CN207088980U - A kind of crops monitor carrier device - Google Patents
A kind of crops monitor carrier device Download PDFInfo
- Publication number
- CN207088980U CN207088980U CN201720582195.4U CN201720582195U CN207088980U CN 207088980 U CN207088980 U CN 207088980U CN 201720582195 U CN201720582195 U CN 201720582195U CN 207088980 U CN207088980 U CN 207088980U
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- steering
- away cylinder
- axle
- fixed seat
- motor shaft
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Abstract
A kind of crops monitoring carrier device is the utility model is related to, including：Drive mechanism, the driving wheel of built-in wheel hub motor directly obtain driving force；Elevating mechanism：Lifting electric pushes away cylinder as executing agency, and lifting electric electric cylinders are in parallel with extension sleeve, and fit body bears moment of flexure, stretched by controlling lifting electric to push away cylinder, are allowed to work in the environment of Different Crop height；The be hinged hybrid steering mechanism of differential：Front steering axle is hinged by steering horizontal bearing with vehicle frame, is being turned to space greatly and in the case of straight line moving, is being deflected by turning to the electronic telescopic drive propons for pushing away cylinder relative to vehicle frame, so as to realize articulated steering；In the case of small in farmland steering space, cut-out turns to the electronic power supply for pushing away cylinder, the property to be cut off self-lock using electric cylinders, by controlling the power of wheel hub motor to realize differential steering even spot turn.The utility model coordinates multi-sensor information fusion navigation system to help to realize the rural activity such as transport, spray, mitigates personnel's burden.
Description
Technical field
It the utility model is related to agricultural equipment field of tool, and in particular to a kind of crops monitor carrier device.
Background technology
With the development of China's agricultural, more agricultural vehicle equipment deployments have been arrived in Agricultural Activities, improve agriculture
The efficiency and the level of production of industry production.In Agricultural Activities, the walking environment of agricultural vehicle is various：Farming in farmland
The height of thing is different, and farm environment width is different etc.；Which limits the scope of application of agricultural vehicle.If it is various not
The running gear being adapted with agricultural environment is separately designed under same agricultural environment, is wasted time and energy.
The content of the invention
Carrier device is monitored in Agricultural Activities in order to solve crops now, by crops height and farmland width
Traveling caused by environment and steering limitation, the purpose of this utility model are to provide a kind of crops monitoring carrier device.Should
Carrier device can adjust the height of vehicle frame, be allowed to adapt to the farmland walking environment of different crops height.The carrier device has
Have the hybrid steering mechanism of be hinged differential, there are two kinds of steering capabilities, straight-line travelling or can the big environment of steering range use
Articulated steering, need spot turn or can the small place of steering range, turned to differential speed type.This crops monitors carrier
The strong environmental adaptability of device.
To achieve the above objectives, the utility model adopts the technical scheme that：
A kind of crops monitor carrier device, including：Vehicle frame 15, drive mechanism, elevating mechanism, be hinged hybrid turn of differential
To mechanism and rotary type entirety bridge rear suspension；
The drive mechanism includes motor shaft fixed seat 1, motor setting-up piece 2, built in motor shaft fixing nut 3 and four
The wheel of wheel hub motor 4；The wheel motor shaft of each wheel hub motor 4 is solid by motor shaft fixing nut 3 and motor shaft fixed seat 1
Fixed connection；
The elevating mechanism pushes away cylinder 5 including lifting electric, flexible axle sleeve 6, telescopic shaft 7 and lifting electric push away cylinder fixed seat 8；
The hybrid steering mechanism of be hinged differential includes front steering axle 9, steering horizontal bearing 10, front steering axle steering spindle
11st, steering bearing fixed seat 12, turn to and electronic push away cylinder 13 and turn to electric cylinders seat 14；
The rotary type entirety bridge rear suspension includes rear axle 16, rotary shaft 17, rotary shaft bearing 18 and rolling bearing 19；
The front center of the vehicle frame 15 fixes steering horizontal bearing 10, front steering axle 9 by steering bearing fixed seat 12
Middle part be connected by front steering axle steering spindle 11 with steering horizontal bearing 10, the front steering axle 9 is located at the lower section of vehicle frame 15；
The external part that the lifting electric pushes away cylinder 5 is fixedly connected by bolt with motor shaft fixed seat 1, and lifting electric pushes away cylinder
5 other end pushes away cylinder fixed seat 8 with lifting electric by bolt and is fixedly connected, and lifting electric pushes away cylinder fixed seat 8 and is welded in steering
The bottom of propons 9；One end of telescopic shaft 7 and motor shaft fixed seat 1 are by being welded to connect, before the one end for the axle sleeve 6 that stretches and steering
By being welded to connect, the other end fit of the other end of telescopic shaft 7 and flexible axle sleeve 6, telescopic shaft 7 forms bridge 9 with flexible axle sleeve 6
Fit body with lifting electric to push away cylinder 5 in parallel；
Described to turn to the electronic external part for pushing away cylinder 13 with front steering axle 9 by bolted splice, steering is electronic to push away the another of cylinder 13
One end turns to electric cylinders seat 14 and is connected by welding with vehicle frame 15 with turning to electric cylinders seat 14 by bolted splice；Pushed away when steering is electronic
Cylinder 13 it is controlled carry out stretching motion when, promote front steering axle 9 around turn to horizontal bearing 10 rotate, so as to realize go to action；
The rotary shaft bearing 18 is secured by bolts in lower section in the middle part of the rear end of vehicle frame 15, and rolling bearing 19, which is arranged on, to be turned
In moving axis bearing 18, rotary shaft 17 makes rolling bearing 19 and the shape of rear axle 16 through the middle part of rear axle 16 and rolling bearing 19
Into be hinged.
