CN210133181U

CN210133181U - Hybrid high-speed rice transplanter

Info

Publication number: CN210133181U
Application number: CN201920458731.9U
Authority: CN
Inventors: 吴迪; 姚远; 齐家园
Original assignee: Fengjiang Institute Of Intelligent Science And Technology (changzhou) Co Ltd
Current assignee: Fengjiang Institute Of Intelligent Science And Technology (changzhou) Co Ltd
Priority date: 2019-04-04
Filing date: 2019-04-04
Publication date: 2020-03-10
Anticipated expiration: 2029-04-04

Abstract

The utility model provides a hybrid high-speed transplanter, wherein the hybrid high-speed transplanter includes a transplanter host computer, a driving system to and a walking system. The power system is arranged on the transplanter host and drives the transplanter host to transplant rice seedlings, the power system comprises at least one engine and at least one electric energy generating device, the engine drives the electric energy generating device to generate electric energy, the traveling system is arranged on the transplanter host and comprises at least four wheels and three motors, the motors drive the wheels to travel and drive the wheels on the left side and the right side at different rotating speeds, and therefore steering of the traveling system is achieved.

Description

Hybrid high-speed rice transplanter

Technical Field

The utility model relates to the field of agricultural machinery, in particular to a hybrid power high-speed rice transplanter.

Background

The rice transplanter is a planting machine for planting rice seedlings in paddy fields, replaces the process of manual transplanting operation, improves the transplanting effect and transplanting quality to a certain extent, realizes reasonable close planting, realizes standard planting and is beneficial to mechanization of subsequent operation. It can be divided into a common rice transplanter and a high-speed rice transplanter according to the transplanting speed.

High speed rice transplanters of the prior art include rice transplanters powered by fuel, rice transplanters powered by electric motors, and rice transplanters powered by mixed kinetic energy. The rice transplanter powered by a fuel engine is the most primitive type of rice transplanter, and generally, the rice transplanter in the prior art drives a rice transplanting operation system and a vehicle traveling system to work simultaneously through the fuel engine. However, the rice transplanter distributes energy unevenly during the operation, wastes energy seriously, and the fuel efficiency of the original fuel power is low. In other words, such a rice transplanter powered by an oil engine cannot distribute energy to a traveling system and a rice transplanting operation system according to the actual demand for energy. On the other hand, the fuel efficiency is low, the energy utilization rate of the rice transplanter is low, and the pollution is serious.

In the prior art, a rice transplanter which takes a motor as a driving device and a hybrid rice transplanter need to be provided with a power supply with enough energy to drive an operating system and a traveling system in the rice transplanter to work. However, since the rice transplanter is usually operated in a farm land where the amount of water is large, such prior art electric agricultural machines certainly increase the weight of the vehicle itself, making it more difficult to walk and turn the rice transplanter in the farm land. In addition, the pure electric rice transplanter in the prior art adopts electric energy as an energy source, the endurance of the rice transplanter is limited, frequent charging is needed, and agricultural operation is delayed.

When the rice transplanter in the prior art steers, the front wheel is usually used as a steering wheel, the rear wheel is used as a power output wheel, the rice transplanter is synchronously driven to advance, and the steering angle is small. When the transplanter needs to rotate by a large angle, such as turning around, the transplanter usually needs to turn back and forth for multiple times to walk, so that the turning amplitude is small, the efficiency is low, and the overall working efficiency of the transplanter is reduced. In addition, when the transplanter in the prior art turns, the damage of wheels to farmlands is serious. In addition, the driving mode of the prior art rice transplanter is driven by a single front wheel or rear wheel, so that the driving wheel is easily sunk into the farmland when the rice transplanter runs in a paddy field, and the rice transplanter cannot be driven to run.

In the prior art, when the rice transplanter turns, particularly turns a curve with a large angle, the steering resistance is large, and the torque provided to the outer wheels by the driving shaft is insufficient, so that the vehicle is difficult to walk during steering. Particularly in narrow terrain, the transplanter in the prior art is limited by the steering range of the vehicle, and the final steering can be realized by adjusting the running direction for many times.

SUMMERY OF THE UTILITY MODEL

One of the main advantages of the present invention is to provide a hybrid high speed rice transplanter wherein the high speed rice transplanter controls the steering of the vehicle in a manner that controls the rotational speed of the wheels.

Another advantage of the present invention is to provide a hybrid high speed rice transplanter, wherein the high speed rice transplanter controls the turning of the high speed rice transplanter by controlling the different rotating speeds of the left side wheel and the right side wheel, thereby reducing the resistance of the vehicle in the turning process.

Another advantage of the present invention is to provide a hybrid high-speed rice transplanter, wherein the high-speed rice transplanter controls the rotation direction by controlling the rotation speed of the left wheel and the right wheel to be different, so that the speed loss is small during the steering process, and the steering speed is increased.

Another advantage of the present invention is to provide a hybrid high-speed rice transplanter, wherein the high-speed rice transplanter realizes the turn through the speed difference of controlling left side wheel and right side wheel, has reduced the path length that the vehicle was traveling in the process of turning to, has improved the efficiency that turns to.

