CN210461559U

CN210461559U - Agricultural machine

Info

Publication number: CN210461559U
Application number: CN201920858564.7U
Authority: CN
Inventors: 朱明�; 王新锋; 吴迪; 姚远
Original assignee: Fengjiang Intelligent Technology Research Institute Changzhou Co ltd
Current assignee: Fengjiang Intelligent Technology Research Institute Changzhou Co ltd
Priority date: 2019-06-06
Filing date: 2019-06-06
Publication date: 2020-05-05
Anticipated expiration: 2029-06-06

Abstract

The utility model discloses an agricultural machine, it include a frame device and respectively set up in a running gear, a power device, an automatic clutch and an automatic gear shifting device of frame device. The automatic clutch device is used for cutting off and restoring power transmission of a gearbox of the power device, and the automatic gear shifting device is used for changing the gear fitting position of the gearbox, so that the automatic clutch device and the automatic gear shifting device can be matched with each other to change the gear of the agricultural machine. The agricultural machine further provides an automatic steering device for automatically changing the walking direction of the agricultural machine, thus increasing the automation level of the agricultural machine to allow the agricultural machine to achieve unmanned driving and working.

Description

Agricultural machine

Technical Field

The utility model relates to an agricultural machine, in particular to agricultural machine that can shift gears automatically and/or turn to automatically.

Background

Agricultural machinery is a working equipment widely used in agricultural production, such as but not limited to rice transplanter, tiller, plant protection machine, etc., and the advent of agricultural machinery has greatly increased agricultural production and reduced labor intensity, and has directly prompted the rapid progress of agricultural production toward mechanization and modernization. In recent years, with the rapid development of scientific technology, especially the rapid development of sensing technology and positioning technology, the development of automatic agricultural machinery has been proposed, and the demand for agricultural machinery capable of realizing unmanned driving and operation is more and more urgent on the schedule, such as the field of view. The present agricultural machine includes a frame, and an internal combustion engine, a transmission case, a clutch, a shift lever, a set of wheels, a series of transmission mechanisms, and a seat provided to the frame, wherein the transmission case is connected to the internal combustion engine, the transmission mechanisms are connected to the transmission case and the wheels, so as to drive the work (e.g., walking) of the agricultural machine by transmitting power output from the transmission case to the wheels via the transmission mechanisms, and the clutch and the shift lever are respectively connected to the transmission case and are provided in the vicinity of the seat. The driver drives the agricultural machine by riding the seat. When the agricultural machine needs to be shifted, first, the driver operates (e.g., steps on) the clutch to cut off the power transmission of the transmission; secondly, the driver operates (e.g. manually) the shift lever to change the gear engagement position of the gearbox; the driver then operates (e.g. releases) the clutch to resume power transmission to the gearbox, thereby allowing the agricultural machine to be shifted as the gear engagement position of the gearbox is changed. That is to say, if the gear shift of the agricultural machine is to be realized, the clutch must be used to cut off the power transmission of the gearbox before the gear shift and the clutch must be used to recover the power transmission of the gearbox after the gear shift, otherwise, the gear of the gearbox is prone to have a bad phenomenon of "gear beating", which results in the damage of the gearbox.

At present, there are automatic transmissions such as a hydraulic automatic transmission, an electric automatic transmission, a stepped mechanical automatic transmission, and a stepless mechanical automatic transmission which are shifted by a planetary gear mechanism and which are capable of automatically shifting according to the degree of an accelerator pedal and the change in vehicle speed. Although these automatic transmissions have the advantage of automatic transmission, they have relatively poor stability and high maintenance cost, and particularly, agricultural machines are generally used in complicated and severe use environments, such as rice transplants applied to paddy fields or muddy fields, which makes the automatic transmissions unsuitable for use in agricultural machines.

SUMMERY OF THE UTILITY MODEL

An object of the present invention is to provide an agricultural machine, wherein the agricultural machine is capable of automatically working (e.g., walking, including but not limited to actions such as walking along a straight line, steering) to improve the level of automation of the agricultural machine.

An object of the utility model is to provide an agricultural machine, wherein agricultural machine provides a gearbox and is connected in respectively an automatic clutch and an automatic gear shifting device of gearbox automatic clutch cuts off behind the power transmission of gearbox, automatic gear shifting device can change automatically the gear engagement position of gearbox, thereby automatic clutch resumes behind the power transmission of gearbox, agricultural machine is shifted automatically.

