CN207208178U - A kind of agricultural omni-directional wheel - Google Patents
A kind of agricultural omni-directional wheel Download PDFInfo
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- CN207208178U CN207208178U CN201721022432.8U CN201721022432U CN207208178U CN 207208178 U CN207208178 U CN 207208178U CN 201721022432 U CN201721022432 U CN 201721022432U CN 207208178 U CN207208178 U CN 207208178U
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Abstract
The utility model discloses a kind of agricultural omni-directional wheel, including road wheel, hoofing part mechanism, steering mechanism and lifting body；Road wheel coaxial transmission is arranged on wheel shaft, and in rack sleeve, rack sleeve is connected wheel shaft rolling assembling by pillar and frame base；Hoofing part mechanism drives road wheel；Steering mechanism includes steering spindle and steering motor, and steering spindle is assemblied in frame base by thrust bearing, and one end is connected with the steering motor being fixedly mounted, and the other end is vertical with rack sleeve to be connected；Lifting body includes jack, turning rack and turns to support wheel, jack one end is with turning to axis connection, the other end is connected with turning rack, and the middle part of turning rack and rack sleeve turns to the bottom that support wheel is assemblied in turning rack using universal structure along jacking direction slidable fit.The utility model steering angle it is big, it is necessary to turning radius it is small, running movement is convenient in farmland, reduces pressure seedling, and possess good traveling ability in different landform.
Description
Technical field
The utility model belongs to farmland machinery wheel train structure, and in particular to one kind can obtain any under various orographic conditions
The agricultural omni-directional wheel that angle turns to.
Background technology
At present in China, farmland field operation is main or based on artificial, and Mechanization Technique level is not high, and some are existing
Agricultural machinery when carrying out plant protection operation, the problem of precision is not high, less efficient be present, in farmland turn when have it is larger
Turning radius, the shortcomings that inevitably overwhelming many crops during work.It is particularly Chinese staple food crop rice, small
Wheat, seeding corn and other crops, plant is dense during growth, and line-spacing is minimum, and growth period can still not hinder without corresponding agricultural machinery
On the basis of evil plant, pollinated in Tanaka, sprayed and the fine manipulation such as weeding, machinery only energy when rice transplanting and harvesting
Enough enter farmland industry, this just determines the production of China's agricultural particularly staple food crop such as rice, wheat, corn also not
A large amount of personnel can be left and carry out plant protection management.Some R＆D institutions of the existing country and university have been noted that this point, have started China
The Study of intelligent of agricultural machinery.But due to starting evening, technology is relatively weak, and the product cost of research and development is not high, always
Do not solve these problems well.
And the states such as the U.S., Australia are particularly abroad, and although its development is more early, present Agricultural Intelligent System manufacturing machine
Popularization degree is higher than domestic, but its technical merit of opinion is strong how many unlike domestic, carries out the agriculture intelligent machine skill of plant protection operation
Art level is also and immature.
Farmland machinery steering mechanism in, at present China's machines working in paddy field virtually all be use it is mechanical or
Person's fluid pressure type steering structure, is turned to simultaneously in the process of walking, and in farmland operation, radius of turn is larger, and front and back wheel track is advanced
Position and arcuate path are difficult to control, and torque needed for steering low precision, steering is big, and this makes agricultural machinery dense in plant growth
Farmland in be easy to roll rice shoot when travelling, for farmland operation of different shapes, often due to turn to it is not in place exist make
Industry less than dead angle position, therefore current agricultural machinery pollinated, sprayed in farmland and during the plant protection operation such as weeding
Limited by larger, its performance is also affected.
Utility model content
The utility model solve technical problem be：For radius of turn existing for existing farm machinery steering structure
Greatly, the defects of turning to low precision, there is provided the agricultural omni-directional wheel that a kind of achievable any angle accurately turns to, using new steering
Pattern, the traveling ability of current agricultural machinery can be greatly improved, promote the horizontal raising of Tendency of Agricultural Machinery in China.