On the basis of such scheme, the motor shaft fixed seat 1 is provided with non-circular hole, for through wheel motor shaft.
On the basis of such scheme, the inside of the wheel motor shaft is hollow structure, and the hollow structure is used to draw
Go out motor power-supply wire and control line.
On the basis of such scheme, the motor setting-up piece 2 passes through wheel motor shaft, passes through motor shaft fixing nut
3 compress wheel hub motor 4 and motor shaft fixed seat 1.
On the basis of such scheme, center both sides two steerings of symmetrical connection of the front steering axle 9 are electronic to push away cylinder 13.
On the basis of such scheme, the lifting electric pushes away cylinder 5 using direct current generator as power source, is passed with resultant displacement
Sensor, control the adjustable height of vehicle frame 15.
On the basis of such scheme, the steering is electronic to push away cylinder 13 using direct current generator as power source.
On the basis of such scheme, the steering bearing fixed seat 12 is provided with yawing axis, installs angle additional on yawing axis
Sensor is spent, the deflection angle of front steering axle 9 can be accurately measured, so as to control deflection angle.
On the basis of such scheme, the vehicle frame 15 is provided with position limiting structure plate, after limiting rotary type entirety bridge
The maximum deflection angle of suspension.
Crops described in the utility model monitor carrier device, and drive is directly obtained by the driving wheel of built-in wheel hub motor
Power, without numerous and diverse transmission mechanism, make mechanism simplifying；The changeably gap elevating mechanism of cylinder is pushed away based on lifting electric：Four rise
The electronic cylinder that pushes away drops as executing agency, and it is in parallel with extension sleeve that lifting electric pushes away cylinder, is stretched by controlling lifting electric to push away cylinder, real
Now gap is variable, is allowed to work in the environment of Different Crop height；The be hinged hybrid steering mechanism of differential：Turning to, space is big
And in the case of straight line moving, deflected by turning to the electronic telescopic drive propons for pushing away cylinder relative to vehicle frame, so as to realize hinge
Connect formula steering；In the case of small in farmland steering space, the power supply for turning to electric cylinders, the property to be cut off self-lock using electric cylinders can be cut off
Matter, by controlling the power of wheel hub motor to realize differential steering even spot turn.The utility model coordinates multi-sensor information
Fusion navigation system can help to realize the rural activity such as transport, spray, mitigate personnel's burden.
Brief description of the drawings
The utility model has drawings described below：
Fig. 1 axonometric drawings of the present utility model；
Fig. 2 top views of the present utility model；
Fig. 3 side views of the present utility model；
Fig. 4 mixes the partial view of steering mechanism；
The partial view of Fig. 5 elevating mechanisms；
The partial view of Fig. 6 rotary type entirety bridge rear suspensions；
In figure：
1-motor shaft fixed seat, 2-motor setting-up piece, 3-motor shaft fixing nut, 4-wheel hub motor, 5-lifting
Electronic to push away cylinder, 6-flexible axle sleeve, 7-telescopic shaft, 8-lifting electric pushes away cylinder fixed seat, 9-front steering axle, 10-steering horizontal
Bearing, 11-front steering axle steering spindle, 12-steering bearing fixed seat, 13-turn to it is electronic push away cylinder, 14-turn to electric cylinders seat,
15-vehicle frame, 16-rear axle, 17-rotary shaft, 18-rotary shaft bearing, 19-rolling bearing.
