CN209683865U - Reducer assemblies and plant protection unmanned vehicle - Google Patents

Abstract

The utility model relates to transmission device fields, disclose a kind of reducer assemblies and plant protection unmanned vehicle, the reducer assemblies include reducer shell (31) and extend at least partially into the transmission shaft in the reducer shell (31), it is characterized in that, one end of the transmission shaft is fixed with magnetic part (32), the reducer assemblies further include that the sensor circuit plate (33) being oppositely arranged is spaced with the magnetic part (32), the rotational parameters which can be triggered by the magnetic part (32) to detect the transmission shaft.The reducer assemblies of the utility model can be by the rotation of sensor circuit plate (33) induced magnetism part (32), to detect the rotational parameters of transmission shaft, thus to obtain output parameter, it can be applied to be easy to implement the intelligent control that automated job and wheelspan are adjusted such as the pivotal action of detection walking component on plant protection unmanned vehicle.

Description

Reducer assemblies and plant protection unmanned vehicle

Technical field

The utility model relates to transmission device fields, more particularly to a kind of reducer assemblies.On this basis, this is practical It is novel to further relate to a kind of plant protection unmanned vehicle with the reducer assemblies.

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 be using modes such as manual or driving device drivings, for example, the power that motor can be exported is after retarder slows down It is transferred to walking component, thus changes wheelspan.

Utility model content

The purpose of the utility model is to provide the reducer assemblies that one kind can accurately detect output parameter, the retarder groups Part can be applied to the pivotal action such as detection walking component on plant protection unmanned vehicle, is easy to implement automated job and wheelspan is adjusted Intelligent control.

To achieve the goals above, on the one hand the utility model provides a kind of reducer assemblies, including reducer shell and The transmission shaft in the reducing gearbox body is extended at least partially into, one end of the transmission shaft is fixed with magnetic part, the retarder Component further includes the sensor circuit plate being oppositely arranged with the magnetic part interval, which can be triggered by the magnetic part To detect the rotational parameters of the transmission shaft.

Preferably, the magnetic part is embedded in the intermediate connector of nonferromagnetic material, and is fixed by the intermediate connector In one end of the transmission shaft.

Preferably, the intermediate connector is the copper post with threaded portion, and one end of the transmission shaft is formed with screw hole, institute It states copper post and is screw-coupled to the screw hole.

Preferably, the transmission shaft is power output shaft, and the magnetic part is fixed on the separate power of the power output shaft One end of output end.

Preferably, the reducer shell is connected with the encoder housing covered on the magnetic part, the induced electricity Road plate is fixedly connected on the inside of the encoder housing.

Preferably, the encoder housing by first be bolted to the reducer shell and by sealing ring it is close Envelope, and/or, the inner sidewall that the sensor circuit plate is bolted to the encoder housing by second.

The utility model second aspect provides a kind of plant protection unmanned vehicle equipped with above-mentioned reducer assemblies.

Preferably, reducer assemblies transmission connection is in the walking component of the plant protection unmanned vehicle, with can be by the sense Answer circuit board detecting wheelspan change.

Preferably, the plant protection unmanned vehicle includes the pivot post of vehicle frame and installation to the vehicle frame, and the walking component connects It is connected to the pivot post, and the pivot post is pivotally mounted to the vehicle frame by floating bearing, wherein the floating bearing Outer ring is fixedly attached to the vehicle frame, inner ring is fixedly connected on the pivot post, the power output shaft of the reducer assemblies It is coaxially sequentially connected in the inner ring of the floating bearing so that the pivot post and the walking component can be driven to rotate coaxially.

Preferably, the inner ring of the floating bearing is fixedly connected with flanged plate, the flanged plate be centrally formed with it is described The polygon inner hole of the power output shaft cooperation of reducer assemblies.

Through the above technical solutions, the reducer assemblies of the utility model can be turned by sensor circuit plate induced magnetism part It is dynamic, to detect the rotational parameters of transmission shaft, thus to obtain output parameter, can be applied to as detected walking on plant protection unmanned vehicle The pivotal action of component is easy to implement the intelligent control that automated job and wheelspan are adjusted.

Detailed description of the invention

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

Fig. 4 is according to a kind of exploded view of the reducer assemblies of preferred embodiment of the utility model.