Another advantage of the present invention is to provide a hybrid high-speed rice transplanter, wherein the rear wheels of the high-speed rice transplanter control the rotation speed through two motors respectively, and the motor keeps the driving force and the driving torque during the steering process, thereby avoiding the loss of the torque during the steering process, and improving the stability of the power of the vehicle steering.

Another advantage of the present invention is to provide a hybrid high-speed rice transplanter, wherein the high-speed rice transplanter realizes turning to at a small angle through controlling the different rotational speeds of left side wheel and right side wheel, can realize turning to at a large angle fast. That is, the high-speed rice transplanter can rapidly realize large-angle steering in narrow terrain without adjusting the running direction of the vehicle back and forth for multiple times, thereby simplifying the driving burden of a driver.

Another advantage of the present invention is to provide a hybrid high-speed rice transplanter, wherein the wheels of the traveling system of the high-speed rice transplanter are driven by three motors, wherein two motors drive two rear wheels, and one motor drives two front wheels through a differential device, thereby simplifying the overall mechanical structure of the high-speed rice transplanter and improving the traveling stability.

Another advantage of the present invention is to provide a hybrid high-speed rice transplanter, wherein the power system of the high-speed rice transplanter is directly driven by the engine power generation the operation of the motor is not provided with an electric energy storage device, thereby reducing the overall weight of the body and the damage of the high-speed rice transplanter to the farmland and reducing the energy loss.

Another advantage of the present invention is to provide a hybrid high-speed rice transplanter, wherein the power system of the high-speed rice transplanter is directly driven by the engine to generate electricity the operation of the motor reduces the energy loss during the conversion process, thereby improving the efficiency of energy conversion and saving energy consumption.

Another advantage of the present invention is to provide a hybrid high speed rice transplanter, wherein the high speed rice transplanter keeps the running speed of the vehicle during the turning process, improving the turning speed and the working efficiency.

Another advantage of the present invention is to provide a hybrid high-speed rice transplanter, wherein the wheels of the high-speed rice transplanter are driven synchronously by the front and rear wheels of multiple motors, thereby improving the driving efficiency of the high-speed rice transplanter to operate in the farmland with complex terrain.

The other advantages and features of the invention will be fully apparent from the following detailed description and realized by means of the instruments and combinations particularly pointed out in the appended claims.

According to the utility model discloses an aspect, can realize aforementioned purpose and other purposes and advantage the utility model discloses a high-speed transplanter of hybrid, include:

a transplanter main unit;

the power system is arranged on the transplanter main machine and drives the transplanter main machine to transplant rice, and comprises at least one engine and at least one electric energy generating device, wherein the engine drives the electric energy generating device to generate electric energy; and

and the traveling system is arranged on the transplanter host and comprises at least four wheels and three motors, wherein the motors drive the wheels to travel, and the left and right wheels are driven at different rotating speeds so as to realize the steering of the traveling system.

According to the utility model discloses an embodiment, traveling system the wheel includes two at least front wheels and two at least rear wheels, wherein the motor includes a front wheel motor and two rear wheel motors, front wheel motor drive is two the front wheel rotates, rear wheel motor drives respectively the rear wheel rotates.

According to an embodiment of the present invention, the traveling system includes a front axle and two front wheel supports, the front wheel supports will the front wheel is drivingly connected to the front axle, wherein the front wheel is drivingly connected to the front axle, by means of the front axle drive the front wheel rotates.

According to the utility model discloses an embodiment, the front axle includes a differential mechanism, a left drive axle and a right drive axle, wherein the front wheel motor passes through the differential mechanism drive left side drive axle with the right drive axle rotates, works as when traveling system turns to, differential mechanism passes through left side drive axle with the right drive axle drives two with different transmission speed the front wheel rotates.

According to the utility model discloses an embodiment, traveling system further includes a rear axle and two rear wheel supports, the rear wheel support is connected with supporting the rear wheel in the rear axle, wherein the rear wheel motor set up in the rear axle, wherein the rear wheel includes an at least left rear wheel and an at least right rear wheel, wherein the rear wheel motor includes a left rear motor and a right rear motor, a left side rear motor drive a left side rear wheel rotates, a right side rear motor drive right side rear wheel rotates.

According to an embodiment of the present invention, the rear wheel motor is selected from one or a combination of two or more of a direct current motor, an asynchronous motor, and a synchronous motor.

According to the utility model discloses an embodiment, traveling system further includes a rear axle and two rear wheel supports, the rear wheel support is connected with supporting the rear wheel in the rear axle, wherein the rear wheel motor is in-wheel motor, set up in rear wheel and drive the rear wheel rotates.

According to an embodiment of the present invention, the traveling system further includes a steering controller, the steering controller controllably operates the differential mechanism and the control the rotation speed of the motor to control the difference in rotation speed of the left and rear wheels by synchronously operating the differential mechanism and the control the mode of the motor rotation speed, thereby controlling the steering of the traveling system.

According to an embodiment of the present invention, the steering controller comprises a differential control device and at least one motor controller, wherein the differential control device is operatively connected to the differential mechanism, the differential control device operatively controlling the differential mechanism by which the differential mechanism differentially drives the rotation of the left and right wheels, wherein the motor controller is controllably connected to the rear wheel motor to control the rotational speed difference of the left and right rear wheels.