An object of the utility model is to provide an agricultural machine, wherein automatic gear shifting device provides a drive division and a transmission portion, the transmission portion is connected the drive division with the gearbox, wherein the drive division is through the drive the mode of transmission portion is cut off and is resumeed the power transmission of gearbox, in order to realize the automatic separation and reunion of gearbox.

An object of the utility model is to provide an agricultural machine, wherein the drive division includes an electric push rod, in order to allow the drive division produces power through flexible mode, thereby guarantees automatic clutch's reliability and assurance agricultural machine's stability.

An object of the utility model is to provide an agricultural machine, wherein transmission portion is mechanical structure's transmission portion, and through such a mode, transmission portion can be guaranteed to transmit effectively drive power that drive division produced extremely the gearbox and cut off or resume the power transmission of gearbox.

An object of the utility model is to provide an agricultural machine, wherein transmission is mechanical structure's transmission to for the automatic transmission who has now on the market, the utility model discloses an agricultural machine passes through automatic clutch realizes the mode of the automatic separation and reunion of gearbox can reduce by a wide margin agricultural machine's maintenance cost and cost of maintenance.

An object of the utility model is to provide an agricultural machine, wherein automatic gear shifting device provides a driver, for the drive a gear level motion of gearbox and change the gear fitting position of gearbox, thereby realize agricultural machine's automatic gear shifting.

An object of the utility model is to provide an agricultural machine, wherein automatic gear shifting device provides a swing arm, the gear level be installed in the adjustment end of swing arm, the gear level driven the end be installed in the driver, so the driver drive the gear level during the drive end, the middle part of swing arm is set up and can rotates in order to drive round a fixed axle the gear level is in the inner space motion of gearbox.

An object of the utility model is to provide an agricultural machine, wherein the driver drives with concertina movement's mode the swing arm round the fixed axle rotates, through such mode, agricultural machine can avoid the power that the driver produced to the bad phenomenon that the transmission became invalid appears during the swing arm transmission, thereby guarantees automatic gear shifting device's reliability.

An object of the utility model is to provide an agricultural machine, wherein through control the driver for the mode of the turned angle of a frame device of agricultural machine can be controlled agricultural machine's gear is favorable to realizing through such mode agricultural machine's unmanned driving and operation.

An object of the utility model is to provide an agricultural machine, wherein agricultural machine provides an automatic device that turns to, in order to realize agricultural machine's automatic steering, thereby agricultural machine's automation level can be further improved.

An object of the utility model is to provide an agricultural machine, wherein the automatic steering device can control a pair of front wheels at least do for frame device turns to, thereby realizes agricultural machine's automatic steering.

An object of the utility model is to provide an agricultural machine, wherein automatic steering device can control a pair of rear wheel differential, and is a pair of in order to control the rear wheel do for rack device's rotation, thereby realize agricultural machine's automatic steering.

An object of the utility model is to provide an agricultural machine, wherein the automatic steering device can be a pair of in control the front wheel do for frame device turns to the while, control a pair of the rear wheel differential is so that a pair of the rear wheel do for frame device turns to, through such a mode, agricultural machine's turning radius can be reduced.

An object of the utility model is to provide an agricultural machine, wherein automatic steering device provide a driving motor, installed drivably in a driving-disc and two front axle steering mechanism of driving motor, wherein every front axle steering mechanism's a tip respectively rotationally install in the driving-disc, and another tip is installed in the front axle low end of agricultural machine's front axle, with driving motor drive when the driving-disc rotates, the driving-disc can pass through front axle steering mechanism drives the front axle low end do for the rotation of the front axle high end of front axle, thereby realize turning to of front wheel.

An object of the utility model is to provide an agricultural machine, wherein automatic steering device provides two rear axle steering mechanism, every rear axle steering mechanism's a tip respectively rotationally install in the driving-disc, with another tip install in agricultural machine's a power distribution mechanism, with the driving motor drive when the driving-disc rotates, the driving-disc can pass through rear axle actuating mechanism cut off certainly power distribution mechanism to the power of rear wheel transmission, it is a pair of to realize the differential of rear wheel, thereby realize the steering of rear wheel.