The utility model adopts the following technical scheme that realization：
Agricultural omni-directional wheel, including road wheel 10, hoofing part mechanism, steering mechanism and lifting body；The road wheel 10
Coaxial transmission is arranged on wheel shaft 9, and for the rolling assembling of wheel shaft 9 in rack sleeve 11, the rack sleeve 11 passes through pillar 8
It is connected with frame base 6；The hoofing part mechanism is fixed in frame base 6, is connected with road wheel 10；The steering
Mechanism includes steering spindle 2 and steering motor 3, and the steering spindle 2 is assemblied in frame base 6 vertically by thrust bearing 5, turns to
Axle one end is connected with the steering motor 3 being fixedly mounted, and the other end is vertical with rack sleeve 11 to be connected；The lifting body bag
Include jack 7, turning rack 26 and turn to support wheel 15, described one end of jack 7 is with turning to axis connection, and the other end is with turning to
Support 26 connects, the middle part edge jacking direction slidable fit of the turning rack 26 and rack sleeve 11, the steering support wheel
15 are assemblied in the bottom of turning rack 26 using universal structure.
Further, the turning rack 26 uses rectangle support, passes through cunning between its upright side walls and rack sleeve 11
Rail 12 assembles.
Further, the bottom for turning to support wheel 15 and turning rack 26 being arranged on by U-shaped support 14, it is described U-shaped
Support 14 is inverted, and its top is pacified by first axle 13 and the universal connection in bottom of turning rack 26, two groups of steering support wheels 15
Bottom loaded on U-shaped support 14.
Further, the jack 7 uses four electronic bar hinge screw jacks, and the top of the jack 7 leads to
Cross the fixation of second hinge 28 to be hinged in steering spindle 2, the bottom of the jack 7 is fixed by third hinge 29 is hinged on steering
The top of support 26.
Further, the rack sleeve 11 is connected by two groups of vertical pillars 8 and frame base 6, the phase of pillar 8
It is arranged symmetrically for steering spindle 2.
Further, the hoofing part mechanism includes decelerator 20, motor 21, motor bearing 22 and horizontal stroke
To support 23, the horizontal support 23 is fixed on pillar 8, and side road wheel is extended thereto, the motor
21 are fixedly mounted on horizontal support 23 by motor bearing 22, and the motor 21 passes through decelerator 20 and Chain conveyer
Mechanism is connected with the skidding traction drive.
Further, anti-slop serrations 27 are evenly distributed with the circumference of the road wheel 10, the anti-slop serrations on different road wheels
Interlaced arrangement.
Further, the steering motor 3 is connected by speed reducing gear pair with steering spindle 2.
In agricultural omni-directional wheel of the present utility model, angular transducer 1 is additionally provided with the steering spindle 2, the angle passes
Sensor 1 and the feedback link of steering motor 3.
Omni-directional wheel integral jacking is left ground by the utility model using lifting body, is recycled steering mechanism to realize and is rotated
The steering of omni-directional wheel, steering spindle is driven by steering motor, can realize that road wheel turns in 360 ° in theory, and turning to
Axle is provided with angular transducer, and the angle signal of the intelligent machine of collection is transferred to control unit by angular transducer, and control is single
Member calculates angle adjustment deviation after the signal operation is contrasted, then instruction is issued into steering motor, so as to be turned by control
Carry out the accurate steering angle for controlling road wheel to motor.Lifting body employs the conventional jack structure of motorized motions to turning to
Support wheel implement lifting and under push works, strength is big, reliable in action, road wheel effectively can be lifted away from into ground completely so that
Steering adjustment is achieved that with less active force.
Because the support that motor connects with road wheel is all fixed in frame base, when turning to, they is mutual
Position relationship is not affected, it is possible to achieve the purpose travelled when turning to, improves the operating efficiency of intelligent machine.Angle
Sensor is arranged in steering spindle, can use coaxial mounted mode, to realize the accurate measurement to steering spindle angle.It is overall next
Say, the utility model can make each driving wheel of farm machinery realize accurate at any angle turn under the control of the control unit
To, using suitable control algolithm and control program can just make intelligent machine realize rotate at any angle, ensure that machinery
Accurate selection travel path, avoids damaging plant by pressure in the complicated farmland of situation.
From the above mentioned, the utility model solves existing agricultural plant protection machinery and steering inconvenience is travelled in farmland, turns round and goes
The problem of seedling is easily pressed when walking, steering angle it is big, it is necessary to turning radius it is small, and gathered around in loose soil and mud moorland
There is good traveling ability.
The utility model is described further below in conjunction with the drawings and specific embodiments.
Brief description of the drawings
Fig. 1 is the front view of the agricultural omni-directional wheel in embodiment.
Fig. 2 is the A of the agricultural omni-directional wheel in Fig. 1 to side view.