Description of symbols

1- vehicle frame；11- upper frame；Vehicle frame under 12-；2- walking component；3- reducer assemblies；31- reducer shell；32- Magnetic part；33- sensor circuit plate；34- copper post；35- power output shaft；36- encoder housing；The first bolt of 37-；38- sealing Circle；The second bolt of 39-；4- pivot post；5- floating bearing；6- flanged plate；6a- polygon inner hole；7- wheel.

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.In addition, although below will mainly with plant protection without People's vehicle is that application is illustrated the reducer assemblies of the utility model, but the reducer assemblies also can be applied to other In mechanical equipment.

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 7 and supports vehicle frame 1, can pass through the vehicle Frame 1 carries such as Navigation Control mechanism, medicine-chest, battery component.

Pivot post 4 is pivotally mounted on vehicle frame 1, walking component 2 is connected to the pivot post 4.Wherein, in conjunction with Fig. 3 institute Show, one end of pivot post 4 can be equipped with floating bearing 5, to be pivotally mounted to vehicle frame 1 by the floating bearing 5.

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 5 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.

The outer ring of floating bearing 5 can be bolted to connection to the downside of upper frame 11, and pivot post 4 is fixedly connected To the inner ring of the floating bearing 5.For the ease of being sequentially connected with the subsequent reducer assemblies 3, the inner ring of the floating bearing 5 It can also be fixedly connected with flanged plate 6, the center of the flanged plate 6 could be formed with the polygon inner hole of hexagonal hole in for example, 6a, for the power output shaft 35 with reducer assemblies 3 (referring to Fig. 4).In other embodiments, the power output shaft 35 Can be sequentially connected by other means can be replaced in pivot post 4, such as the polygon inner hole 6a of flanged plate 6 by internal spline Generation.

It importantly, can be in upper frame 11 in order to be acted by the driving walking component 2 of pivot post 4 to change wheelspan Reducer assemblies 3 are installed in upside, which can connect motor (not shown).Referring to shown in Fig. 4, according to this reality It may include reducer shell 31 and for example, power output shaft 35 with a kind of novel reducer assemblies of preferred embodiment Transmission shaft, one end of the transmission shaft are fixed with magnetic part 32.In illustrated preferred embodiment, it is defeated that magnetic part 32 is fixed on power One end of the separate power output end of shaft 35, so as in the location arrangements sensor circuit plate 33 opposite with the end, the induction Circuit board 33 and magnetic part 32 are spaced relatively, and can be in magnetic part 32 with there is the magnetic part 32 to touch in transmission shaft rotation process Hair, with parameters such as the revolving speed, the rotational angles that detect the power output shaft 35.By this set, reducer assemblies 3 can be utilized The pivotal action of detection walking component 2, is easy to implement the intelligent control that automated job and wheelspan are adjusted.

According to flanged plate 6 aforementioned, that the power output shaft 35 of reducer assemblies 3 can be connect with floating bearing 5 and thereon It is coaxially connected, to drive pivot post 4 and walking component 2 to rotate coaxially, walking group is directly measured by sensor circuit plate 33 The rotational angle of part 2.

It is understood that the transmission shaft of installation magnetic part 32 may be the intermediate propeller shaft in reducer assemblies 3, only Want it that can arrange corresponding sensor circuit plate 33.In the preferred implementation side that magnetic part 32 is fixed on to power output shaft 35 In formula, the rotation of magnetic part 32 and the power output shaft 35 are rotated synchronously, and advantageously ensure that detection accuracy.

Further, magnetic part 32 can be embedded on the intermediate connector of nonferromagnetic material, and be connected by the centre Part is fixed on one end of transmission shaft.The intermediate connector is set as nonferromagnetic material, can magnetize linking part to avoid magnetic part 32 Position, prevents from unexpectedly triggering sensor circuit plate 33, promotion can product reliability.In addition, can be kept away by setting intermediate connector The reduction of manufacture efficiency, need to will only be inlaid among magnetic part 32 in assembling process and connect caused by exempting from because of setting magnetic part 32 Part is connected to the end of transmission shaft.In illustrated preferred embodiment, intermediate connector is the copper post 34 with threaded portion, One end of power output shaft 35 is formed with screw hole, it is possible thereby to which copper post 34 is screw-coupled to the screw hole, completes magnetic part 32 and this is dynamic Power output shaft 35 is fixedly connected.