According to the utility model discloses an embodiment, driving system further includes a power take off shaft, power take off shaft drivingly connect to the engine, with the power transmission of engine extremely the transplanter host computer, in order to drive the operation of transplanting rice seedlings of transplanter host computer.

According to an embodiment of the present invention, the power system further includes an electric energy processing device, the electric energy processing device is electrically connected to the electric energy generating device, and the electric energy processing device processes the electric energy output by the electric energy generating device for driving the motor.

According to the utility model discloses an embodiment, electric energy processing apparatus includes an at least voltage processing apparatus and an at least current processing apparatus, wherein voltage processing apparatus improves and stabilizes electric energy generating device produces the voltage of electric energy, wherein current processing apparatus handles electric energy generating device produces the electric current of electric energy, in order to supply the drive the motor with the transplanter host computer.

According to an embodiment of the utility model, the main frame of rice transplanter includes a main engine bodywork and an at least operation system of transplanting rice seedlings, wherein the operation system of transplanting rice seedlings is carried on to the main engine bodywork with be connected to with the transmission power output shaft, wherein the power output shaft drive the operation of operation system of transplanting rice seedlings.

According to an embodiment of the present invention, the main vehicle body further includes a vehicle body support and a direction controller, wherein the direction controller is disposed on the vehicle body support, the direction controller is operatively connected to the steering controller, thereby the direction controller operatively controls the steering controller, and further controls the traveling direction of the main vehicle body.

According to another aspect of the present invention, the present invention further provides a method for turning a hybrid high-speed rice transplanter, wherein the turning method comprises the steps of:

(a) deflecting a left front wheel and a right front wheel of a traveling system and driving the left front wheel and the right front wheel to rotate in a differential manner; and

(b) and controlling a left rear wheel motor and a right rear wheel motor of the traveling system to rotate at different speeds so as to differentially drive a left rear wheel and a right rear wheel to travel at different rotating speeds.

According to an embodiment of the present invention, the step (a) and the step (b) are performed synchronously to synchronously control the left and right wheels of the traveling system to rotate toward the same direction.

According to an embodiment of the present invention, in step (a), a differential mechanism is activated, by which the left front wheel and the right front wheel are driven to rotate at different rotational speeds.

Further objects and advantages of the invention will be fully apparent from the ensuing description and drawings.

These and other objects, features and advantages of the present invention will become more fully apparent from the following detailed description, the accompanying drawings and the appended claims.

Drawings

FIG. 1 is an overall view of a high-speed rice transplanter according to a first preferred embodiment of the present invention.

FIG. 2 is a schematic structural view of the traveling system of the high-speed rice transplanter according to the preferred embodiment of the present invention.

Fig. 3 is a schematic view of the power system of the high-speed rice transplanter according to the above preferred embodiment of the present invention.

Fig. 4A is a schematic view showing the operation of a differential mechanism when the high-speed rice transplanter is turned according to the preferred embodiment of the present invention.

Fig. 4B is a schematic diagram showing the operation of the two rear wheels when the high-speed rice transplanter is turned according to the preferred embodiment of the present invention.

FIG. 4C is a schematic view showing the traveling locus of the high-speed rice transplanter according to the preferred embodiment of the present invention when it is turned.

FIG. 5 is a method diagram of the turning method of the high speed rice transplanter according to the above preferred embodiment of the present invention.

Fig. 6 is a schematic view showing another alternative embodiment of the traveling system of the high-speed rice transplanter according to the above preferred embodiment of the present invention, wherein the rear wheel driving motor of the high-speed rice transplanter is a wheel hub motor.

Detailed Description

The following description is presented to disclose the invention so as to enable any person skilled in the art to practice the invention. The preferred embodiments in the following description are given by way of example only, and other obvious variations will occur to those skilled in the art. The basic principles of the invention, as defined in the following description, may be applied to other embodiments, variations, modifications, equivalents and other technical solutions without departing from the spirit and scope of the invention.

It will be understood by those skilled in the art that in the present disclosure, the terms "longitudinal," "lateral," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," and the like are used in a generic and descriptive sense only and not for purposes of limitation, as the terms are used in the description to indicate that the referenced device or element must have the specified orientation, be constructed and operated in the specified orientation, and not for the purpose of limitation.

It is understood that the terms "a" and "an" should be interpreted as meaning that a number of one element or element is one in one embodiment, while a number of other elements is one in another embodiment, and the terms "a" and "an" should not be interpreted as limiting the number.

Referring to fig. 1 to 6 of the drawings attached to the present specification, a hybrid high speed rice transplanter according to a first preferred embodiment of the present invention will be explained in the following description. For convenience of description, the hybrid high-speed rice transplanter is generally called as a high-speed rice transplanter in the utility model. The high-speed rice transplanter comprises a rice transplanter main body 10, a traveling system 20 arranged on the rice transplanter main body 10 and at least one power system 30, wherein the power system 30 and the traveling system 20 are carried to the rice transplanter main body 10, and the traveling system 20 is driven by the power system 30 to drive the rice transplanter main body 10 to travel. The rice transplanter main body 10 is driven by the power system 30 to perform a rice transplanting operation. In the present invention, the traveling system 20 of the high-speed rice transplanter is electrically connected to the power system 30, that is, the traveling system 20 of the high-speed rice transplanter travels in a motor-driven manner.

