of the right-angle coupling (504) is in transmission connection with an output shaft (116) of a commutator through a second chain, and a ditcher (501) is arranged on the right-angle coupling (504).

10. A ditching and fertilizing all-wheel-drive agricultural robot as claimed in claim 9, characterized in that the upper half of the front end of the delivery pipe (401) connected with the bottom of the feeding box (403) is provided with an opening (401-4), and an adjusting sliding cover (401-2) is slidably arranged at the opening (401-4) for adjusting the opening width of the opening (401-4).

11. The ditching, fertilizing and all-wheel-drive agricultural robot as claimed in claim 9, wherein a mounting frame (410) is fixed at the tail of the frame (100), and the commutator output shaft (116), the second auger shaft (402-2) and the right-angle coupling (504) input shaft are all rotatably mounted on the mounting frame (410);

a first output chain wheel (116-1) and a second output chain wheel (116-2) are mounted on the output shaft (116) of the commutator, a second packing auger chain wheel (402-3) and a rotary tillage cutter chain wheel (504-1) are respectively fixed on the input shaft of the second packing auger shaft (402-2) and the right-angle coupling (504), and the first output chain wheel (116-1) and the second output chain wheel (116-2) are respectively in transmission connection with the second packing auger chain wheel (402-3) and the rotary tillage cutter chain wheel (504-1) through a first chain (150) and a second chain.

12. The ditching and fertilizing all-wheel-drive agricultural robot as claimed in claim 11, wherein two driven shafts (140) are arranged between the first output chain wheel (116-1) and the second auger chain wheel (402-3), a third chain wheel (141) and a fourth chain wheel (142) are coaxially arranged on each driven shaft (140), the two third chain wheels (141) are meshed with the first chain (150), the two fourth chain wheels (142) are in transmission connection with the two first auger chain wheels (401-3) through third chains (160), the two third chains (160) are symmetrically arranged in the V-shaped conversion pipe (404), and the scraper (161) is arranged on the third chains (160).

13. The ditching and fertilizing all-wheel-drive agricultural robot of claim 11, characterized in that the second auger shaft (402-2) is connected with the second auger sprocket (402-3) through a first universal joint coupling (402-2 a);

an input shaft of the right-angle coupling (504) is connected with a rotary blade chain wheel (504-1) through a second universal joint coupling (504-2a), and fourth connecting rods (505) which are rotatably connected with the mounting frame (410) are arranged on two sides of the right-angle coupling (504);

be equipped with second electric push rod (420) on mounting bracket (410), second electric push rod (420) one end is rotated with mounting bracket (410) and is connected, the other end links to each other with right angle shaft coupling (504) through first pendulum rod (421), first pendulum rod (421) upper end is rotated with second electric push rod (420) and is connected and the lower extreme is fixed on right angle shaft coupling (504), be connected with second pendulum rod (506) between right angle shaft coupling (504) and discharging pipe (402), the both ends and right angle shaft coupling (504) of second pendulum rod (506), discharging pipe (402) are rotated and are connected.