In a preferred embodiment, the reducer assemblies 3 of the utility model may include encoder housing 36, the volume Code device shell 36 can be connected to reducer shell 31 by such as the first bolt 37 and be provide with magnetic part 32, and thus, it is possible to close to pass The end of moving axis avoids dust and other impurities from entering acceleration components in reducer shell 31 and wears.In addition, sensor circuit plate 33 can be with The inside of encoder housing 36 is connected to by the second bolt 39.In assembling, sensor circuit plate 33 can be filled to the volume in advance On code device shell 36, magnetic part 32 is filled to one end of transmission shaft in advance, so as to subtract by the way that encoder housing 36 to be connected to Fast device shell 31 and complete assembly.Sealing ring can be set in the connecting portion of encoder housing 36 and reducer shell 31 38, Yi Mianshui, dust etc. enters.

The plant protection unmanned vehicle of the utility model can use the 33 induced magnetism part 32 of sensor circuit plate in reducer assemblies 3 Rotation, thus the rotational parameters of detection such as power output shaft 35, thus to obtain output to pivot post 4 and walking component 2 Rotational parameters are easy to implement the intelligent control that automated job and wheelspan are adjusted to detect wheelspan change.

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 reducer assemblies including reducer shell (31) and extend at least partially into the reducer shell (31) Transmission shaft, which is characterized in that one end of the transmission shaft is fixed with magnetic part (32), and the reducer assemblies further include and the magnetism Part (32) is spaced the sensor circuit plate (33) that is oppositely arranged, the sensor circuit plate (33) can be triggered by the magnetic part (32) with Detect the rotational parameters of the transmission shaft.

2. reducer assemblies according to claim 1, which is characterized in that the magnetic part (32) is embedded in nonferromagnetic material Intermediate connector, and be fixed on by the intermediate connector one end of the transmission shaft.

3. reducer assemblies according to claim 2, which is characterized in that the intermediate connector is the copper with threaded portion Column (34), one end of the transmission shaft are formed with screw hole, and the copper post (34) is screw-coupled to the screw hole.

4. reducer assemblies as claimed in any of claims 1 to 3, which is characterized in that the transmission shaft is power Output shaft (35), the magnetic part (32) are fixed on one end of the separate power output end of the power output shaft (35).

5. reducer assemblies as claimed in any of claims 1 to 3, which is characterized in that the reducer shell (31) it is connected with the encoder housing (36) covered on the magnetic part (32), the sensor circuit plate (33) is fixedly connected on The inside of the encoder housing (36).

6. reducer assemblies according to claim 5, which is characterized in that the encoder housing (36) passes through the first bolt (37) it is connected to the reducer shell (31) and is sealed by sealing ring (38), and/or, the sensor circuit plate (33) The inner sidewall of the encoder housing (36) is connected to by the second bolt (39).

7. a kind of plant protection unmanned vehicle, which is characterized in that the plant protection unmanned vehicle is equipped with according to claim 1 to any one of 6 institutes The reducer assemblies stated.

8. plant protection unmanned vehicle according to claim 7, which is characterized in that the reducer assemblies transmission connection is in the plant protection The walking component (2) of unmanned vehicle, wheelspan change can be detected by the sensor circuit plate (33).

9. plant protection unmanned vehicle according to claim 8, which is characterized in that the plant protection unmanned vehicle includes vehicle frame (1) and peace It is filled to the pivot post (4) of the vehicle frame (1), the walking component (2) is connected to the pivot post (4), and the pivot post (4) The vehicle frame (1) is pivotally mounted to by floating bearing (5), wherein the outer ring of the floating bearing (5) is fixedly attached to described Vehicle frame (1), inner ring are fixedly connected on the pivot post (4), and the power output shaft (35) of the reducer assemblies coaxially passes The dynamic inner ring for being connected to the floating bearing (5) is can drive the pivot post (4) and the walking component (2) coaxially to turn It is dynamic.

10. plant protection unmanned vehicle according to claim 9, which is characterized in that the inner ring of the floating bearing (5) is fixedly connected There are flanged plate (6), being centrally formed with for the flanged plate (6) is polygon with the power output shaft of the reducer assemblies (35) cooperation Shape inner hole (6a).