As shown in fig. 1 and 2, the traveling system 20 of the high-speed rice transplanter comprises at least four wheels 21 and three motors 22 for driving the wheels 21 to rotate, wherein the wheels 21 and the motors 22 are arranged on the rice transplanter main body 10, and the motors 22 are electrically driven and connected to the power system 30, and the power system 30 is used for transmitting electric energy to the motors 22 to drive the motors 22 to rotate. The wheels 21 include at least two front wheels 211 and at least two rear wheels 212, and the front wheels 211 and the rear wheels 212 are respectively provided on the left and right sides of the rice transplanter main body 10. In other words, the left and right sides, the front and the rear ends of the main body 10 of the high-speed rice transplanter are respectively provided with at least two wheels to support and stabilize the travel of the main body 10 of the rice transplanter. Preferably, in the first preferred embodiment of the present invention, the running system 20 comprises four wheels, wherein the wheels are a left front wheel 211a and a right front wheel 211b, a left rear wheel 212a and a right rear wheel 212 b.

The motor 22 drives the rotation of the wheel 21, and thus drives the travel of the rice transplanter main body 10. The motor 22 comprises a front wheel motor 221 and two rear wheel motors 222, wherein the front wheel motor 221 is configured to be drivingly connected to the two front wheels 211 and to drive the rotation of the front wheels 211, and wherein the rear wheel motors 222 are configured to be drivingly connected to the two rear wheels 212 and to drive the rotation of the rear wheels 212. In other words, the front wheel motor 221 of the traveling system 20 drives the front wheels 211 to travel, and the two rear wheel motors drive the rear wheels 212 to travel, thereby realizing the traveling of the high-speed rice transplanter.

It is worth mentioning that in the present invention, the manner in which the motor 22 of the traveling system 20 is configured is only by way of example and not by way of limitation. Thus, the configuration of the motor 22 can also be implemented in other transmission manners, for example, two front wheel motors are provided to drive the rotation of the front wheels 211, and one rear wheel motor is provided to drive the rotation of the rear wheels 212.

The traveling system 20 further includes a front axle 23, a rear axle 24, two front wheel brackets 25, and two rear wheel brackets 26, wherein the front axle 23 and the rear axle 24 are disposed below the rice transplanter main body 10 to support the rice transplanter main body 10. The front wheel bracket 25 is provided at left and right ends of the front axle 23 for drivingly fixedly supporting the left front wheel 211a and the right front wheel 211 b. The rear wheel brackets 26 are provided at left and right ends of the rear axle 24 for drivingly fixedly supporting the left rear side wheel 212a and the right rear side wheel 212 b.

The front axle 23 further includes at least one steering link 234, and wherein the steering link 234 is provided to the front wheel 21, connecting the left front wheel 211a to the right front wheel 211b, wherein the steering link 234 is provided to drive the left front wheel 211a and the right front wheel 211b of the front wheel 211 to deflect at the same turning angle when the front wheel 211 is driven to turn. Accordingly, the front axle 23 further comprises a deflection actuator 235, wherein the deflection actuator 235 drives the front wheel 211 to rotate. The deflection actuator 235 is controlled to drive the front wheel 211 to deflect, so as to realize the rotation of the steering wheel of the high-speed rice transplanter.

Accordingly, in the present invention, the rear wheel motor 222 further comprises a left rear wheel motor 222a and a right rear wheel motor 222b, wherein the left rear wheel motor 222a drives the left rear wheel 212a of the wheel 21 to rotate, and the right rear wheel motor 222b drives the right rear wheel 212b of the wheel 21 to rotate.

The front wheel motor 221 drives the front wheel 211 to rotate through the front axle 23 and the front wheel bracket 25, and one of the rear wheel motors 222 drives one of the rear wheels 212 to rotate through direct or indirect transmission. In other words, the front wheel motor 221 is drivingly connected to the front axle 23, and the front wheel motor 221 drives the front wheels disposed on both sides of the front wheel bracket 25 to rotate via the front axle 23. The rear wheel motor 222 is drivingly connected to the rear wheel 212 on both sides of the rear wheel bracket 26, and drives the rotation of the rear wheel 212.

In the present invention, the traveling system 20 drives the traveling of the transplanter main unit 10 and controls the traveling direction of the transplanter main unit 10, that is, the traveling system 20 realizes the traveling and steering of the transplanter main unit 10. The traveling system 20 controls the steering of the traveling system 20 so as to control the rotational speeds of the left-side wheels 21 and the right-side wheels 21. When the rotating speed of the left wheel of the traveling system is equal to that of the right wheel, the traveling system 20 drives the transplanter main machine 10 to keep moving straight; when the rotating speed of the left wheel of the traveling system 20 is higher than that of the right wheel, the traveling track of the left wheel is higher than that of the right wheel, so that the traveling system 20 drives the transplanter main unit 10 to travel in a right-turning manner; when the rotating speed of the left wheel of the traveling system 20 is lower than that of the right wheel, the traveling track of the left wheel is lower than that of the right wheel, and therefore, the traveling system 20 drives the transplanter main unit 10 to travel in a left turn.

