CN209676800U - Plant protection unmanned vehicle - Google Patents

Abstract

The utility model relates to field of plant protection machine; disclose a kind of plant protection unmanned vehicle; the plant protection unmanned vehicle includes: vehicle frame (1), the turntable (3) which is pivotally mounted pivot post (4) and is sequentially connected in the pivot post (4) to be capable of pivot in unison；Multiple walking components (2), the walking component (2) are connected to the pivot post (4) and can pivot in company with the pivot post (4)；Draw wire encoder (5), the draw wire encoder (5) is fixedly installed to the vehicle frame (1) and is connected to the turntable (3) by bracing wire (6), can detect the pivoting angle of walking component (2) during the turntable (3) and the pivot post (4) pivot in unison.The plant protection unmanned vehicle of the utility model is accurately measured the pivot parameter of turntable and pivot post by draw wire encoder, and measurement error is small, and wheelspan adjustment process can be made to form closed-loop control, be easy to implement automated job and intelligent control.

Description

Plant protection unmanned vehicle

Technical field

The utility model relates to field of plant protection machine, more particularly to a kind of plant protection unmanned vehicle.

Background technique

Plant protection unmanned vehicle is the automatic driving car for travelling on ground for agriculture and forestry plant protection operation, mainly includes vehicle Frame, the walking component being mounted on vehicle frame and the Navigation Control mechanism and Working mechanism that are mounted on vehicle frame, can pass through ground It is remotely controlled and realizes plant protection operation, realize crop picking, fertilising and spray the automated jobs such as medicament, seed, pulvis.

For Different Crop and different plantation regions, the Planting Row Distance of crop is not quite similar.For this reason, it may be necessary to by adjusting plant The wheelspan for protecting unmanned vehicle, adapts it to different Planting Row Distances, avoids the damage crops when farmland is walked.In regulating wheel away from mistake Cheng Zhong can depend on the qualification of operator using the modes such as manual or driving device driving, these regulative modes, difficult To realize automated job and intelligent control.

Utility model content

It asks the purpose of this utility model is to overcome plant protection unmanned vehicle intelligence degree of the existing technology is lower Topic, provides a kind of plant protection unmanned vehicle, which can accurately detect the pivotal action of walking component, is easy to implement automatic It is turned into the intelligent control of industry and wheelspan adjusting.

To achieve the goals above, the utility model provides a kind of plant protection unmanned vehicle, comprising: vehicle frame, the vehicle frame pivot Pivot post is installed and the turntable of pivot in unison is capable of in transmission connection in the pivot post；Multiple walking components, the walking Component is connected to the pivot post and can pivot in company with the pivot post；Draw wire encoder, the fixed peace of the draw wire encoder It is filled to the vehicle frame and the turntable is connected to by bracing wire, with can be in the turntable and the pivot post pivot in unison mistake The pivoting angle of the walking component is detected in journey.

Preferably, the vehicle frame includes upper frame that is positioned opposite to each other and being connected as one and lower vehicle frame, the pivot Column extends along the vertical direction and is pivotally connected to the upper frame and lower vehicle frame respectively at both ends, and the turntable is located on described The upside of the vehicle frame and rotating shaft transmission by being coaxially disposed with the pivot post is connected to the pivot post.

Preferably, the upper frame and lower vehicle frame are respectively provided with four side bars being oppositely arranged two-by-two, the end of the side bar The pivot post and the corresponding walking component are connected separately at position.

Preferably, corner mounting member is connected between the end of the adjacent side bar, the shaft is installed across the corner Part is sequentially connected to the pivot post, and the draw wire encoder is installed on the side bar and by extending above the side bar The bracing wire be connected to the turntable.

Preferably, the turntable is the disk for being prejudicially fixedly attached to the shaft, and the bracing wire is bolted To the upside of the turntable.

Preferably, the upper end of the pivot post is provided with floating bearing and is connected to institute by the outer ring of the floating bearing Upper frame is stated, the shaft and the pivot post are coaxially sequentially connected in the inner ring of the floating bearing.

Preferably, it is provided with the flanged plate for being fixedly attached to the inner ring on the upside of the floating bearing, the flanged plate It is centrally formed with the polygon inner hole with shaft cooperation.

Preferably, the power device for being connected to the turntable to drive the turntable to pivot is installed on the vehicle frame.