According to the utility model discloses an aspect, the utility model provides an agricultural machine, it includes:

a walking device;

a rack device;

a power device which comprises a power mechanism and a gear box, wherein the gear box comprises a gear box shell, a driving gear set, a driven gear set and a gear shifting rod, the transmission case has an inner space, a shift lever passage communicating with the inner space at a front side of the transmission case, and a shift lever passage communicating with the inner space at an end of the transmission case, wherein the driving gear set has a driving gear accommodated in the inner space and drivably connected to the power mechanism, wherein the driven gear set has a driven gear received in the interior space, a drive shaft, and a shift gear sleeved on the drive shaft and driveably connected to the shift end of the shift lever, the driven gear is detachably fixed to the driving gear, and the free end of the gear shift lever extends to the outside of the gearbox through the gear shift lever channel;

an automatic clutch device including a driving portion and a transmission portion driveably connected to the driving portion, the transmission portion extending from an exterior of the transmission case to the interior space through the lever passage to allow the driven gear to be driveably connected to the transmission portion; and

an automatic shifting apparatus comprising an actuator and a swing arm, wherein the actuating portion has an adjustment end and a driven end corresponding to the adjustment end, the driven end of the swing arm is drivably mounted to the actuator, a free end of the shift lever is drivably mounted to the adjustment end of the swing arm, wherein the swing arm is configured to allow a middle portion of the swing arm to rotate about a fixed axis when the actuator drives the driven end of the swing arm.

According to an embodiment of the present invention, the transmission case further includes an elastic member, the driven gear has a convex portion, the elastic member is disposed between the driven gear and the convex portion, and the elastic member is disposed to enable the driven gear to move toward the driving gear to fix the driven gear to the driving gear.

According to an embodiment of the present invention, the transmission portion includes a dial arm and a dial lever, wherein the dial arm has a stiff end and corresponds to a drive end of the stiff end, wherein the dial lever includes a pole component and a thumb wheel component, the pole component has an inner end and corresponds to an outer end of the inner end, the pole component warp the transmission case the dial lever passageway certainly the outside of transmission extends to the inner space, in order to allow driven gear be drivably connected in the pole component the inner end, wherein the pole component the outer end be fixedly set up in the dial arm the stiff end.

According to an embodiment of the invention, the lever arm extends from the outer end of the lever element to an end direction of the gearbox, to allow the driver to drive the drive end of the lever arm to move upwards or downwards, the fixed end of the lever arm turns around the lever element.

According to an embodiment of the present invention, the driven gear has a ring groove, the thumb wheel element has at least one snap-in, wherein the snap-in of the thumb wheel element is positioned at the ring groove of the driven gear.

According to an embodiment of the present invention, the thumb wheel member includes a thumb wheel body and two thumb wheel arms extending from the thumb wheel body at an interval to form a thumb wheel space between the two thumb wheel arms, each of the thumb wheel arms being provided with one of the seizing portions, respectively, and the seizing portions being held in the thumb wheel space, wherein the thumb wheel body is mounted to the inner end portion of the lever member, wherein a portion of the driven gear is rotatably held in the thumb wheel space of the thumb wheel member, so that the two seizing portions are held on opposite sides of the driven gear in a symmetrical manner with each other.

According to an embodiment of the present invention, the driving gear has at least one positioning groove, the driven gear has at least one positioning protrusion, wherein the positioning protrusion of the driven gear can be positioned at the positioning groove of the driving gear.

According to an embodiment of the present invention, the driving gear has at least one positioning protrusion, the driven gear has at least one positioning groove, wherein the positioning protrusion of the driving gear can be positioned at the positioning groove of the driven gear.

According to an embodiment of the present invention, the transmission portion further includes a first pull rod, a second pull rod and a steering arm, wherein a middle portion of the steering arm is rotatably installed in the transmission case, wherein both ends of the first pull rod are rotatably installed in the driving end of the dial arm and an end portion of the steering arm, respectively, an end portion of the second pull rod is rotatably installed in the other end portion of the steering arm, the other end portion of the second pull rod is drivably installed in the driving portion.

According to an embodiment of the invention, the end of the second tie rod is slidably mounted to the steering arm.

According to an embodiment of the invention, the steering arm has an elongated first mounting channel allowing the first mounting channel to extend from the end of the steering arm towards the middle, wherein the end of the pull rod is rotatably and slidably mounted to the first mounting channel of the steering arm.

According to the utility model discloses an embodiment, the middle part of swing arm is passed through the fixed axle is rotationally installed in the transmission casing.