It can be understood that the motor 22 directly drives the wheels 21 to move and turn during the moving and working of the high-speed rice transplanter, and the rotating speed of the motor 22 can be controlled according to the moving direction and speed requirements. In other words, the speed of the motor 22 of the traveling system 20 driving the wheels 21 to rotate is controlled based on the traveling direction of the transplanter main body 10, so that the loss of power and torque during steering can be avoided, and the transplanter main body can be driven by the power generated by the motor to the maximum extent. In addition, the high-speed transplanter realizes the running and steering of the transplanter main body 10 by driving the wheels to rotate by the motor 22, and can avoid the transverse resistance of the farmland to the wheels when the wheels rotate. Therefore, the high-speed rice transplanter can avoid the resistance caused by the steering of wheels when the traveling system 20 steers, improve the traveling steering speed of the traveling system 20 during steering, and does not need to reduce the running speed of the high-speed rice transplanter too much during turning. Therefore, the high-speed rice transplanter can keep a high speed or a normal rice transplanting operation speed during turning or steering, the running speed of the high-speed rice transplanter is not influenced by the steering of a vehicle, and the overall operation efficiency of the high-speed rice transplanter is improved.

It is understood that the left rear wheel 212a and the right rear wheel 212b of the traveling system 20 of the high-speed rice transplanter can be controlled by different driving speeds of the rear wheel motor 222. Accordingly, the front wheel 211 of the running system 20 controls the rotational speed difference of the left front wheel 211a and the right front wheel 211b through the front axle 23.

The front axle 23 further includes a differential mechanism 231, a left driving axle 232, and a right driving axle 233, wherein the differential mechanism 231 drives the left driving axle 232 and the right driving axle 233 to rotate, wherein the left driving axle 232 drives the left front wheel 211a to rotate, and wherein the right driving axle 233 drives the right front wheel 211b to rotate. The differential mechanism 231 is controllable to drive the left drive shaft 232 and the right drive shaft 233 at different drive speeds. In other words, the differential mechanism 231 is controlled to simultaneously drive the left and

right drive shafts

232, 233 to rotate at different driving rotational speeds, thereby driving the left and right

front wheels

211a, 211b at different rotational speeds via the left and

right drive shafts

232, 233.

It should be noted that in the first preferred embodiment of the present invention, the motor 22 can be implemented as one or a combination of two or more of a dc motor, an asynchronous motor, and a synchronous motor. Accordingly, the type of motor 22 used in the present invention is intended to be illustrative only and not limiting.

As shown in fig. 2, the traveling system 20 further includes three speed reducers 27 and three transmission devices 28, wherein the motor 22 of the traveling system 20 is drivingly connected to the wheel 21 or the front axle 23 through the speed reducer 27. The speed reducer 27 further includes a front wheel speed reducer 271, a left rear speed reducer 272a, and a right rear speed reducer 272 b. The transmission 28 further includes a front wheel drive shaft 281, a left rear drive shaft 282a and a right rear drive shaft 282 b. The front wheel reducer 271 and the front transmission shaft 281 are arranged between the front axle 23 and the front wheel motor 221, and the front wheel reducer 271 reduces the transmission speed of the front transmission shaft 281 and increases the transmission torque. Accordingly, the left rear reducer 272a and the left rear transmission shaft 282a are disposed between the left rear motor 222a and the left rear wheel 212a, and the left rear reducer 272a reduces the transmission rotation speed of the left rear transmission shaft 282a and increases the transmission torque. The right rear reducer 272b and the right rear propeller shaft 282b are provided between the right rear motor 222b and the right rear wheel 212b, and the right rear reducer 272b reduces the transmission rotational speed of the right rear propeller shaft 282b and increases the transmission torque.

In short, the motor 22 is drivingly connected to the transmission 28 through the speed reducer 27, and the rotational speed of the motor 22 transmitted to the transmission 28 is reduced by the speed reducer 27 to increase the power of the transmission 28.

When the high-speed rice transplanter is turning, the traveling system 20 controls the turning speed difference between the left front wheel 211a and the right front wheel 211b by the differential mechanism 231 of the front axle 23, and controls the turning of the vehicle front wheel 211. The traveling system 20 controls different rotational speed differences of the left rear wheel 212a and the right rear wheel 212b through the left rear wheel motor 222a and the right rear wheel motor 222 b.

As shown in fig. 2 to 4C, the traveling system further includes a steering controller 29, wherein the steering controller 29 controls the traveling direction of the wheels 21 of the traveling system 20. The steering controller 29 further includes a differential control device 291 and at least one motor controller 292, wherein the differential control device 291 controllably operates the differential mechanism 231 of the traveling system 20 to control different rotation speeds of the left front wheel 211a and the right front wheel 211b on both sides of the front axle 23. The motor controller 292 is communicatively connected to the left rear wheel motor 222a and the right rear wheel motor 222b, and controls the rotation speeds of the left rear wheel motor 222a and the right rear wheel motor 222b, and thus the rotation speeds of the left front wheel 212a and the right front wheel 212b, to achieve the walking and steering of the high-speed rice transplanter.

As shown in fig. 4A, the differential control device 291 is operatively connected to the differential mechanism 231 of the front axle 23, and the differential control device 291 operatively controls the differential mechanism 231 to drive the left and

right drive shafts

232, 233 at different transmission speeds by means of the differential mechanism 231.