Preferably, the walking component includes: height adjustment mechanism and wheel supporting leg, and the height adjustment mechanism includes that The upper swing arm and lower swing arm of this parallel arrangement and both ends are respectively articulated with the electric pushrod to the upper swing arm and lower swing arm, pendulum on this The both ends of arm and lower swing arm are respectively articulated with to the pivot post and the wheel supporting leg to be formed as parallelogram mechanism, institute Electric pushrod is stated for driving parallelogram mechanism movement to adjust the height of the vehicle frame.

Preferably, the wheel supporting leg includes: supporting leg column, and the upper swing arm and lower swing arm are hinged to the supporting leg column And the bottom end of the supporting leg column is provided with steer-drive mounting plate, be equipped on the steer-drive mounting plate have turn To the steer-drive of driving gear；Wheel mount, the wheel mount are installed on the branch by external tooth pivoting support The bottom end of leg column, wherein the supporting leg column is fixedly connected on the inner ring of the external tooth pivoting support, and is connected such that institute It states steering driving gear to engage with the outer gear ring of the external tooth pivoting support, it is outer that the top of the wheel mount is fixedly attached to this Gear ring.

Through the above technical solutions, the plant protection unmanned vehicle of the utility model is when component of walking is pivoted by draw wire encoder standard The really pivot parameter of measurement turntable and pivot post, measurement error is small, wheelspan adjustment process can be made to form closed-loop control, just In realization automated job and intelligent control.

Detailed description of the invention

Fig. 1 is the schematic perspective view according to a kind of plant protection unmanned vehicle of preferred embodiment of the utility model；

Fig. 2 is the enlarged drawing of the local A in Fig. 1；

Fig. 3 is the attachment structure schematic diagram of the pivot post of plant protection unmanned vehicle and floating bearing etc. in Fig. 1；

Fig. 4 is the connection structure main view of the walking component and pivot post of plant protection unmanned vehicle in Fig. 1；

Fig. 5 is the perspective view of connection structure in Fig. 4.

Description of symbols

1- vehicle frame；10- corner mounting member；11- upper frame；Vehicle frame under 12-；2- walking component；21- upper swing arm；The 22- bottom Arm；23- open slot；24- electric pushrod；25- supporting leg column；26- steer-drive mounting plate；27- steer-drive； 27a- steering motor；27b- turns to driving gear；27c- turns to speed reducer；27d- turns to encoder；28- wheel mount； 28a-L shape mounting plate；29- external tooth pivoting support；3- turntable；4- pivot post；5- draw wire encoder；6- bracing wire；7- bolt；8- Floating bearing；9- flanged plate；9a- polygon inner hole；20- wheel；20a- hub motor.

Specific embodiment

Specific embodiment of the present utility model is described in detail below in conjunction with attached drawing.It should be understood that herein Described specific embodiment is only used for describing and explaining the present invention, and is not intended to limit the utility model.

In the present invention, in the absence of explanation to the contrary, the noun of locality used such as " upper and lower, top, bottom end " It typically refers to reference to upper and lower, top shown in the drawings and bottom end.It is understood that according to placement orientation or in operation process In locating ground flat degree, the plant protection unmanned vehicle of the utility model not necessarily keeps orientation mode (vehicle frame shown in FIG. 1 1 whole holding is horizontal), but its orientation can refer to the orientation shown in FIG. 1 and determine.

Shown in referring to Figures 1 and 2, according to a kind of plant protection unmanned vehicle of preferred embodiment of the utility model, including vehicle frame 1 With the multiple walking components 2 for being installed on the vehicle frame 1, which has wheel 20 and supports vehicle frame 1, with can be by this Vehicle frame 1 carries such as Navigation Control mechanism, medicine-chest, battery component.

Pivot post 4 and transmission connection are pivotally mounted on vehicle frame 1 in the turntable 3 of the pivot post 4, which can With 4 pivot in unison of pivot post.For example, turntable 3 can connect power device (not shown), for driving turntable 3 to rotate, thus Pivot post 4 is driven to pivot.The power device can be the electric pushrod being mounted on vehicle frame 1, hydraulic cylinder etc..At other In embodiment, turntable 3 may be set to be to be driven by pivot post 4 and pivot, and the then described pivot inspection equally may be implemented Survey purpose.