Label in figure：1- angular transducers, 2- steering spindles, 3- steering motors, 4- little gears, 5- thrust bearings, 6- frames
Pedestal, 7- jack, 8- pillars, 9- wheel shafts, 10- road wheels, 11- rack sleeves, 12- slide rails, 13- first axles, 14-U types
Support, 15- turn to support wheel, 16- rolling bearings, 17- big sprocket wheels, 18- chains, 19- minor sprockets, 20- decelerators, 21- drivings
Motor, 22- motor bearings, 23- horizontal supports, 24- adjusting screw rods, 25- variable speed electric motors, particularlies, 26- turning racks, 27- are anti-skidding
Tooth, 28- second hinges, 29- third hinges, 30- gear wheels.
Embodiment
Embodiment
Referring to Fig. 1 and Fig. 2, it is illustrated that in agricultural omni-directional wheel be preferred scheme of the present utility model, including angular transducer
1st, steering spindle 2, steering motor 3, little gear 4, thrust bearing 5, frame base 6, jack 7, pillar 8, wheel shaft 9, road wheel
10th, rack sleeve 11, slide rail 12, first axle 13, U-shaped support 14, turn to support wheel 15, rolling bearing 16, big sprocket wheel 17,
Chain 18, minor sprocket 19, decelerator 20, motor 21, motor bearing 22, horizontal support 23, adjusting screw rod 24, speed change
Motor 25, turning rack 26, anti-slop serrations 27, second hinge 28, third hinge 29 and gear wheel 30.
Specifically, the agricultural omni-directional wheel of the present embodiment be divided into road wheel 10 composition walking mechanism, hoofing part mechanism, turn
To four parts of mechanism and lifting body, wherein two groups of road wheels 10 are coaxially assemblied in the both ends of wheel shaft 9, the He of road wheel 10
Wheel shaft 9 is together rotated, and wheel shaft 9 is then rotated by two groups of rolling bearings 16 and is assemblied in rack sleeve 11, and rack sleeve 11 is logical
Cross two groups of pillars 8 to be connected with frame base 6, be connected the walking mechanism with the fuselage of agricultural plant protection machinery by frame base 6
Get up.
Hoofing part mechanism driving road wheel 10 rotates, and includes decelerator 20, motor 21, motor bearing 22
With horizontal support 23, wherein, horizontal support 23 is fixed on pillar 8, and side road wheel is extended thereto, motor
21 are fixedly mounted on horizontal support 23 by motor bearing 22, and the output end of motor 21 is by shaft coupling with subtracting
Fast device 20 connects, and drives the skidding to walk wheel by decelerator 20 and transmission mechanism and rotates, and the transmission mechanism uses chain-drive mechanism,
Minor sprocket 19 is wherein equipped with the output shaft of decelerator 20, big sprocket wheel is set with the outer axle 9 of the side road wheel
17, install around chain 28 on minor sprocket 19 and big sprocket wheel 17.
Steering mechanism and lifting body, which coordinate, realizes that walking mechanism is turned to after being lifted off ground, and wherein steering mechanism includes
Angled sensor 1, steering spindle 2, steering motor 3, little gear 4, thrust bearing 5 and gear wheel 30, wherein steering spindle 2 is by pushing away
For the rolling assembling of power bearing 5 in frame base 6, thrust bearing 5 can both bear the axial load-bearing between frame base and steering spindle,
It can ensure steering spindle under rotary electric machine drive relative to frame base flexible rotating again.Steering spindle 2 is set through frame base 6
To put, its bottom is vertical with the middle part of rack sleeve 11 to be connected, and pillar 8 is symmetrically fixed on the rack sleeve 11 of the both sides of steering spindle 2,
The top of steering spindle 2 is then connected with the steering motor 3 being fixedly mounted on mechanical fuselage, in the output shaft of steering motor 3
Upper to connect little gear 4, suit gear wheel 30 is engaged with little gear in steering spindle 2, and steering motor pair is realized by speed reducing gear pair
The power transmission of steering spindle.
Angular transducer 1 is arranged in steering spindle 2, and angular transducer 1 uses absolute encoder disk, is coaxially set with steering spindle
Put, absolute encoder disk constantly feeds back to angle and angular rate signal the control unit of steering motor, is allowed to turning to
Parameter monitored and adjusted, the control unit calculates angle adjustment deviation after signal operation is contrasted, then will instruction it is anti-
Feedback is transferred to steering motor 3, so as to control the steering angle of driving wheel by controlling steering motor, ensures the accurate of road wheel
Turn to.