It is worth mentioning that, in the present invention, the steering controller 29 synchronously controls the speed difference between the left and right wheels of the front wheels 211 and the rear wheels 212 of the traveling system 20 so as to facilitate the traveling and steering of the high-speed rice transplanter. That is, during the traveling of the high-speed rice transplanter, the differential controller 291 and the motor controller 292 of the steering controller 29 are operated in synchronization to control the front wheels 211 and the rear wheels 212 in synchronization with each other to control the traveling direction. The motor controller 292 of the steering controller 29 controls the rotation speed, rotation direction, etc. of the motor 22 based on the traveling control information of the high-speed rice transplanter to realize forward, reverse, and steering of the vehicle.

As shown in FIG. 3, the power system 30 of the high-speed rice transplanter is provided to the rice transplanter main body 10, and the power system 30 supplies electric energy and kinetic energy to the traveling system 20 and the rice transplanter main body 10 to drive the traveling of the high-speed rice transplanter and to drive the rice transplanting operation. In detail, the power system 30 comprises an engine 31 and at least one electric energy generating device 32, wherein the engine 31 drives the electric energy generating device 32 to generate electric energy and drives the operation of the transplanter main body 10. The electric energy generation device 32 is driven by the engine 31 to generate electric energy, wherein the electric motor 22 of the traveling system 20 operates under the driving action of the electric energy generation device 32. In the present invention, the electric energy required by the operation of the electric motor 22 is provided by the electric energy generating device 32 driven by the engine 31, and there is no need to provide an electric energy storage device, such as a battery, in the rice transplanter main unit 10 to store the electric energy required by the operation of the electric motor 22. Therefore, the whole body weight of the high-speed rice transplanter can be reduced, the cruising ability of the high-speed rice transplanter is improved, and the damage of the wheels 21 to the farmland during operation is reduced.

The engine 31 of the power system 30 drives the transplanter main body 10 to operate, wherein the power system 30 further comprises a power output shaft 33, and the power output shaft 33 drives the transplanter main body 10 to operate. The power output shaft 33 is connected to the transplanter main body 10 and the engine 31 in a transmission manner, and the power output shaft 33 transmits the power of the engine 31 to the transplanter main body 10 so as to drive the transplanter main body 10 to work.

When the engine 31 drives the transplanter main unit 10 to operate, the electric energy generator 32 is driven to operate to generate electric energy for the running system 20 to operate. The motor 31 is connected to the electric energy generating device 32 in a driving manner, and the motor 31 drives the electric energy generating device 32 to work in a driving manner. It should be noted that the transmitter 31 drives the electric energy generator 32 to generate electric energy in a gear transmission or belt transmission manner. Preferably, the electrical energy generation device 32 is implemented as a generator, wherein the generator is driven by the engine to generate electrical energy. It will be appreciated that the electrical energy generating device 32 may be embodied as a dc power generating device or an ac power generating device, wherein the type of generator is presented herein by way of example only, and not limitation.

It is worth mentioning that the faster the rotation speed of the engine 31 is, the higher the power generation efficiency of the engine 31 for driving the power generation device 32 is, and the higher the traveling speed of the traveling system 20 and the operation speed of the transplanter main unit 10 are.

The power system 30 further comprises at least one electric energy processing device 34, wherein the electric energy generated by the electric energy generating device 32 is processed by the electric energy processing device 34 to be used by the electric motor 22 of the walking system 20 and the electric device of the transplanter main body 10. Accordingly, the power processing device 34 is electrically connected to the power generating device 32, and the power generated by the power generating device 32 is processed by the power processing device 34 and then transmitted to the motor 22 of the traveling system 20 and the transplanter main unit 10. The electric energy processing device 34 processes the voltage and current of the electric energy generated by the electric energy generating device 32 and the type of the electric energy so as to be suitable for the traveling system 20 and the transplanter main body 10. Accordingly, the electric energy processing device 34 includes at least one voltage processing device 341 and at least one current processing device 342, wherein the voltage processing device 341 increases and stabilizes the voltage transmitted from the power system 30 to the electric motor 22 so as to be suitable for driving the electric motor 22 to operate. The current processing device 342 changes the current type of the current generated by the power generation device 32, such as DC/AC conversion, AC/DC converter, and the like. It is understood that the type of the current processing device 342 is selectively configured according to the type of current generated by the power generation device 20 and the type of current used by the electric motor 22.

As shown in fig. 2, the main body 10 of the high-speed rice transplanter is driven by the power system 30 and performs rice transplanting work. The rice transplanter main body 10 includes a main body 11 and a rice transplanting operation system 12, wherein the rice transplanting operation system 12 is carried to the main body 11, and the power output shaft 33 drivingly connected to the power system 30, and the rice transplanting operation of the rice transplanting operation system 12 is controlled by means of the main body 11. The rice transplanting operation system 12 is driven by the engine 31 through the power output shaft 33, and the rice transplanting operation system 12 performs rice transplanting action under the driving action of the power output shaft 33. The rice transplanting operation body system 12 is electrically connected to the electric energy processing device 34 of the power system 30, and the operation system is driven to move upwards and downwards by the electric energy generating device 32 of the power system 30.