According to an embodiment of the invention, the driver is drivably mounted to the frame device.

According to an embodiment of the present invention, the traveling device includes a pair of front wheels and a pair of rear wheels, wherein the frame device includes a frame body, a pair of front axles and a pair of rear axles, the front axle includes a front axle high end portion, a front axle low end portion, and a front axle transmitting portion, the front axle high end portion is provided at a side portion of the front end portion of the frame body, the front axle low end portion is rotatably provided at a lower portion of the front axle low end portion, the front axle transmitting portion is rotatably provided inside the front axle high end portion and inside the front axle low end portion and extends to an outside of the front axle low end portion at the front axle low end portion, the front wheels are mounted to the front axle transmitting portion, wherein the rear axles are provided at a side portion of the rear end portion of the frame body, the rear wheels are provided at the rear axles, wherein the agricultural machine further includes an automatic steering device, the front axle steering mechanism comprises a driving motor, a driving disc and two front axle steering mechanisms, wherein the driving disc is arranged on the rack body, the driving disc is arranged on the driving motor in a driving way, each front axle steering mechanism comprises a first front axle steering arm and a second front axle steering arm which is pivotally arranged on the first front axle steering arm, the mounting end of the first front axle steering arm of each front axle steering mechanism is symmetrically and rotatably arranged on the driving disc, and the mounting end of the second front axle steering arm of each front axle steering mechanism is arranged at the lower end part of the front axle of each front axle.

According to an embodiment of the present invention, the driving motor is mounted to the rack body from top to bottom to allow the driving disc to be held in a lower space of the rack body.

According to one embodiment of the present invention, the rear axle comprises a rear axle main body and a rear axle transmitting portion, the high end of the rear axle main body is mounted on the side part of the rear end part of the frame body, the rear axle transmission part is rotatably held in the rear axle main body, and the rear axle transmitting part extends from a lower end of the rear axle main body to an outside of the rear axle main body, the rear wheel being mounted to the rear axle transmitting part, wherein the power device comprises a power transmission mechanism and a power distribution mechanism, the power distribution mechanism further comprises a distribution part and two power distribution output shafts, the distribution portion is held between a pair of the rear axles, each of the power distribution output shafts extends from the distribution portion to and is connected to the rear axle transmission portion, respectively, and both ends of the power transmission mechanism are connected to the transmission case and the distribution portion, respectively.

According to an embodiment of the invention, the power distribution output shaft is detachably mounted to the distribution portion.

According to an embodiment of the present invention, the automatic steering device further includes two rear axle steering mechanisms, each rear axle steering mechanism includes a first rear axle steering arm, a second rear axle steering arm, a third rear axle steering arm and a fourth rear axle steering arm, both ends of the first rear axle steering arm are rotatably installed in the driving disc and a tip of the second rear axle steering arm respectively, both ends of the third rear axle steering arm are rotatably installed in another tip of the second rear axle steering arm and a tip of the fourth rear axle steering arm respectively, another tip of the fourth rear axle steering arm is rotatably installed in the power distribution output shaft.

According to the utility model discloses an embodiment, power distribution mechanism includes a power distribution shell, the specific accommodation space of power distribution shell in the both ends of power distribution shell communicate respectively accommodation space's an output shaft passageway and an arm passageway, distribution portion rotationally keep in accommodation space, power distribution output shaft warp output shaft passageway certainly accommodation space extends to the outside, fourth rear axle steering arm warp the arm passageway extends to from the outside accommodation space.

According to an embodiment of the present invention, each of the first front axle steering arms of the front axle steering mechanism is mounted symmetrically to each other on both sides of the front portion of the driving disc, and each of the first rear axle steering arms of the rear axle steering mechanism is mounted symmetrically to each other on both sides of the rear portion of the driving disc.

According to an embodiment of the present invention, two of the rear axle steering mechanisms the second rear axle steering arm is connected to the distance between the ends of the first rear axle steering arm is greater than the second rear axle steering arm is connected to the distance between the ends of the third rear axle steering arm.