Embodiment
The utility model is described in further detail below in conjunction with accompanying drawing.
As shown in Fig. 1~Fig. 6, crops described in the utility model monitor carrier device, including：Vehicle frame 15, driving machine
Structure, elevating mechanism, the be hinged hybrid steering mechanism of differential and rotary type entirety bridge rear suspension；
The drive mechanism includes motor shaft fixed seat 1, motor setting-up piece 2, built in motor shaft fixing nut 3 and four
The wheel of wheel hub motor 4；The wheel motor shaft of each wheel hub motor 4 is solid by motor shaft fixing nut 3 and motor shaft fixed seat 1
Fixed connection；
The elevating mechanism pushes away cylinder 5 including lifting electric, flexible axle sleeve 6, telescopic shaft 7 and lifting electric push away cylinder fixed seat 8；
The hybrid steering mechanism of be hinged differential includes front steering axle 9, steering horizontal bearing 10, front steering axle steering spindle
11st, steering bearing fixed seat 12, turn to and electronic push away cylinder 13 and turn to electric cylinders seat 14；
The rotary type entirety bridge rear suspension includes rear axle 16, rotary shaft 17, rotary shaft bearing 18 and rolling bearing 19；
The front center of the vehicle frame 15 fixes steering horizontal bearing 10, front steering axle 9 by steering bearing fixed seat 12
Middle part be connected by front steering axle steering spindle 11 with steering horizontal bearing 10, the front steering axle 9 is located at the lower section of vehicle frame 15；
The external part that the lifting electric pushes away cylinder 5 is fixedly connected by bolt with motor shaft fixed seat 1, and lifting electric pushes away cylinder
5 other end pushes away cylinder fixed seat 8 with lifting electric by bolt and is fixedly connected, and lifting electric pushes away cylinder fixed seat 8 and is welded in steering
The bottom of propons 9；One end of telescopic shaft 7 and motor shaft fixed seat 1 are by being welded to connect, before the one end for the axle sleeve 6 that stretches and steering
By being welded to connect, the other end fit of the other end of telescopic shaft 7 and flexible axle sleeve 6, telescopic shaft 7 forms bridge 9 with flexible axle sleeve 6
Fit body with lifting electric to push away cylinder 5 in parallel；
Described to turn to the electronic external part for pushing away cylinder 13 with front steering axle 9 by bolted splice, steering is electronic to push away the another of cylinder 13
One end turns to electric cylinders seat 14 and is connected by welding with vehicle frame 15 with turning to electric cylinders seat 14 by bolted splice；Pushed away when steering is electronic
Cylinder 13 it is controlled carry out stretching motion when, promote front steering axle 9 around turn to horizontal bearing 10 rotate, so as to realize go to action；
The rotary shaft bearing 18 is secured by bolts in lower section in the middle part of the rear end of vehicle frame 15, and rolling bearing 19, which is arranged on, to be turned
In moving axis bearing 18, rotary shaft 17 makes rolling bearing 19 and the shape of rear axle 16 through the middle part of rear axle 16 and rolling bearing 19
Into be hinged.
On the basis of such scheme, the motor shaft fixed seat 1 is provided with non-circular hole, for through wheel motor shaft.
On the basis of such scheme, the inside of the wheel motor shaft is hollow structure, and the hollow structure is used to draw
Go out motor power-supply wire and control line.
On the basis of such scheme, the motor setting-up piece 2 passes through wheel motor shaft, passes through motor shaft fixing nut
3 compress wheel hub motor 4 and motor shaft fixed seat 1.
On the basis of such scheme, center both sides two steerings of symmetrical connection of the front steering axle 9 are electronic to push away cylinder 13.
On the basis of such scheme, the lifting electric pushes away cylinder 5 using direct current generator as power source, is passed with resultant displacement
Sensor, control the adjustable height of vehicle frame 15.
On the basis of such scheme, the steering is electronic to push away cylinder 13 using direct current generator as power source.
On the basis of such scheme, the steering bearing fixed seat 12 is provided with yawing axis, can add on yawing axis
Angular transducer is filled, the deflection angle of front steering axle 9 can be accurately measured, so as to control deflection angle.
On the basis of such scheme, the vehicle frame 15 is provided with position limiting structure plate, after limiting rotary type entirety bridge
The maximum deflection angle of suspension.
