CN117681952B - Farmland walking platform with independent steering function - Google Patents
Farmland walking platform with independent steering function Download PDFInfo
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- CN117681952B CN117681952B CN202410147877.7A CN202410147877A CN117681952B CN 117681952 B CN117681952 B CN 117681952B CN 202410147877 A CN202410147877 A CN 202410147877A CN 117681952 B CN117681952 B CN 117681952B
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- 230000007246 mechanism Effects 0.000 claims description 27
- 239000003638 chemical reducing agent Substances 0.000 claims description 15
- 238000000034 method Methods 0.000 claims description 10
- 239000002689 soil Substances 0.000 abstract description 21
- 239000013013 elastic material Substances 0.000 abstract description 5
- 238000011065 in-situ storage Methods 0.000 abstract description 3
- 238000010586 diagram Methods 0.000 description 7
- 230000009467 reduction Effects 0.000 description 7
- 230000008569 process Effects 0.000 description 6
- 238000007665 sagging Methods 0.000 description 3
- WHXSMMKQMYFTQS-UHFFFAOYSA-N Lithium Chemical group [Li] WHXSMMKQMYFTQS-UHFFFAOYSA-N 0.000 description 2
- 230000009471 action Effects 0.000 description 2
- 238000001514 detection method Methods 0.000 description 2
- 229910052744 lithium Inorganic materials 0.000 description 2
- 238000009736 wetting Methods 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000008859 change Effects 0.000 description 1
- 238000004146 energy storage Methods 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000001105 regulatory effect Effects 0.000 description 1
Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D5/00—Power-assisted or power-driven steering
- B62D5/04—Power-assisted or power-driven steering electrical, e.g. using an electric servo-motor connected to, or forming part of, the steering gear
- B62D5/0421—Electric motor acting on or near steering gear
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60K—ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
- B60K7/00—Disposition of motor in, or adjacent to, traction wheel
- B60K7/0007—Disposition of motor in, or adjacent to, traction wheel the motor being electric
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D63/00—Motor vehicles or trailers not otherwise provided for
- B62D63/02—Motor vehicles
- B62D63/04—Component parts or accessories
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- Engineering & Computer Science (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Handcart (AREA)
Abstract
The invention relates to the technical field of agricultural machinery, and is used for solving the problems that wheels of a walking platform cannot be independently turned to cause low walking efficiency, damage is easily caused to farmlands, and sinking is easily caused by small areas of the wheels; according to the invention, each wheel can independently turn through the control of the control system, the wheels can horizontally move in all directions and rotate in situ during operation, the operation efficiency is improved, so that the movement in a narrow terrace is realized, the contact area between the inclined-prevention assembly formed by a plurality of connecting joints and the soil surface of the farmland is increased, the bottom support plate in the connecting joint can be inserted into the soil under the pushing of the first adjusting push rod, the control system judges whether the front of a travelling route can be subjected to the sinking condition, the sinking danger is avoided in advance, and when the avoidance operation cannot be performed, the expansion of elastic materials is driven by the limiting connecting rods, the contact surface between the inclined-prevention assembly and the soil is increased, and the dumping incidence rate of a travelling platform is reduced.
Description
Technical Field
The invention relates to the technical field of agricultural machinery, in particular to a farmland walking platform with independent steering.
Background
In the prior art, when a farmland walking platform walks in a farmland, the area of the farmland is easy to be small, the area is narrow, the farmland is disturbed when walking and steering are carried out, the walking efficiency of the farmland walking platform is affected, the wheels synchronously steer, and when the steering angle is large, the soil in the farmland is easy to push and move, and the subsequent cultivation of crops in the farmland is affected; the contact area of wheels of the farmland walking platform is small, when walking in a farmland, the condition of sinking easily occurs, and after the wheels on one side of the farmland walking platform sink, the problem of dumping easily occurs, so that various articles on the farmland walking platform fall into the farmland, the condition of wetting and polluting occurs, and damage is caused to crops in the farmland; the application provides a solution to the technical problem.