According to another aspect of the present invention, there is provided an automatic clutch device for an agricultural machine for cutting off or returning power transmission of a transmission of the agricultural machine, wherein the transmission includes a transmission housing, a driving gear set, a driven gear set and an elastic member, the transmission housing has an inner space and a lever passage communicating with the inner space at a front side of the transmission housing, the driving gear set has a driving gear, the driven gear set has a driven gear and a boss portion, the elastic member is provided between the driven gear and the boss portion, and the elastic member is provided to move the driven gear toward the driving gear to fix the driven gear to the driving gear, wherein the automatic clutch device includes a driving part and a transmission part drivably connected to the driving part, wherein the transmission portion further comprises:

the shifting arm is provided with a fixed end and a driving end corresponding to the fixed end; and

a shift lever, wherein said shift lever includes a lever member and a dial wheel member, said lever member having an inner end portion and an outer end portion corresponding to said inner end portion, wherein said lever member extends from the outside of said transmission case to said inner space through said shift lever passage of said transmission case such that said inner end portion of said lever member is held in said inner space of said transmission case and said outer end portion of said lever member is held in the outside of said transmission case, wherein said dial wheel member is mounted to said inner end portion of said shift lever, and said driven gear is drivably mounted to said dial wheel member, wherein said outer end portion of said lever member is fixedly provided to said dial arm, and said dial arm extends from said outer end portion of said lever member toward one end portion of said transmission case.

According to an embodiment of the present invention, the fixed end of the toggle arm is drivably mounted to the driving portion.

According to an embodiment of the invention, the drive part is an electric push rod.

According to another aspect of the present invention, the present invention further provides an automatic engaging and disengaging method for an agricultural machine, wherein the automatic engaging and disengaging method comprises the following steps:

(a) when a driving end of a shifting arm is pulled upwards by a driving part to allow the shifting arm to drive a shifting wheel element to swing through a rod element, a driven gear of a driven gear set is allowed to be separated from a driving gear of a driving gear set to cut off the power transmission of a gearbox; and

(b) when the driving force applied to the shifting arm by the driving part is cancelled to allow an elastic element to restore the initial state, the elastic element pushes the driven gear of the driven gear set to move towards the driving gear of the driving gear set and fixes the driven gear to the driving gear to restore the power transmission of the gearbox.

According to an embodiment of the present invention, the step (a) further comprises the steps of:

(a.1) the driving part pulls the rear end part of a pull rod of a second pull rod towards the direction of the rear end part of a machine frame body;

(a.2) the second tie rod drives one end of a steering arm in a direction toward the rear end of the housing body downward and one end of the steering arm in a direction toward the front end of the housing body upward in a manner allowing the middle of the steering arm to rotate about one axis; and

(a.3) the steering arm pulls the drive end of the toggle arm upward through a first pull rod.

According to another aspect of the present invention, the utility model provides an agricultural machine's automatic gear shifting device for the adjustment the gear engagement position of a gearbox of agricultural machine, wherein the gearbox includes a driven gear set, driven gear set have a transmission shaft, a gear level and by suit in the transmission shaft with be installed drivably in a gear shifting gear of the end of shifting of gear level, wherein automatic gear shifting device includes:

a driver; and

a swing arm, wherein said swing arm has an adjustment end and a driven end corresponding to said adjustment end, said driven end of said swing arm being drivably mounted to said driver, a free end of said shift lever being drivably mounted to said adjustment end of said swing arm, wherein said swing arm is configured to allow a middle portion of said swing arm to rotate about a fixed axis when said driver drives said driven end of said swing arm.

According to the utility model discloses an embodiment, the middle part of swing arm is passed through the fixed axle is rotationally installed in the gearbox casing of gearbox.

According to the utility model discloses an embodiment, the middle part of swing arm is passed through the fixed axle is rotationally installed in agricultural machine's frame body.

According to an embodiment of the invention, the actuator is an electric push rod, and the actuator is rotatably mounted to a gearbox housing of the gearbox.

According to an embodiment of the present invention, the driver is an electric push rod, and the driver is rotatably mounted to the frame body of the agricultural machine.

According to an embodiment of the invention, the drive is a drive motor.

According to another aspect of the present invention, the present invention further provides an automatic gear shifting method for an agricultural machine, for adjusting a gear engagement position of a transmission, wherein the automatic gear shifting method comprises the steps of:

(a) when a driven end of a swing arm is driven to move towards a gearbox so that the middle part of the swing arm rotates around a fixed shaft, an adjusting end of the swing arm is allowed to pull a gear shifting lever of the gearbox towards the outer side of the gearbox; and

(b) allowing the adjustment end of the swing arm to push the shift lever of the transmission toward the interior of the transmission when the driven end of the swing arm is driven to move in a direction away from the transmission to cause the middle of the swing arm to rotate about the fixed shaft.