User is walked by driving mechanisms control carrier device；Elevating mechanism is used for the height of liftable automotive chassis 15, changes car
The road clearance of frame 15；, for changing the travel direction of carrier device, and there are two kinds of steerings in the be hinged hybrid steering mechanism of differential
Pattern；Rotary type entirety bridge rear suspension, ensure that wheel is bonded ground as far as possible in the process of moving, while ensure carrier device
Stability.
Carrier device described in the utility model can realize that 4x2,4x4 drive, and four wheels are built-in wheel hub motor
Wheel, MCU can control its drive pattern 4 wheel driven pattern or two drive patterns.
Carrier device described in the utility model can realize that articulated steering and differential speed type turn to two kinds of steering patterns：When
Turning to space greatly and straight line moving is, it is necessary to when realizing articulated steering, front steering axle 9 is driven by turning to the electronic cylinder 13 that pushes away, around
Steering horizontal bearing 10 rotates, and so as to realize deflection of the front steering axle 9 relative to vehicle frame 15, realizes articulated steering.Work as steering
Space is small, it is necessary to when realizing that differential speed type turns to, and turning to the electronic cylinder 13 that pushes away by control makes front steering axle 9 relatively inclined not with vehicle frame 15
Turn, then cut-out turns to the electronic control for pushing away cylinder 13, because turning to the electronic cylinder 13 that pushes away has the property to cut off self-lock, front steering axle 9
The fixation with vehicle frame 15 is achieved that, due to there are four wheel hub motors 4, by controlling four wheel hub motors to realize turning for driving wheel
It is dynamic, it is possible to realize that differential speed type turns to.
The utility model can realize the lifting of vehicle frame 15：Flexible fortune is carried out when control system control lifting electric pushes away cylinder 5
When dynamic, push away the fit body in parallel being made up of flexible axle sleeve 6 and telescopic shaft 7 of cylinder 5 with lifting electric and also carry out stretching motion, together
When fit body can bear because carrier device skew and caused by torque, ensure that lifting electric pushes away cylinder 5 and is solely subjected to vertical direction
Power.
For embodiment of above only to illustrate the structural framing of invention and its feature, its object is to allow people to be familiar with this skill
Art, and the content of the invention can be understood and implemented according to this, it is not intended to limit the scope of the present invention, all according to the present invention
The equivalent change or modification that Spirit Essence is done, it should all be included within the scope of the present invention.
The content not being described in detail in this specification belongs to prior art known to professional and technical personnel in the field.
Claims (9)
1. a kind of crops monitor carrier device, it is characterised in that：Including vehicle frame (15), drive mechanism, elevating mechanism, be hinged poor
The hybrid steering mechanism of speed and rotary type entirety bridge rear suspension；
The drive mechanism is including in motor shaft fixed seat (1), motor setting-up piece (2), motor shaft fixing nut (3) and four
Put the wheel of wheel hub motor (4)；The wheel motor shaft of each wheel hub motor (4) passes through motor shaft fixing nut (3) and motor shaft
Fixed seat (1) is fixedly connected；
The elevating mechanism pushes away cylinder (5) including lifting electric, flexible axle sleeve (6), telescopic shaft (7) and lifting electric push away cylinder fixed seat
(8)；
The hybrid steering mechanism of be hinged differential includes front steering axle (9), steering horizontal bearing (10), front steering axle steering spindle
(11), steering bearing fixed seat (12), turn to it is electronic push away cylinder (13) and steering electric cylinders seat (14)；
The rotary type entirety bridge rear suspension includes rear axle (16), rotary shaft (17), rotary shaft bearing (18) and rolling bearing
(19)；
The front center of the vehicle frame (15) passes through the fixed steering horizontal bearing (10) of steering bearing fixed seat (12), front steering axle
(9) middle part is connected by front steering axle steering spindle (11) with steering horizontal bearing (10), and the front steering axle (9) is located at vehicle frame
(15) lower section；
The external part that the lifting electric pushes away cylinder (5) is fixedly connected by bolt with motor shaft fixed seat (1), and lifting electric pushes away cylinder
(5) the other end pushes away cylinder fixed seat (8) with lifting electric by bolt and is fixedly connected, and lifting electric pushes away cylinder fixed seat (8) welding
In the bottom of front steering axle (9)；One end of telescopic shaft (7) is with motor shaft fixed seat (1) by being welded to connect, and stretch axle sleeve (6)
One end with front steering axle (9) by being welded to connect, the other end of telescopic shaft (7) and the other end fit of flexible axle sleeve (6) are stretched
It is in parallel that contracting axle (7) with the fit body that flexible axle sleeve (6) forms with lifting electric pushes away cylinder (5)；
The electronic external part for pushing away cylinder (13) and the front steering axle (9) of turning to turns to the electronic cylinder (13) that pushes away by bolted splice
The other end turns to electric cylinders seat (14) and is connected by welding with vehicle frame (15) with turning to electric cylinders seat (14) by bolted splice；When turn
To it is electronic push away cylinder (13) it is controlled carry out stretching motion when, promote front steering axle (9) around turn to horizontal bearing (10) rotate, realize turn
To action；
The rotary shaft bearing (18) is secured by bolts in lower section, rolling bearing (19) in the middle part of the rear end of vehicle frame (15) and is arranged on
In rotary shaft bearing (18), rotary shaft (17) makes rolling bearing (19) through the middle part of rear axle (16) and rolling bearing (19)
Formed with rear axle (16) be hinged.