The main body 11 of the transplanter main body 10 is disposed above the traveling system 20, and the main body 11 controls the traveling and traveling direction of the traveling system 20. The power system 30 is disposed on the main body 11, and the power system 30 is fixed and supported by the main body 11, so that the power system 30 drives the work system 12 to work. Accordingly, the main body 11 includes a body frame 111, a direction controller 112, and at least one fuel storage 113, wherein the traveling system 20 is disposed below the body frame 111, and supports and drives the body frame 111. The direction controller 112 and the fuel storage 113 are provided to the body bracket 111, and the direction controller 112 and the fuel storage 113 are fixedly supported by the body bracket 111.

The direction controller 112 is operatively connected to the steering controller 29, and the direction controller 112 controls the differential control 291 and the motor controller 292 of the steering controller 29 to activate the differential control 291 and the motor controller 292. Preferably, the direction controller 112 is implemented as a steering wheel device in the present invention, wherein the direction controller 112 is connected to the steering controller 29 by means of a mechanical connection, and the differential control 291 and the motor controller 292 which mechanically control the steering controller 29. Alternatively, the direction controller 112 may also be implemented as a remote controller, or an electronic wireless control device, such as a mobile phone, a computer, etc., and the direction controller 112 controls the operation of the steering controller 29 by means of remote operation control.

The fuel storage 113 is arranged on the body bracket 111, wherein the fuel storage 113 stores fuel required by the engine 31 for the engine 31 to use, and the overall endurance of the high-speed rice transplanter is increased.

Referring to fig. 6 of the drawings attached to the present specification, a traveling system 20A of the high speed rice transplanter according to the first preferred embodiment of the present invention is explained in the following description. The traveling system 20A comprises at least four wheels 21A and three motors 22A for driving the wheels 21A to rotate, wherein the wheels 21A and the motors 22A are arranged on the transplanter main body 10, the motors 22A are electrically driven to be connected to the power system 30, and the power system 30 is used for transmitting electric energy to the motors 22A so as to drive the motors 22A to rotate.

The wheels 21A include at least two front wheels 211A and at least two rear wheels 212A, and the front wheels 211A and the rear wheels 212A are provided on the left and right sides of the rice transplanter main body 10, respectively. The motor 22A includes a front wheel motor 221A and two rear wheel motors 222A, wherein the front wheel motor 221A is configured to be drivingly connected to the two front wheels 211A and to drive rotation of the front wheels 211A, and wherein the rear wheel motors 222A is configured to be drivingly connected to the two rear wheels 212A and to drive rotation of the rear wheels 212A. In this alternative embodiment of the present invention, the traveling system 20A includes four wheels, wherein the wheels are a left front wheel 211a and a right front wheel 211b, a left rear wheel 212a and a right rear wheel 212 b. It should be noted that, in this alternative embodiment of the present invention, the front wheel 211A of the wheel 21A has the same structure and function as the front wheel 211 of the first preferred embodiment, and the front wheel motor 221A and the front wheel 211 are driven in the same manner. The difference is in the manner in which the rear wheels 212A of the traveling system 20A and the rear wheel motor 222A drive the rear wheels.

In the present invention, the rear wheel motor 222A further comprises a left rear wheel motor 222A and a right rear wheel motor 222b, wherein the left rear wheel motor 222A drives the wheel 21A, the left rear wheel 212A rotates, the right rear wheel motor 222b drives the wheel 21A, and the right rear wheel 212b rotates.

In this alternative embodiment, the rear wheel motor 222A is implemented as a wheel hub motor that drives the rear wheel 212A to travel, wherein the rear wheel motor 222A is provided to the rear wheel 212A. It is worth mentioning that the rear wheel motor 222A directly drives the rotation and braking of the rear wheel 212A, and controls the rotation speed of the rear wheel 212A and the rear wheel 212 b. When the high-speed transplanter steers, the left rear wheel motor 222A and the right rear wheel motor 222b respectively control the rear wheels 212A to rotate at different rotating speeds, and the front wheels 211 are matched to achieve steering.

Referring to fig. 6 of the drawings of the present utility model, according to another aspect of the present invention, the present invention further provides a turning method of a high-speed rice transplanter, wherein the turning method is by controlling the difference in the rotating speed of the left wheel and the right wheel of a walking system 20 of the high-speed rice transplanter, thereby controlling the left wheel and the right wheel to travel different path tracks, and realizing turning. Correspondingly, the steering method of the high-speed rice transplanter comprises the following method steps:

(a) differentially driving a left front wheel 211a and a right front wheel 211b of the traveling system 20 to travel at different rotational speeds; and

(b) a left rear wheel motor 222a and a right rear wheel motor 222b of the traveling system 20 are controlled to rotate at different speeds to differentially drive a left rear wheel 212a and a right rear wheel 212b to travel at different rotational speeds.

In the steering method of the high-speed rice transplanter of the present invention, the steps (a) and (b) are synchronously performed to synchronously control the left and right wheels of the traveling system 20 to rotate toward the same direction. In step (a), a differential mechanism 231 is activated, and the left front wheel 211a and the right front wheel 211b are driven to rotate at different rotation speeds by the differential mechanism 231. Before step (a), a differential control device 291 of the traveling system 20 operates the differential mechanism 231 based on a steering command of a directional controller 112 of a rice transplanter host 10, or the differential control device 291 is driven by the directional controller 112 to activate the differential mechanism 231.