Disclosure of Invention
The invention aims to enable each wheel to independently turn through the control of a control system, the wheels can horizontally move in all directions and rotate in situ during operation, the operation efficiency is improved, the wheels of a walking platform can move in a narrow terrace, the contact area with the soil surface of the farmland is increased through an anti-tilting assembly formed by a plurality of connecting joints, a bottom support plate in each connecting joint can be inserted into the soil under the pushing of an adjusting push rod I, the control system judges whether the front part of a travelling route can be sunken or not, the situation of sinking danger is avoided in advance, and when the avoidance operation cannot be carried out, the contact area between the expansion of elastic materials and the soil is increased by limiting the connecting rods, the tilting incidence rate of the walking platform is reduced, the problem that the wheels of the walking platform cannot independently turn to cause low walking efficiency, the farmland is easily damaged, and the wheel area is small and the sinking easily occurs is solved. The aim of the invention can be achieved by the following technical scheme: the utility model provides a farmland walking platform with independent turn to, includes traveling system and control system, traveling system includes frame, four sets of steering mechanism and running gear, four corner positions departments of frame lower surface are provided with running gear, frame inside corresponds running gear position department is provided with steering mechanism, steering mechanism is including turning to motor, turning to reduction gear, motor cabinet, turning to driving gear and turning to driven gear, frame inside is provided with turns to the motor, turning to motor one end and installing the reduction gear, turning to the reduction gear lateral wall and installing the motor cabinet, turning to the reduction gear and keeping away from turning to the driving gear is installed to one end of motor, turning to the mechanism pass through the motor cabinet with the upper end of running gear upper wheel carrier is connected, the lower extreme of running gear upper wheel carrier is connected with the wheel, running gear includes running motor, running reduction gear, wheel, support frame and connecting axle, four corner positions departments of frame lower surface rotate and are connected with the wheel, the reduction gear is installed through the support frame inside to wheel position department, surface mounting has the reduction gear on the running motor, surface mounting has the rotating shaft on the support frame, turning to the surface mounting is close to the driven axle. As a preferred embodiment of the invention, the control system comprises a power supply, a chassis controller, a motor driver, a photoelectric sensor, an implement control module, a receiver and a remote control terminal, wherein the control system is powered by the power supply, the chassis controller is connected with the motor driver to realize the forward, backward and steering of a walking platform, the photoelectric sensor is connected with the motor driver to acquire the steering position information of four wheels to ensure the straight running and steering of the wheels, the implement control module is connected with the chassis controller to control the lifting and working of the implement, the remote control terminal is connected with the receiver to control the movement of the power platform, and the control system is arranged on the frame. As a preferred implementation mode of the invention, the wheel outer side wall is rotationally connected with the anti-tilting assembly in four directions, a sliding rotating joint is rotationally connected at the position of the wheel outer side wall, which is close to the anti-tilting assembly, a sliding hole is formed in the middle of the sliding rotating joint outer side wall, a sliding rod is slidingly connected in the sliding hole, a baffle is arranged at one end, which is far away from the anti-tilting assembly, of the sliding rod, the anti-tilting assembly consists of a plurality of connecting joints, a rotating block is integrally formed at one side of the connecting joint outer side wall, and a rotating groove is formed at the other side of the connecting joint outer side wall, which corresponds to the position of the rotating block. As a preferred implementation mode of the invention, the rotary joint comprises a limiting plate and an arc bottom plate, wherein the limiting plate is integrally formed on two sides of the upper surface of the arc bottom plate, two sides of the inner side wall of a rotary groove are respectively provided with a rotary limiting cavity, a fluted disc is rotationally connected at the middle position inside the rotary limiting cavity, limiting plates are integrally formed on the upper side and the lower side of the rotary limiting cavity corresponding to the fluted disc, limiting clamping teeth are slidingly connected at the position inside the rotary limiting cavity corresponding to the limiting plates, a plurality of uniformly distributed convex teeth are integrally formed on one side of the outer side wall of each limiting clamping tooth corresponding to the fluted disc, an energizing spring is arranged on one side of the outer side wall of each limiting clamping tooth, which is far away from the fluted disc, and a limiting rod is arranged on the limiting plate corresponding to the position of the energizing spring. As a preferred embodiment of the invention, the two sides of the lower surface of the arc bottom plate are provided with inner slots corresponding to the positions of the limiting plates, the middle position of the upper surface inside the inner slots is provided with a first adjusting push rod, the lower end of the adjusting push rod is provided with a first connecting plate, the inner side of the inner slots is provided with a second connecting plate close to the lower part of the connecting plate, the middle position of the lower surface of the second connecting plate is provided with a second adjusting push rod, the lower end of the