2. crops according to claim 1 monitor carrier device, it is characterised in that：On the motor shaft fixed seat (1)
Provided with non-circular hole, for through wheel motor shaft.
3. crops according to claim 2 monitor carrier device, it is characterised in that：The motor setting-up piece (2) is worn
Wheel motor shaft is crossed, is compressed wheel hub motor (4) and motor shaft fixed seat (1) by motor shaft fixing nut (3).
4. crops according to claim 3 monitor carrier device, it is characterised in that：The inside of the wheel motor shaft is
Hollow structure, the hollow structure are used to draw motor power-supply wire and control line.
5. crops according to claim 1 monitor carrier device, it is characterised in that：The lifting electric pushes away cylinder (5) and adopted
By the use of direct current generator as power source, coordinate displacement transducer, the adjustable height of control vehicle frame (15).
6. crops according to claim 1 monitor carrier device, it is characterised in that：The center of the front steering axle (9)
Both sides two steerings of symmetrical connection are electronic to push away cylinder (13).
7. crops according to claim 6 monitor carrier device, it is characterised in that：The electronic cylinder (13) that pushes away of steering is adopted
Power source is used as by the use of direct current generator.
8. crops according to claim 1 monitor carrier device, it is characterised in that：The steering bearing fixed seat (12)
Yawing axis is provided with, installs angular transducer additional on yawing axis, can accurately measure the deflection angle of front steering axle (9), and control
Deflection angle processed.
9. crops according to claim 1 monitor carrier device, it is characterised in that：The vehicle frame (15) is provided with spacing
Structural slab, for limiting the maximum deflection angle of rotary type entirety bridge rear suspension.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720582195.4U CN207088980U (en) | 2017-05-24 | 2017-05-24 | A kind of crops monitor carrier device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720582195.4U CN207088980U (en) | 2017-05-24 | 2017-05-24 | A kind of crops monitor carrier device |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN207088980U true CN207088980U (en) | 2018-03-13 |
Family
ID=61551076
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201720582195.4U Expired - Fee Related CN207088980U (en) | 2017-05-24 | 2017-05-24 | A kind of crops monitor carrier device |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN207088980U (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107264265A (en) * | 2017-05-24 | 2017-10-20 | 中国农业大学 | A kind of crops monitor carrier device |
| CN109760009A (en) * | 2019-02-28 | 2019-05-17 | 华南农业大学 | Across Gansu Province shifting agriculture robot of adjusting ground clearance height and front and rear, left and right inclination angle |
-
2017
- 2017-05-24 CN CN201720582195.4U patent/CN207088980U/en not_active Expired - Fee Related
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107264265A (en) * | 2017-05-24 | 2017-10-20 | 中国农业大学 | A kind of crops monitor carrier device |
| CN109760009A (en) * | 2019-02-28 | 2019-05-17 | 华南农业大学 | Across Gansu Province shifting agriculture robot of adjusting ground clearance height and front and rear, left and right inclination angle |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CB03 | Change of inventor or designer information | ||
| CB03 | Change of inventor or designer information |
Inventor after: Liu Xingxing Inventor after: Guo Yuan Inventor after: Zhang Chao Inventor after: Li Baosheng Inventor after: Zhao Zhenmiao Inventor after: Tan Yu Inventor before: Liu Xingxing |
|
| CF01 | Termination of patent right due to non-payment of annual fee | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20180313 Termination date: 20180524 |