Walking component 2 is connected to pivot post 4, as a result, in 4 rotation process of pivot post, the also companion of walking component 2 It pivots, realizes that wheelspan is adjusted.

In order to accurately detect the pivotal action of walking component 2, the utility model is also fixedly installed with bracing wire volume on vehicle frame 1 Code device 5, the draw wire encoder 5 are connected to turntable 3 by bracing wire 6.To in pivot post 4 and walking 2 pivoting process of component In, the pivot in unison stroke of turntable 3 can feed back to draw wire encoder 5 by bracing wire 6.The draw wire encoder 5 is able to record bracing wire 6 Length variation obtains the parameters such as pivoting angle and/or pivot speed of pivot post 4 will pass through simple conversion.It can be seen that Turntable 3 is capable of the action parameter of accurate response pivot post 4 and walking component 2, and is accurately measured by draw wire encoder 5, can be with So that wheelspan adjustment process forms closed-loop control, it is easy to implement automated job and intelligent control.

Wherein, bracing wire 6 can be connected to turntable 3 in many ways, as long as it can be in 3 rotation process of turntable correspondingly Expanding-contracting action.In a preferred embodiment, turntable 3 is disk, and is prejudicially fixedly connected with shaft, the turntable 3 It is sequentially connected by shaft and pivot post 4.Bracing wire 6 can be connected to the upside of turntable 3 by bolt 7 as a result, this is conducive to Be advantageously carried out disassembling operations, and can be avoided and being appropriately arranged with height of the bracing wire 6 with respect to 3 upper side of turntable bracing wire 6 with Other component (such as vehicle frame 1) is in contact.

In illustrated preferred embodiment, vehicle frame 1 is included in positioned opposite to each other at different height position and is connected as one The upper frame 11 of body and lower vehicle frame 12.Pivot post 4 extends along the vertical direction, and is pivotally connected in upper end by floating bearing 8 To upper frame 11, lower end is pivotally connected to lower vehicle frame 12.Typically, upper frame 11 and lower vehicle frame 12 can be respectively provided with four two Two side bars being oppositely arranged are connected separately with pivot post 4 and corresponding walking component 2 at the end position of the side bar.It will go It walks component 2 and is set to 1 corner of vehicle frame, it, can be with convenient for preventing movement interference of the walking component 2 in pivoting process by vehicle frame 1 It realizes that large range of wheelspan is adjusted, and advantageously ensures that riding stability.In wheelspan adjustment process, four walking components 2 Can be with synchronization action, to keep uniform stressed, capsizing case caused by avoiding because of the opposite offset of center of gravity.

Turntable 3 can be set in the upside of upper frame 11, and the rotating shaft transmission by being coaxially disposed with pivot post 4 is connect To pivot post 4.Floating bearing 8 has can be set in the upper end of the pivot post 4, and the outer ring of the floating bearing 8 can pass through spiral shell It tethers and is connected to upper frame 11, shaft and pivot post 4 can be respectively connected to the inner ring of the floating bearing 8.As shown in connection with fig. 3, In a preferred embodiment, it can be arranged in the upside of floating bearing 8 and be fixedly attached to the flanged plate 9 of its inner ring, the method The polygon inner hole 9a of blue plate 9 being centrally formed with for example, interior hexagonal hole of shaft cooperation.As a result, when turntable 3, pivot When turning any one of column 4 and corresponding walking component 2 around the center rotating of pivot post 4, it can pass through shaft and method Blue plate 9 is driven, and realizes coaxial, pivot in unison, convenient for accurate measurement pivoting angle.In other embodiments, turntable 3 can also be with It is sequentially connected by other means in pivot post 4, the bottom end of shaft can be such as soldered to the inner ring of floating bearing 8, or The polygon inner hole 9a of above-mentioned flanged plate 9 can be by internal spline substitution etc..