second adjusting push rod is provided with a bottom supporting plate, the outer side of the upper surface of the bottom supporting plate is rotationally connected with a limiting connecting rod through a rotating seat, and the lower surface of the connecting plate is provided with a driving connecting rod corresponding to the position of the limiting connecting rod. As a preferred embodiment of the present invention, a steering method of a farmland walking platform with independent steering includes the steps of: step one: setting the turning radius R of wheels of a walking platform, taking the center of the whole paddy field as the turning center, wherein the length of the walking platform is L, the width of the walking platform is B, the real-time angle of front left wheel steering is alpha, and the forward speed of front left wheel steering is v1; the real-time angle of the front right wheel is beta, and the forward speed of the front right wheel is v2; the real-time angle of the rear left wheel steering is gamma, and the forward speed of the rear left wheel steering is v3; the real-time angle of the steering of the rear right wheel is delta, and the forward speed of the rear right wheel is v4; step two: the relationship between the front left wheel steering real-time angle alpha and the front right wheel steering real-time angle beta is as follows: when the platform turns, the turning angle of the front left wheel is used as a reference, the turning angle of the front right wheel is obtained according to the formula, and the turning angles of the rear wheels have the following relations: /(I) In the left turn, the forward speeds of the wheels are related as follows: In the right turn, the forward speeds of the wheels are related as follows: /(I) ; Step three: when the four groups of travelling mechanisms are in straight run, the advancing speeds of the four groups of travelling mechanisms are the same; when turning, the control system controls the walking motor and the steering motor through the motor driver, controls the rotation speed and steering of the wheels, the rotation speed and steering angle of each corresponding wheel are calculated through formulas and then stored, and then the control system reads and controls the steering and advancing of the wheels. Compared with the prior art, the invention has the beneficial effects that: 1. the walking platform is small in size and light in weight, can perform omnidirectional translation and in-situ rotation during operation, can perform translation to the next row during line changing operation, and then performs backward operation, so that the operation efficiency is improved, the walking platform can move in a narrow terrace, and unitization and modularization are realized; the energy storage battery is used as energy power, and four-wheel drive is adopted to advance, so that larger resistance of traveling in paddy fields is overcome, the traveling stability of a traveling platform is ensured, and the device can adapt to more complex paddy field environments; different operation modules can be replaced, so that a platform can realize multiple operation functions; the functions of manual control driving and unmanned driving are realized by adopting a remote control terminal and a platform carrying controller; 2. the anti-tilting assembly formed by a plurality of connecting joints increases the contact area with the soil surface of the farmland, the bottom support plate in the connecting joint can be inserted into soil under the pushing of the first adjusting push rod, pressure data between the soil and the bottom support plate are transmitted to the control system, the control system compares the detected pressure data with set pressure data, whether the front of a travelling route can be subjected to sagging or not is judged, the sagging dangerous avoidance is carried out in advance, and when the avoidance operation cannot be carried out, the limiting connecting rod can be used for driving the contact surface between the expansion increase of the elastic material and the soil, so that the sagging probability of the wheels when the wheels travel to the upper part of the connecting joints is reduced, and the tilting incidence rate of the travelling platform is reduced.
Drawings
The present invention is further described below with reference to the accompanying drawings for the convenience of understanding by those skilled in the art.
FIG. 1 is an isometric view of the present invention;
FIG. 2 is an isometric view of the steering mechanism and running gear of the present invention;
FIG. 3 is a front elevational view of the steering mechanism of the present invention;
FIG. 4 is a front view of the running gear of the present invention;
FIG. 5 is a flow chart diagram of the control system of the present invention;
FIG. 6 is a block diagram of an anti-roll assembly of the present invention;
FIG. 7 is a block diagram of a sliding knuckle according to the present invention;
FIG. 8 is a diagram of a joint structure of the present invention;
FIG. 9 is an enlarged view of the portion A of FIG. 8 according to the present invention;
FIG. 10 is a block diagram of a drive link according to the present invention;
FIG. 11 is a left turn angle block diagram of a wheel according to the present invention;
FIG. 12 is a right-turn wheel angle block diagram of the present invention;
In the figure: 1. a walking system; 2. a control system; 3. a frame; 4. a steering mechanism; 41. a steering motor; 42. a steering decelerator; 43. a motor base; 44. a steering drive gear; 45. a steering driven gear; 5. a walking mechanism; 51. a walking motor; 52. a walking speed reducer; 53. a wheel; 54. a support frame; 55. the connecting rotating shaft; 61. an anti-roll assembly; 62. sliding the rotary joint; 63. a slide bar; 64. a limiting plate; 65. an inner slot; 66. an arc bottom plate; 67. a bottom support plate; 68. a rotation limiting chamber; 69. fluted disc; 610. a limiting plate; 611. energizing a spring; 612. limiting latch teeth; 613. adjusting the first push rod; 614. a first connecting plate; 615. a drive link; 616. limiting the connecting rod; 617. a rotating seat; 618. adjusting a second push rod; 619. and a second connecting plate.