Lifting body includes jack 7, first axle 13, U-shaped support 14, steering support wheel 15, adjusting screw rod 24, change
Speed motor 25, turning rack 26, second hinge 28 and third hinge 29, wherein jack 7 are vertically arranged, and one end connects with steering spindle
Connect, the other end is connected with turning rack 26, the middle part edge jacking direction slidable fit of turning rack 26 and rack sleeve 11, is turned
The bottom that special line purchases valency 26 is assemblied in by U-shaped support 14 to support wheel 15, omni-directional wheel turns to support wheel under walking states
15 should uphang in ground and not influence the normal walking of omni-directional wheel, and jack 7 pushes down on turning rack 26, when steering branch
Behind the contact ground of support wheel 15, jack drives walking mechanism to be pushed up upwards together with hoofing part mechanism and steering mechanism by steering spindle
Rise, now by steering mechanism steering spindle can be driven to drive walking mechanism and hoofing part mechanism to be turned to, after the completion of steering,
Jack 7 is withdrawn, and walking mechanism is dropped into contact ground, continues to withdraw steering support wheel 15, completes the steering behaviour of omni-directional wheel
Make.
The turning rack 26 of the present embodiment uses rectangle support, and rack sleeve 11 is located at the inframe of rectangle support, turns to branch
Assembled between the upright side walls and rack sleeve 11 of frame 26 by slide rail 12.In order to coordinate walking mechanism relative to lifting body
Angle change, support wheel 15 is turned to relative to 26 universal setting of turning rack, specifically, U-shaped support 14 is inverted, its top passes through
The bottom of first axle 13 and turning rack 26 is by 13 universal connection of first axle, in the fulcrum position of bottom two of U-shaped support 14
Two groups of steering support wheels 15 are installed, when U-shaped support 14 and steering support wheel 15 prop up walking mechanism, turning rack 26 can
Together rotated with walking mechanism.
Jack 7 in the present embodiment uses four electronic bar hinge screw jacks, and the jack uses a rhombus
Parallelogram four-bar mechanism, respectively as two tie points of jack, wherein jack 7 pushes up on two relative summits
The summit in portion is fixed by second hinge 28 and is hinged in steering spindle 2, and the bottom apex of jack 7 is solid by third hinge 29
Surely the top of turning rack 26 is hinged on, two other relative summit of jack is respectively with adjusting screw rod 24 by reverse
Screw thread is spirally connected, and adjusting screw rod 24 is connected with variable speed electric motors, particularly 25, drives adjusting screw rod 24 to rotate by variable speed electric motors, particularly 25, by two teams
Reverse screw thread pair driving four-bar mechanism shrinks, and realizes the jacking and withdrawal action of jack.
It is evenly distributed with anti-slop serrations 27 on the circumference of the road wheel 10 of the present embodiment, the anti-slop serrations on different road wheels interlock
Arrangement.Using tooth-shape structure primarily in paddy field and in marshland, the dentalation of wheel protrusion can deep enough mud
It is following on the spot, so as to obtain larger traveling power, machinery is effectively walked in paddy field；But single anti-skidding toothing
Larger impact can be produced when level land and road are walked and is jolted, and the machinery in traveling is had undesirable effect, so this reality
Apply example and employ two panels specification is the same but convex-concave flute profile mutually staggers road wheel as a pair of combinations, installed in same root wheel
On axle, such any time has a double wedge to land, and ensures that road wheel both can effectively walk in paddy field, again can be on level land
Steady walking, so that the wheel hub structure possesses the ability walked safely under a variety of landform.
The technical scheme provided above the utility model embodiment is described in detail, used herein specifically
Individual example is set forth to the principle and embodiment of the utility model embodiment, and the explanation of above example is only applicable to help
Assistant solves the principle of the utility model embodiment；Meanwhile for those of ordinary skill in the art, implement according to the utility model
Example, the there will be changes in embodiment and application, to sum up, this specification content should not be construed as to this
The limitation of utility model.