In diagram vehicle frame 1, corner mounting member 10 is also connected between the end of adjacent side bar, convenient for connection floating bearing 8, the components such as pivot post 4.Wherein, shaft can pass through the corner mounting member 10 and pivot post 4 is sequentially connected.In turntable 3 In rotation process, inevitably there is swing in opposite other end for one end for being connected to the turntable 3 of bracing wire 6, which increase Change the difficulty of measuring and calculating 3 pivoting angle of turntable using 6 length of bracing wire.For this purpose, draw wire encoder 5 can be installed on side bar, Increase the development length of bracing wire 6.It is thus possible to make 6 amplitude of fluctuation of bracing wire smaller, be conducive to improve measurement accuracy.Herein Under situation, bracing wire 6 can be made to extend above side bar, reduce a possibility that crops touch bracing wire 6.

Referring to shown in Fig. 4 and Fig. 5, in a preferred embodiment, the walking component 2 of plant protection unmanned vehicle may include height Regulating mechanism and wheel supporting leg are spent, to better adapt to different Planting Row Distances, while being also possible that vehicle frame 1 is in different height It is high to adapt to different branches for degree.Specifically, height adjustment mechanism includes parallel arranged upper swing arm 21 and lower swing arm 22, on this One end of swing arm 21 and lower swing arm 22 is hinged to the pivot post 4, and the other end is hinged to wheel supporting leg, and is formed as parallel four Bian Xing mechanism.The height adjustment mechanism further includes the height adjustment driving device of for example, electric pushrod 24, described for driving Thus parallelogram mechanism movement drives wheel supporting leg to collapse towards vehicle frame 1 or diverge to the direction far from vehicle frame 1, so that Vehicle frame 1 is in different height.

It is understood that in order to drive above-mentioned parallelogram mechanism to act, height adjustment driving device can be formed For a variety of different structure forms, for example, can be installed on pivot post 4 or vehicle frame 1 and be sequentially connected upper swing arm 21 and/or The motor etc. of lower swing arm 22, by drive the upper swing arm 21 and/or lower swing arm 22 be pivoted relative to each other column 4 rotate and realize parallel four The movement of Bian Xing mechanism.

In the case of height adjustment driving device is formed as electric pushrod 24, since it occupies relatively large extension sky Between, it may cause structure difficult arrangement.For this purpose, opening can be formed in upper swing arm 21 and lower swing arm 22 side relative to each other The both ends of electric pushrod 24 are respectively articulated with to the upper swing arm 21 and lower swing arm 22 and are extended at least partially into described by slot 23 In open slot 23.Thus, it is possible to make full use of the inner space of upper swing arm 21 and lower swing arm 22, and avoid the electric pushrod 24 It is connected to pivot post 4 and wheel supporting leg bring action stability problem.

Further, in illustrated preferred embodiment, wheel supporting leg may include supporting leg column 25 and wheel mount 28.Upper swing arm 21 and lower swing arm 22 are hinged to supporting leg column 25 and the bottom end of the supporting leg column 25 is provided with steer-drive peace Loading board 26 is equipped on the steer-drive mounting plate 26 with the steer-drive 27 for turning to driving gear 27b；Wheel Mounting rack 28 is installed on the bottom end of supporting leg column 25 by external tooth pivoting support 29, wherein supporting leg column 25 is fixedly connected on this The inner ring of external tooth pivoting support 29, and it is connected such that steering driving gear 27b and the outer gear ring of the external tooth pivoting support 29 are nibbled It closes, the top of wheel mount 28 is fixedly attached to the outer gear ring.Steer-drive may include such as steering motor 27a, turn To speed reducer 27c and the components such as encoder 27d are turned to, the diverted speed reducer 27c deceleration rear-guard of power of steering motor 27a output Turn so that the outer gear ring of external tooth pivoting support 29 rotates, and then drives wheel mount 28 to driving gear 27b rotation And its wheel 6 of bottom end is turned round around the central axis of the external tooth pivoting support 29, changes the direction of wheel 6.

Wherein, the bottom end of wheel mount 28 can have L-shaped installing plate 28a, to install wheel 20, and can pass through Hub motor 20a is set and realizes Direct wheel drives.

Preferred embodiments of the present invention, still, the utility model and unlimited are described in detail in conjunction with attached drawing above In this.In the range of the technology design of the utility model, a variety of simple variants can be carried out to the technical solution of the utility model, It is combined in any suitable manner including each particular technique feature.In order to avoid unnecessary repetition, the utility model To various combinations of possible ways, no further explanation will be given.But these simple variants and combination equally should be considered as the utility model institute Disclosure belongs to the protection scope of the utility model.