Detailed Description
The technical solutions of the present invention will be clearly and completely described in connection with the embodiments, and it is obvious that the described embodiments are only some embodiments of the present invention, not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
Example 1
Referring to fig. 1-5 and 11-12, a farmland walking platform with independent steering comprises a walking system 1 and a control system 2, wherein the walking system 1 comprises a frame 3, four groups of steering mechanisms 4 and a walking mechanism 5, the walking mechanism 5 is arranged at four corner positions of the lower surface of the frame 3, the steering mechanism 4 is arranged in the frame 3 corresponding to the position of the walking mechanism 5, the steering mechanism 4 comprises a steering motor 41, a steering speed reducer 42, a motor seat 43, a steering driving gear 44 and a steering driven gear 45, the steering motor 41 is arranged in the frame 3, one end of the steering motor 41 is provided with the steering speed reducer 42, the outer side wall of the steering speed reducer 42 is provided with the motor seat 43, one end of the steering speed reducer 42, which is far away from the steering motor 41, is provided with the steering driving gear 44, the steering mechanism 4 is connected with the upper end of a wheel frame 5 through the motor seat 43, the lower end of the wheel frame on the wheel frame 5 is connected with wheels 53 through the motor seat 43, the steering driving gear 44 is connected with the wheel frame 44 in a rotating way, the steering driven gear 45 is fixedly connected with the wheel frame 45 on the wheel seat on the wheel frame, the steering driving gear 41 is meshed with the steering driving gear 45, the steering speed reducer 42 is fixedly connected with the output end of the steering motor 42 is connected with the steering speed reducer 42 through the wheel seat 55, the wheel seat 52 is connected with the wheel frame 52 through the wheel seat 53, the surface of the supporting frame 53 is connected with the wheel frame 52 on the rotating shaft on the wheel frame 53, the surface of the supporting frame 52 is connected with the wheels on the frame 52, the upper surface of the support frame 54 is provided with a steering driven gear 45 near the position of the connecting rotating shaft 55, the steering motor 41 is used for driving the wheels 53 to steer, the traveling motor 51 is used for driving the wheels 53 to travel, the upper end of the support frame 54 is fixedly connected with the wheel frame, the traveling motor 51 is connected with the traveling speed reducer 52, the traveling speed reducer 52 is connected with the wheels 53 through the lower end of the support frame 54, the connecting rotating shaft 55 is positioned in the upper side of the support frame 54, the lower end of the connecting rotating shaft 55 is fixedly connected with the support frame 54, the upper end of the connecting rotating shaft 55 is connected with the steering driven gear 45 of the steering mechanism 4, the steering motor 41 and the traveling motor 51 are both low-voltage servo motors, and the upper parts of the front surface and the rear surface of the frame 3 are respectively provided with guiding installation so as to be convenient for replacing different operation modules; the control system 2 comprises a power supply, a chassis controller, a motor driver, photoelectric sensors, an implement control module, a receiver and a remote control terminal, wherein the control system 2 is powered by the power supply, the chassis controller is connected with the motor driver to realize the forward movement, backward movement and steering of the walking platform, the photoelectric sensors are connected with the motor driver, the photoelectric sensors are in four groups, each group has three, and are respectively arranged at the left-right rotation limit position and the middle position of a steering driven gear 45 to ensure the straight movement and steering of the walking platform, the steering position information of four wheels 53 is acquired to ensure the straight movement and steering of the wheels 53, the implement control module is connected with the chassis controller to control the lifting and working of the implement, the remote control terminal is connected with the receiver to control the movement of the power platform, the control system 2 is arranged on the frame 3, and the remote control terminal sends forward (backward movement) instructions, and the receiver receives the instructions, and the chassis controller drives the walking motor 51 to forward (backward movement) through the motor driver; the remote control terminal sends a left turn (right turn) instruction, the receiver receives the instruction, and the chassis controller drives the steering motor 41 to rotate; the steering method of the farmland walking platform with independent steering comprises the following steps: setting the turning radius R of the wheels 53 of the walking platform (taking the center of the whole vehicle as the turning center), wherein the length of the walking platform of the paddy field is L, the width of the walking platform of the paddy field is B, the real-time angle of front left wheel steering is alpha, and the forward speed of front left wheel steering is v1; the real-time angle of the front right wheel is beta, and the forward speed of the front right wheel is v2; the real-time angle of the rear left wheel steering is gamma, and the forward speed of the rear left wheel steering is v3; the real-time angle of the steering of the rear right wheel is delta, and the forward speed of the rear right wheel is v4; the relationship between the front left wheel steering real-time angle alpha and the front right wheel steering real-time angle beta is as follows: ; when the platform turns, the turning angle of the front left wheel is used as a reference, the turning angle of the front right wheel is obtained according to the formula, and the turning angles of the rear wheels have the following relations: /(I) In the left turn, the forward speed relationship of each wheel 53 is as follows: /(I)In the right turn, the forward speed relationship of each wheel 53 is as follows: /(I)The accumulated rotation angle of the steering mechanism driving wheels 53 is 90 degrees, the walking platform is electrically driven, the battery is a lithium battery, the lithium battery is arranged in an electric box, 48V voltage is output, and power is supplied to the walking system 1, the control system 2 and the operation module. The working process is as follows: when the four groups of travelling mechanisms are in straight run, the advancing speeds of the four groups of travelling mechanisms are the same; during turning, the control system 2 controls the traveling motor 51 and the steering motor 41 through motor drivers, controls the rotation speed and steering of the wheels 53, the rotation speed and steering angle of each corresponding wheel 53 are calculated through formulas and then stored, and then the control system 2 reads and controls the steering and the advancing of the wheels 53. In the prior art, when a farmland walking platform walks in a farmland, the area of the farmland is easy to be small, the area is narrow, the farmland is disturbed when walking and steering are carried out, the walking efficiency of the farmland walking platform is affected, the wheels 53 synchronously steer, when the steering angle is large, the soil in the farmland is easy to push and move, and the subsequent cultivation of crops in the farmland is affected; in-process that farmland walking platform walked in the farmland, in narrow and small space, control system 2 steerable four wheels 53 carry out the steering operation of independent direction, make farmland walking platform more convenient when walking in the farmland, be convenient for operate and remove, and the independent function of turning to of accessible wheel 53 carries out the evasion in partial pothole area, let the platform more stable balanced, reduce unstable factor and swing risk, every independent unit that turns to of farmland walking platform all is equipped with the inductor, position and angle coordinate detection and control of high accuracy have been realized, and when turning or turning, can reduce the physical damage to the farmland.