According to an embodiment of the present invention, in the above method, the driven end of the swing arm is driven by a driver.

According to an embodiment of the invention, in the above method, the driver drives the driven end of the swing arm in a telescopic manner.

According to an embodiment of the present invention, in the above method, the driver rotationally drives the driven end of the swing arm.

According to an embodiment of the present invention, in the above method, in a process of the driver switching from an extended state to a retracted state, the driver drives the driven end of the swing arm to move toward the direction of the transmission, and in a process of the driver switching from the retracted state to the extended state, the driver drives the driven end of the swing arm to move away from the direction of the transmission.

Drawings

Fig. 1 shows a perspective view of an agricultural machine according to a preferred embodiment of the present invention.

Fig. 2A and 2B show the disassembled state of the agricultural machine according to the above preferred embodiment of the present invention, respectively.

Fig. 3 shows a partial three-dimensional state of the agricultural machine according to the above preferred embodiment of the present invention, which describes the structural relationship of a transmission, an automatic clutch device and an automatic gear shifting device of the agricultural machine.

Fig. 4 shows a partially disassembled state of the agricultural machine according to the above preferred embodiment of the present invention, which describes the structural relationship of a transmission, an automatic clutch device and an automatic gear shifting device of the agricultural machine.

Fig. 5A shows a partial state of the agricultural machine according to the above preferred embodiment of the present invention, which illustrates a three-dimensional state of the agricultural machine when the automatic clutch device cuts off the power transmission of the transmission case.

Fig. 5B shows a partial state of the agricultural machine according to the above preferred embodiment of the present invention, which illustrates the gear relationship of the transmission case when the automatic clutch device cuts off the power transmission of the transmission case.

Fig. 6A shows a partial state of the agricultural machine according to the above preferred embodiment of the present invention, which illustrates a three-dimensional state of the agricultural machine when the automatic shifting device changes the gear fitting position of the transmission.

Fig. 6B shows a partial state of the agricultural machine according to the above preferred embodiment of the present invention, which illustrates a gear relationship of the transmission when the automatic shifting device changes the gear fitting position of the transmission.

Fig. 7A shows a partial state of the agricultural machine according to the above preferred embodiment of the present invention, which describes a three-dimensional state of the agricultural machine when the automatic clutch device resumes the power transmission of the transmission case.

Fig. 7B shows a partial state of the agricultural machine according to the above preferred embodiment of the present invention, which illustrates the gear relationship of the transmission when the automatic clutch apparatus resumes the power transmission of the transmission.

Fig. 8A and 8B are views showing a three-dimensional state of an automatic steering apparatus of an agricultural machine according to the above preferred embodiment of the present invention from different perspectives, respectively.

Fig. 9A and 9B show a partial state of the agricultural machine according to the above preferred embodiment of the present invention when the agricultural machine travels straight from different perspectives, respectively.

Fig. 10 shows a state of a power distribution mechanism of the agricultural machine according to the above preferred embodiment of the present invention when the agricultural machine is driven in a left turn.

Fig. 11A and 11B show a partial state of the agricultural machine according to the above preferred embodiment of the present invention when the agricultural machine is driven in a left turn, from different perspectives, respectively.

Fig. 12 shows the state of the power distribution mechanism of the agricultural machine according to the above preferred embodiment of the present invention when the agricultural machine is traveling in a left turn.

Fig. 13A and 13B show the partial state of the agricultural machine according to the above preferred embodiment of the present invention when the agricultural machine is driven in a right turn, from different perspectives, respectively.

Fig. 14 shows the state of the power distribution mechanism of the agricultural machine according to the above preferred embodiment of the present invention when the agricultural machine is traveling in a left turn.

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 purposes 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 14 of the drawings of the present application, an agricultural machine according to a preferred embodiment of the present invention is disclosed and illustrated in the following description, wherein the agricultural machine includes a frame device 10, a power device 20 and a traveling device 30.