Claims (9)
- A kind of 1. agricultural omni-directional wheel, it is characterised in that：Including road wheel (10), hoofing part mechanism, steering mechanism and jack Structure；Road wheel (10) coaxial transmission is arranged on wheel shaft (9), and wheel shaft (9) rolling assembling is in rack sleeve (11) Interior, the rack sleeve (11) is connected by pillar (8) and frame base (6)；The hoofing part mechanism is fixed in frame base (6), is connected with road wheel (10)；The steering mechanism includes steering spindle (2) and steering motor (3), and the steering spindle (2) is filled vertically by thrust bearing (5) Assigned in frame base (6), steering spindle one end is connected with the steering motor (3) being fixedly mounted, the other end and rack sleeve (11) it is vertical to be connected；The lifting body includes jack (7), turning rack (26) and turns to support wheel (15), the jack (7) one End is connected with turning to axis connection, the other end with turning rack (26), the turning rack (26) and the middle part of rack sleeve (11) Along jacking direction slidable fit, the bottom for turning to support wheel (15) and turning rack (26) being assemblied in using universal structure.
- 2. a kind of agricultural omni-directional wheel according to claim 1, the turning rack (26) uses rectangle support, its vertical side Assembled between wall and rack sleeve (11) by slide rail (12).
- 3. a kind of agricultural omni-directional wheel according to claim 2, the steering support wheel (15) is set by U-shaped support (14) In the bottom of turning rack (26), the U-shaped support (14) is inverted, and its top passes through first axle (13) and turning rack (26) The universal connection in bottom, two groups of steering support wheels (15) are installed on the bottom of U-shaped support (14).
- 4. a kind of agricultural omni-directional wheel according to claim 3, the jack (7) uses four electronic bar hinge screw threads thousand Jin top, the top of the jack (7) are hinged in steering spindle (2) by second hinge (28) fixation, the jack (7) Bottom passes through the fixed top for being hinged on turning rack (26) of third hinge (29).
- 5. a kind of agricultural omni-directional wheel according to claim 1, the rack sleeve (11) passes through two groups of vertical pillars (8) It is connected with frame base (6), the pillar (8) is arranged symmetrically relative to steering spindle (2).
- 6. a kind of agricultural omni-directional wheel according to claim 1, the hoofing part mechanism includes decelerator (20), driving electricity Machine (21), motor bearing (22) and horizontal support (23), the horizontal support (23) are fixed on pillar (8), and to its Middle side road wheel is extended, and the motor (21) is fixedly mounted on horizontal support by motor bearing (22) (23) on, the motor (21) is connected by decelerator (20) and chain-drive mechanism with the skidding traction drive.
- 7. a kind of agricultural omni-directional wheel according to claim 1, it is evenly distributed with the circumference of the road wheel (10) anti-skidding Tooth (27), the anti-slop serrations interlaced arrangement on different road wheels.
- 8. a kind of agricultural omni-directional wheel according to claim 1, the steering motor (3) passes through speed reducing gear pair and steering spindle (2) connect.
- 9. a kind of agricultural omni-directional wheel according to any one of claim 1-8, angle biography is additionally provided with the steering spindle (2) Sensor (1), the angular transducer (1) and steering motor (3) feedback link.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201721022432.8U CN207208178U (en) | 2017-08-15 | 2017-08-15 | A kind of agricultural omni-directional wheel |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201721022432.8U CN207208178U (en) | 2017-08-15 | 2017-08-15 | A kind of agricultural omni-directional wheel |
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| Publication Number | Publication Date |
|---|---|
| CN207208178U true CN207208178U (en) | 2018-04-10 |
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ID=61818983
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201721022432.8U Active CN207208178U (en) | 2017-08-15 | 2017-08-15 | A kind of agricultural omni-directional wheel |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107364488A (en) * | 2017-08-15 | 2017-11-21 | 湖南农业大学 | agricultural omni-directional wheel |
| CN110834494A (en) * | 2018-08-17 | 2020-02-25 | 深圳创维数字技术有限公司 | Universal wheel and carrier with same |
-
2017
- 2017-08-15 CN CN201721022432.8U patent/CN207208178U/en active Active
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107364488A (en) * | 2017-08-15 | 2017-11-21 | 湖南农业大学 | agricultural omni-directional wheel |
| CN107364488B (en) * | 2017-08-15 | 2023-10-17 | 湖南农业大学 | Agricultural omni-wheel |
| CN110834494A (en) * | 2018-08-17 | 2020-02-25 | 深圳创维数字技术有限公司 | Universal wheel and carrier with same |
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