Example 2
Referring to fig. 6-10, an anti-tilting assembly 61 is rotatably connected to the outer side wall of a wheel 53 in four directions, the anti-tilting assembly 61 is composed of a plurality of connection joints, a rotating block is integrally formed on one side of the outer side wall of the connection joint, a rotating groove is formed on the other side of the outer side wall of the connection joint corresponding to the position of the rotating block, the rotating block of the connection joint is inserted into the rotating groove of the adjacent connection joint and is connected through a rotating shaft, a sliding rotating joint 62 is rotatably connected to the position of the outer side wall of the wheel 53 close to the anti-tilting assembly 61, a sliding hole is formed in the middle position of the outer side wall of the sliding joint 62, a sliding rod 63 is slidably connected to the inner side of the sliding hole, one end of the sliding rod 63 close to the anti-tilting assembly 61 is rotatably connected with the connection joint through a rotating seat 617, a baffle is mounted on one end of the sliding rod 63 away from the anti-tilting assembly 61, and the baffle is arranged to prevent the sliding rod 63 from being separated from the sliding rotating joint 62, the rotary joint comprises a limiting plate 64 and an arc bottom plate 66, a plurality of arc bottom plates 66 are spliced together and can surround the outer ring of the wheel 53, limiting plates 64 are integrally formed on two sides of the upper surface of the arc bottom plates 66, a rotary limiting cavity 68 is formed on two sides of the inner side wall of a rotary groove, a fluted disc 69 is rotationally connected at the middle position inside the rotary limiting cavity 68, two sides of the outer side wall of the rotary block are connected with the fluted disc 69 inside the rotary groove through rotary shafts, a rotary angle sensor is arranged at the position inside the rotary limiting cavity 68 corresponding to the fluted disc 69, limiting plates 610 are integrally formed on the upper side and the lower side of the rotary limiting cavity 68 corresponding to the fluted disc 69, limiting latches 612 are slidingly connected at the position inside the rotary limiting cavity 68 corresponding to the limiting plates 610, a plurality of convex teeth which are uniformly distributed are integrally formed on one side of the outer side wall of the limiting latches 612 corresponding to the fluted disc 69, the side, far away from the fluted disc 69, of the outer side wall of the limiting latch 612 is provided with an energizing spring 611, the energizing spring 611 is powered by a power supply and controlled by a control switch arranged in a rotation limiting cavity 68, the limiting plate 610 is provided with a limiting rod corresponding to the position of the energizing spring 611, the limiting rod enables the limiting latch 612 not to be dislocated when sliding up and down, the two sides of the lower surface of the arc bottom plate 66 are provided with inner slots 65 corresponding to the position of the limiting plate 64, the middle position of the inner upper surface of the inner slot 65 is provided with an adjusting push rod 613, the lower end of the adjusting push rod 613 is provided with a connecting plate 614, the inner side of the inner slot 65 is provided with a connecting plate two 619 near the lower part of the connecting plate 614, the middle position of the lower surface of the connecting plate two 619 is provided with an adjusting push rod two 618, the lower end of the adjusting push rod two 618 is provided with a bottom supporting plate 67, the bottom supporting plate 67 is of a double-layer structure, the middle position is provided with a pressure sensor, the outer side of the upper surface of the bottom supporting plate 67 is rotationally connected with limiting connecting rods 616 through a rotating seat 617, the limiting connecting rods 616 are L-shaped, the shorter ends are rotationally connected with the lower ends of the driving connecting rods 615, and the driving connecting rods 614 are correspondingly provided with limiting connecting rods 616 at the positions 616 corresponding to the limiting connecting rods 616 on the lower surface of the positions of the connecting plates 614; in the prior art, the contact area of the wheels 53 of the farmland walking platform is small, when walking in the farmland, the condition of sinking easily occurs, and after the wheels 53 on one side of the farmland walking platform sink, the problem of dumping easily occurs, so that various articles on the farmland walking platform fall into the farmland, the condition of wetting and polluting the crops in the farmland occurs, and the damage is caused to the crops in the farmland; when the farmland walking platform walks in the farmland, the anti-tilting assembly 61 formed by a plurality of connecting joints is wrapped at the outer side of the wheel 53, the contact area between the wheel 53 and soil in the farmland can be increased, the condition that the farmland walking platform is difficult to tilt during walking can be realized, the rotation condition data of each wheel 53 can be detected in the control system 2, the rotation speed of the corresponding wheel 53 can be judged through the rotation speed of the wheel 53 in the rotation process, when the anti-tilting assembly 61 at the corresponding position on the wheel 53 is unfolded, the anti-tilting assembly 61 is linearly arranged at the outer side of the wheel 53, the rotation of the fluted disc 69 is limited by the limiting clamping teeth 612 in the rotation limiting cavity 68 under the action of the energizing spring 611 between the adjacent connecting joints, the included angle between the adjacent connecting joints is limited, the anti-tilting assembly 61 formed by a plurality of connecting joints is in a straight line, the telescopic push rod connected with the sliding rod 63 in the rear wheel 53 can extend outwards for a certain distance through the sliding rod 63, so that the straight anti-tilting assembly 61 is vertical to the center line of the wheel 53, in the process that the connecting joint is unfolded and is linearly arranged, the bottom support plate 67 in the inner inserting groove 65 in the connecting joint extends under the pushing of the first adjusting push rod 613, when the wheel 53 rotates to the anti-tilting assembly 