Claims (10)

1. a kind of plant protection unmanned vehicle characterized by comprising

Vehicle frame (1), the vehicle frame (1) have been pivotally mounted pivot post (4) and transmission connection in the pivot post (4) with can be synchronous The turntable (3) of pivot；

Multiple walking components (2), the walking component (2) are connected to the pivot post (4) and can be in company with the pivot posts (4) It pivots；

Draw wire encoder (5), the draw wire encoder (5) are fixedly installed to the vehicle frame (1) and are connected to by bracing wire (6) described Turntable (3), the walking component (2) can be detected during the turntable (3) and the pivot post (4) pivot in unison Pivoting angle.

2. plant protection unmanned vehicle according to claim 1, which is characterized in that the vehicle frame (1) include it is positioned opposite to each other simultaneously The upper frame (11) and lower vehicle frame (12) being connected as one, the pivot post (4) extend along the vertical direction and distinguish at both ends It is pivotally connected to the upper frame (11) and lower vehicle frame (12), the turntable (3) is located at the upside of the upper frame (11) and leads to It crosses and is connected to the pivot post (4) with the rotating shaft transmission of the pivot post (4) coaxial arrangement.

3. plant protection unmanned vehicle according to claim 2, which is characterized in that the upper frame (11) and lower vehicle frame (12) are respectively Tool is connected separately with the pivot post (4) and accordingly there are four the side bar that is oppositely arranged two-by-two at the end position of the side bar The walking component (2).

4. plant protection unmanned vehicle according to claim 3, which is characterized in that be connected with angle between the end of the adjacent side bar Portion's installation part (10), the shaft pass through the corner mounting member (10) and are sequentially connected to the pivot post (4), and the bracing wire is compiled Code device (5) is installed on the side bar and the bracing wire (6) by extending above the side bar is connected to the turntable (3).

5. plant protection unmanned vehicle according to claim 2, which is characterized in that the turntable (3) is prejudicially to be fixedly attached to The disk of the shaft, the bracing wire (6) are connected to the upside of the turntable (3) by bolt (7).

6. plant protection unmanned vehicle according to claim 2, which is characterized in that the upper end of the pivot post (4) is provided with back Shaft holds (8) and is connected to the upper frame (11), the shaft and the pivot post by the outer ring of the floating bearing (8) (4) it is coaxially sequentially connected in the inner ring of the floating bearing (8).

7. plant protection unmanned vehicle according to claim 6, which is characterized in that be provided on the upside of the floating bearing (8) solid Surely the flanged plate (9) of the inner ring, the polygon inner hole of the flanged plate (9) being centrally formed with shaft cooperation are connected to (9a)。

8. plant protection unmanned vehicle according to claim 1, which is characterized in that be equipped on the vehicle frame (1) described in being connected to Power device of the turntable (3) to drive the turntable (3) to pivot.

9. plant protection unmanned vehicle as claimed in any of claims 1 to 8, which is characterized in that walking component (2) packet Include: height adjustment mechanism and wheel supporting leg, the height adjustment mechanism include parallel arranged upper swing arm (21) and the bottom Arm (22) and both ends are respectively articulated with the electric pushrod (24) to the upper swing arm (21) and lower swing arm (22), the upper swing arm (21) and The both ends of lower swing arm (22) are respectively articulated with to the pivot post (4) and the wheel supporting leg to be formed as parallelogram machine Structure, the height that the electric pushrod (24) is used to drive parallelogram mechanism movement to adjust the vehicle frame (1).

10. plant protection unmanned vehicle according to claim 9, which is characterized in that the wheel supporting leg includes:

Supporting leg column (25), the upper swing arm (21) and lower swing arm (22) are hinged to the supporting leg column (25) and the supporting leg column (25) bottom end is provided with steer-drive mounting plate (26), be equipped on the steer-drive mounting plate (26) have turn To the steer-drive (27) of driving gear (27b)；

Wheel mount (28), the wheel mount (28) are installed on the supporting leg column (25) by external tooth pivoting support (29) Bottom end, wherein the supporting leg column (25) is fixedly connected on the inner ring of the external tooth pivoting support (29), and is connected such that Steering driving gear (27b) is engaged with the outer gear ring of the external tooth pivoting support (29), the top of the wheel mount (28) End is fixedly attached to the outer gear ring.