In step (b), a motor controller 292 of the traveling system 20 controls the left rear wheel motor 222a and the right rear wheel motor 222b to rotate at different speeds based on a steering command of the direction controller 112, or the motor controller 292 is driven by the direction controller 112.

It will be understood by those skilled in the art that the embodiments of the present invention as described above and shown in the drawings are given by way of example only and are not limiting of the present invention. The objects of the present invention have been fully and effectively accomplished. The functional and structural principles of the present invention have been shown and described in the embodiments without departing from the principles, embodiments of the present invention may have any deformation or modification.

Claims

1. A hybrid high speed rice transplanter comprising:

a transplanter main unit;

a traveling system, wherein the traveling system is arranged on the transplanter main body, the traveling system comprises at least four wheels and three motors, the wheels are driven and deflected in a differential mode, and the steering of the traveling system is realized.

2. The hybrid high-speed rice transplanter according to claim 1, wherein said wheels of said traveling system comprise at least two front wheels and at least two rear wheels, and wherein said electric motor comprises a front wheel motor and two rear wheel motors, said front wheel motor driving said two front wheels to rotate, said rear wheel motors driving said rear wheels to rotate, respectively.

3. The hybrid high speed rice transplanter according to claim 2 wherein said travel system comprises a front axle and two front wheel brackets drivingly connecting said front wheels to said front axle, wherein said front wheel motor is drivingly connected to said front axle whereby said front wheels are driven to rotate.

4. The hybrid high-speed rice transplanter according to claim 3, wherein said front axle comprises a differential mechanism, a left drive shaft and a right drive shaft, wherein said front wheel motor drives said left drive shaft and said right drive shaft to rotate through said differential mechanism, and when said traveling system is steered, said differential mechanism drives two of said front wheels to rotate through said left drive shaft and said right drive shaft at different transmission speeds.

5. The hybrid high speed rice transplanter according to claim 4 wherein said front axle further comprises a steering linkage and a yaw actuator, wherein said yaw actuator is configured to drive said front wheels of said wheels to yaw, wherein said steering linkage is drivingly connected to both of said front wheels to drive said front wheels to rotate in unison.

6. The hybrid high-speed rice transplanter according to claim 4 wherein said travel system further comprises a rear axle and two rear wheel supports supportingly connecting said rear wheels to said rear axle, wherein said rear wheel motor is provided in said rear axle, wherein said rear wheels comprise at least a left rear wheel and at least a right rear wheel, wherein said rear wheel motor comprises a left rear motor and a right rear motor, said left rear motor driving said left rear wheel to rotate, said right rear motor driving said right rear wheel to rotate.

7. The hybrid high-speed rice transplanter according to claim 6, wherein the rear wheel motor is selected from one or a combination of two or more of a direct current motor, an asynchronous motor, and a synchronous motor.

8. The hybrid high-speed rice transplanter according to claim 4, wherein said traveling system further comprises a rear axle and two rear wheel supports supportingly connecting said rear wheels to said rear axle, wherein said rear wheel motor is a wheel hub motor provided to said rear wheels and driving said rear wheels to rotate.

9. The hybrid high-speed rice transplanter according to any one of claims 6 to 8, wherein the running system further comprises a steering controller for controllably operating the differential mechanism and controlling the rotation speed of the electric motor to control the difference in the rotation speeds of the left and rear wheels by synchronously operating the differential mechanism and controlling the rotation speed of the electric motor, thereby controlling the steering of the running system.

10. The hybrid high speed rice transplanter according to claim 9 wherein said steering controller comprises a differential control operatively connected to said differential mechanism, said differential control operatively controlling said differential mechanism whereby rotation of the left and right wheels is differentially driven, and at least one motor controller operatively connected to said rear wheel motors for controlling the difference in rotational speed of the left and right rear wheels.

11. The hybrid high-speed rice transplanter according to claim 2 or 10, wherein the power system further comprises a power output shaft, the power output shaft is drivingly connected to the engine, and the power of the engine is transmitted to the main transplanter body to drive the transplanting operation of the main transplanter body.

12. The hybrid high-speed rice transplanter according to claim 11 wherein the power system further comprises an electrical energy processing device electrically connected to the electrical energy generating device, the electrical energy processing device processing the electrical energy output by the electrical energy generating device for driving the electric motor.

13. The hybrid high-speed rice transplanter according to claim 12, wherein the electric power processing means comprises at least one voltage processing means and at least one current processing means, wherein the voltage processing means increases and stabilizes the voltage of the electric power generated by the electric power generating means, and wherein the current processing means processes the current of the electric power generated by the electric power generating means for driving the electric motor and the main frame of the rice transplanter.

14. The hybrid high-speed rice transplanter according to claim 10 or 13, wherein the transplanter main body comprises a main body and at least one transplanting operation system, the power system further comprising a power take-off shaft, wherein the transplanting operation system is carried to the main body and is drivingly connected to the power take-off shaft, wherein the power take-off shaft drives the transplanting operation system to operate.

15. The hybrid high speed rice transplanter according to claim 14 wherein said host vehicle further comprises a vehicle body support and a directional controller, said travel system further comprising a steering controller, wherein said directional controller is disposed on said vehicle body support, said directional controller being operatively connected to said steering controller, whereby said directional controller operatively controls said steering controller to control the travel direction of said host vehicle.