61 and the soil layer in the farmland keeps horizontal, the bottom support plates 67 in the connecting joint are inserted into the soil, the pressure sensors in the bottom support plates 67 can detect pressure data between the soil in the farmland of the bottom support plates 67 and transmit the detected data to the control system 2, and the control system 2 shortens the first adjusting push rod 613 with the detected pressure data larger than a set pressure value, so that damage to the first adjusting push rod 613 caused by overlarge pressure is prevented; the position of the adjusting push rod one 613, the pressure data of which is smaller than the set pressure value, is detected to be marked, after the bottom support plates 67 on all the connecting joints in the anti-tilting assembly 61 detect pressure changes, the number of the marked positions is counted, if the adjacent positions of the marked positions are greater than or equal to three, the situation that the front Fang Yifa of the walking route sags is judged, a signal is transmitted to the control system 2, and the control system 2 avoids the sags. When the invention is used, in the process of walking in a farmland, the control system 2 can control the four wheels 53 to carry out steering operation in independent directions in a narrow space, so that the farmland walking platform is more convenient to operate and move when walking in the farmland, and can avoid partial potholes by the independent steering function of the wheels 53, so that the platform is more stable and balanced, unstable factors and swinging risks are reduced, each independent steering unit of the farmland walking platform is provided with an inductor, high-precision position and angle coordinate detection and control are realized, and physical damage to the farmland can be reduced when turning or steering; when the farmland walking platform walks in the farmland, the anti-tilting assembly 61 formed by a plurality of connecting joints is wrapped at the outer side of the wheel 53, the contact area between the wheel 53 and soil in the farmland can be increased, the condition that the farmland walking platform is difficult to tilt during walking can be realized, the rotation condition data of each wheel 53 can be detected in the control system 2, the rotation speed of the corresponding wheel 53 can be judged through the rotation speed of the wheel 53 in the rotation process, when the anti-tilting assembly 61 at the corresponding position on the wheel 53 is unfolded, the anti-tilting assembly 61 is linearly arranged at the outer side of the wheel 53, the rotation of the fluted disc 69 is limited by the limiting clamping teeth 612 in the rotation limiting cavity 68 under the action of the energizing spring 611 between the adjacent connecting joints, the included angle between the adjacent connecting joints is limited, the anti-tilting assembly 61 formed by a plurality of connecting joints is in a straight line, the telescopic push rod connected with the sliding rod 63 in the rear wheel 53 can extend outwards for a certain distance through the sliding rod 63, so that the straight anti-tilting assembly 61 is vertical to the center line of the wheel 53, in the process that the connecting joint is unfolded and is linearly arranged, the bottom support plate 67 in the inner inserting groove 65 in the connecting joint extends under the pushing of the first adjusting push rod 613, when the wheel 53 rotates to the anti-tilting assembly 61 and the soil layer in the farmland keeps horizontal, the bottom support plates 67 in the connecting joint are inserted into the soil, the pressure sensors in the bottom support plates 67 can detect pressure data between the soil in the farmland of the bottom support plates 67 and transmit the detected data to the control system 2, and the control system 2 shortens the first adjusting push rod 613 with the detected pressure data larger than a set pressure value, so that damage to the first adjusting push rod 613 caused by overlarge pressure is prevented; after detecting that the pressure data is smaller than the position 613 of the regulating push rod with the set pressure value and detecting the pressure change of the bottom support plates 67 on all the connecting joints in the anti-tilting assembly 61, counting the number of the marked positions, if the adjacent positions of the marked positions are greater than or equal to three, judging that the front Fang Yifa of the walking route sags, transmitting a signal to the control system 2, and enabling the control system 2 to avoid the sags; if the control system 2 changes a plurality of walking routes, it is found that the forward sag is unavoidable, the pressure data detected by the bottom support plate 67 is counted, and the walking route with the largest pressure data detected by the bottom support plate 67 is selected, when the farmland walking platform walks, the first adjusting push rod 613 can be shortened under the control of the control system 2, the second adjusting push rod 618 can be lengthened by the length of the first adjusting push rod 613 under the control of the control system 2, the first adjusting push rod 613 shortens to drive the first connecting plate 614 to move upwards, so that the driving connecting rod 615 connected to the first connecting plate 614 pulls one end of the limiting connecting rod 616 to move upwards, so that the limiting connecting rod 616 rotates around the rotating shaft of the rotating seat 617, that is, one end of the limiting connecting rod 616 is outwards unfolded, the elastic material connected to the outer side of the limiting connecting rod 616 is stretched and spread in the farmland, and the contact area between the elastic material and the soil surface in the farmland is increased. The preferred embodiments of the invention disclosed above are intended only to assist in the explanation of the invention. The preferred embodiments are not intended to be exhaustive or to limit the invention to the precise form disclosed. Obviously, many modifications and variations are possible in light of the above teaching. The embodiments were chosen and described in order to best explain the principles of the invention and the practical application, to thereby enable others skilled in the art to best understand and utilize the invention. The invention is limited only by the claims and the full scope and equivalents thereof.
Claims (3)
1. The utility model provides a farmland walking platform with independently turn to, its characterized in that, including traveling system (1) and control system (2), traveling system (1) includes frame (3), four sets of steering mechanism (4) and running gear (5), four corner positions in frame (3) lower surface are provided with running gear (5), frame (3) inside corresponds running gear (5) position department is provided with steering mechanism (4), steering mechanism (4) including steering motor (41), steering reducer (42), motor cabinet (43), steering driving gear (44) and turn to driven gear (45), frame (3) inside is provided with steering motor (41), steering reducer (42) are installed to steering motor (41) one end, steering reducer (42) lateral wall installs motor cabinet (43), steering reducer (42) keep away from steering driving gear (44) are installed to one end of steering motor (41), steering mechanism (4) pass through motor cabinet (43) with the upper end of running gear (5) is connected, wheel carrier (5) are gone up and are carried out the upper end of motor cabinet (5), and are connected with running gear (52), running gear (52) are included The novel steering device comprises wheels (53), a supporting frame (54) and a connecting rotating shaft (55), wherein the wheels (53) are rotationally connected to the four corner positions of the lower surface of the frame (3), a traveling speed reducer (52) is installed in the position, corresponding to the positions of the wheels (53), of the frame (3) through the supporting frame (54), a traveling motor (51) is installed on the upper surface of the traveling speed reducer (52), the connecting rotating shaft (55) is installed on the upper surface of the supporting frame (54), and a steering driven gear (45) is installed on the position, close to the connecting rotating shaft (55), of the upper surface of the supporting frame (54);
the anti-tilting assembly (61) is rotationally connected to the outer side wall of the wheel (53) in four directions, a sliding rotary joint (62) is rotationally connected to the outer side wall of the wheel (53) close to the position of the anti-tilting assembly (61), a sliding hole is formed in the middle of the outer side wall of the sliding rotary joint (62), a sliding rod (63) is slidingly connected to the inside of the sliding hole, a baffle is mounted at one end, far away from the anti-tilting assembly (61), of the anti-tilting assembly (61) and is composed of a plurality of connecting joints, a rotary block is integrally formed on one side of the outer side wall of each connecting joint, and a rotary groove is formed in the position, corresponding to the rotary block, of the other side of the outer side wall of each connecting joint;
The rotary joint comprises a limiting plate (64) and an arc bottom plate (66), wherein the limiting plate (64) is integrally formed on two sides of the upper surface of the arc bottom plate (66), a rotary limiting cavity (68) is formed on two sides of the inner side wall of a rotary groove, a fluted disc (69) is rotatably connected to the middle position of the inside of the rotary limiting cavity (68), limiting plates (610) are integrally formed on the upper side and the lower side of the inside of the rotary limiting cavity (68) corresponding to the fluted disc (69), limiting clamping teeth (612) are slidably connected to the inside of the rotary limiting cavity (68) corresponding to the limiting plates (610), a plurality of convex teeth which are uniformly distributed are integrally formed on one side of the outer side wall of the limiting clamping teeth (612) corresponding to the fluted disc (69), an energizing spring (611) is arranged on one side of the outer side wall of the limiting clamping teeth (612) far away from the fluted disc (69), and a limiting rod is arranged on the limiting plate (610) corresponding to the position of the energizing spring (611).
The utility model discloses a motor vehicle steering device, including arc bottom plate (66), limiting plate (64) and connecting plate, arc bottom plate (66) lower surface both sides correspond limiting plate (64) position department has seted up interior slot (65), interior slot (65) inside upper surface intermediate position department installs regulation push rod (613), regulation push rod (613) lower extreme installs connecting plate one (614), interior slot (65) inboard is close to connecting plate one (614) below installs connecting plate two (619), connecting plate two (619) lower surface intermediate position department installs regulation push rod two (618), bottom support plate (67) are installed to regulation push rod two (618) lower extreme, through rotating seat (617) rotation in four directions in bottom support plate (67) upper surface outside are connected with restriction connecting rod (616), connecting plate one (614) lower surface corresponds restriction connecting rod (616) position department installs drive connecting rod (615).
2. A farmland walking platform with independent steering according to claim 1, characterized in that the control system (2) comprises a power supply, a chassis controller, a motor driver, a photoelectric sensor, an implement control module, a receiver and a remote control terminal; the control system (2) is powered by a power supply, and the chassis controller is connected with the motor driver to realize the forward movement, the backward movement and the steering of the walking platform; the photoelectric sensor is connected with the motor driver and used for acquiring four wheel steering position information; the machine tool control module is connected with the chassis controller and used for controlling lifting and working of the machine tool; the remote control terminal is connected with the receiver and used for controlling the movement of the power platform, and the control system is arranged on the frame (3).
3. A method of steering a farm walking platform with independent steering according to any of claims 1-2, comprising the steps of:
Step one: setting a turning radius R of wheels (53) of a walking platform, taking the center of the whole paddy field as a turning center, wherein the length of the walking platform is L, the width of the walking platform is B, the real-time angle of front left wheel steering is alpha, and the forward speed of front left wheel steering is v1; the real-time angle of the front right wheel is beta, and the forward speed of the front right wheel is v2; the real-time angle of the rear left wheel steering is gamma, and the forward speed of the rear left wheel steering is v3; the real-time angle of the steering of the rear right wheel is delta, and the forward speed of the rear right wheel is v4;
step two: the relationship between the front left wheel steering real-time angle alpha and the front right wheel steering real-time angle beta is as follows: ; when the platform turns, the turning angle of the front left wheel is used as a reference, the turning angle of the front right wheel is obtained according to the formula, and the turning angles of the rear wheels have the following relations: /(I) ; In the left turn, the forward speed relationship of each wheel (53) is as follows: ; in the right turn, the forward speeds of the wheels (53) are related as follows: /(I) ; Step three: when the four groups of travelling mechanisms are in straight run, the advancing speeds of the four groups of travelling mechanisms are the same; when turning, the control system controls the walking motor (51) and the steering motor (41) through the motor driver, controls the rotating speed and steering of the wheels (53), the rotating speed and steering angle of each corresponding wheel (53) are calculated through formulas, and then stored, and the control system reads the data to control the steering and advancing of the wheels (53).
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202410147877.7A CN117681952B (en) | 2024-02-02 | 2024-02-02 | Farmland walking platform with independent steering function |
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| Application Number | Priority Date | Filing Date | Title |
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| CN202410147877.7A CN117681952B (en) | 2024-02-02 | 2024-02-02 | Farmland walking platform with independent steering function |
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| CN117681952A CN117681952A (en) | 2024-03-12 |
| CN117681952B true CN117681952B (en) | 2024-04-23 |
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| CN201842130U (en) * | 2010-10-19 | 2011-05-25 | 吉林大学 | Electromobile and drive-by-wire independent driving and steering automobile traveling mechanism with zero-offset master pin |
| JP2013124086A (en) * | 2011-12-13 | 2013-06-24 | Haruo Otani | Travel steering device for vehicle |
| CN103847511A (en) * | 2014-03-13 | 2014-06-11 | 广西师范大学 | Miniature terrain-simulating automatic differential height power walking machine |
| CN109484514A (en) * | 2019-01-09 | 2019-03-19 | 湖南农业大学 | A kind of telescopic farm work machine people's platform of four-wheel independent steering driving |
| CN114987609A (en) * | 2022-04-18 | 2022-09-02 | 华南农业大学 | Four-wheel independent steering paddy field agricultural robot and navigation method thereof |
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2024
- 2024-02-02 CN CN202410147877.7A patent/CN117681952B/en active Active
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN201842130U (en) * | 2010-10-19 | 2011-05-25 | 吉林大学 | Electromobile and drive-by-wire independent driving and steering automobile traveling mechanism with zero-offset master pin |
| JP2013124086A (en) * | 2011-12-13 | 2013-06-24 | Haruo Otani | Travel steering device for vehicle |
| CN103847511A (en) * | 2014-03-13 | 2014-06-11 | 广西师范大学 | Miniature terrain-simulating automatic differential height power walking machine |
| CN109484514A (en) * | 2019-01-09 | 2019-03-19 | 湖南农业大学 | A kind of telescopic farm work machine people's platform of four-wheel independent steering driving |
| CN114987609A (en) * | 2022-04-18 | 2022-09-02 | 华南农业大学 | Four-wheel independent steering paddy field agricultural robot and navigation method thereof |
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| CN117681952A (en) | 2024-03-12 |
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