Specifically, the rack device 10 includes a rack body 11, a pair of front axles 12, and a pair of rear axles 13, wherein the rack body 11 has a front end portion 111 and a rear end portion 112 corresponding to the front end portion 111, wherein the pair of front axles 12 are symmetrically provided to each other at a side portion of the rack body 11, and the pair of front axles 12 are held at the front end portion 111 of the rack body 11, such that the pair of front axles 12 are respectively held at both sides of the front end portion 111 of the rack body 11, and accordingly, the pair of rear axles 13 are symmetrically provided to each other at a side portion of the rack body 11, and the pair of rear axles 13 are held at the rear end portion 112 of the rack body 11, such that the pair of rear axles 13 are respectively held at both sides of the rear end portion 112 of the rack body 11. The power unit 20 is mounted to the housing body 11 to be supported by the housing body 11.

The running gear 30 includes a pair of front wheels 31 and a pair of rear wheels 32, wherein the pair of front wheels 31 are respectively provided to the pair of front axles 12 such that the pair of front wheels 31 are symmetrically held to each other on both sides of the front end portion 111 of the frame body 11, and correspondingly, the pair of rear wheels 32 are respectively provided to the pair of rear axles 13 such that the pair of rear wheels 32 are symmetrically held to each other on both sides of the rear end portion 112 of the frame body 11.

The power output from the power device 20 can be transmitted to a pair of front wheels 31 through a pair of front axles 12 to drive the pair of front wheels 31 to rotate, and can be transmitted to a pair of rear wheels 32 through a pair of rear axles 13 to drive the pair of rear wheels 32 to rotate, so that the pair of front wheels 31 and the pair of rear wheels 32 can drive the agricultural machine to walk.

For example, when the power output from the power unit 20 is transmitted to a pair of the front wheels 31 through a pair of the front axles 12 and to a pair of the rear wheels 32 through a pair of the rear axles 13, the pair of the front wheels 31 and the pair of the rear wheels 32 can propel the agricultural machine forward, backward, turn, and the like.

More specifically, the power device 20 includes a power mechanism 21, a transmission 22, a power transmission mechanism 23, and a power distribution mechanism 24. The transmission case 22 is mounted to the frame body 11, and the transmission case 22 is held between a pair of the front axles 12, wherein the transmission case 22 has two transmission case output shafts 221, each of the transmission case output shafts 221 extends toward each of the front axles 12 at the front end portion 111 of the frame body 11 and is connected to each of the front axles 12 to output power to each of the front axles 12 in a rotating manner, and the power is transmitted to each of the front wheels 31 via each of the front axles 12 to drive each of the front wheels 31 to rotate. The power distribution mechanism 24 is mounted to the frame body 11, and the power distribution mechanism 24 is held between a pair of the rear axles 13, wherein the power distribution mechanism 24 has two power distribution output shafts 241, each of the power distribution output shafts 241 extends toward each of the rear axles 13 located at the rear end portion 112 of the frame body 11 and is connected to each of the rear axles 13 to output power to each of the rear axles 13 in a rotating manner, and the power is transmitted to each of the rear wheels 32 via each of the rear axles 13 to drive each of the rear wheels 32 to rotate. The power transmission mechanism 23 is provided to connect the transmission case 22 and the power distribution mechanism 24 to transmit the power output from the transmission case 22 to the power distribution mechanism 24. The power mechanism 21 is mounted to the housing body 11, wherein the gear box 22 is drivably connected to the power mechanism 21. When the power mechanism 21 outputs power to the transmission case 22, the two transmission case output shafts 221 of the transmission case 22 can rotate to output power to each front axle 12, the power transmission mechanism 23 can transmit the power output by the transmission case 22 to the power distribution mechanism 24, and the two power distribution output shafts 241 of the power distribution mechanism 24 can rotate to output power to each rear axle 13.

It should be noted that in the preferred example of the agricultural machine shown in fig. 1 to 14, a pair of the front wheels 31 and a pair of the rear wheels 32 of the agricultural machine are both driving wheels, so that the power output from the gearbox 22 can be directly transmitted to each of the front wheels 31 through each of the front axles 12 to drive each of the front wheels 31 to rotate, and the power output from the gearbox 22 is transmitted to each of the rear wheels 32 indirectly through the power distribution mechanism 24 after being transmitted to the power distribution mechanism 24 through the power transmission mechanism 23 to drive each of the rear wheels 32 to rotate, thereby driving the agricultural machine to walk. Alternatively, in another example of the agricultural machine of the present invention, a pair of the front wheels 31 of the agricultural machine are driving wheels, so that the power unit 20 of the agricultural machine may not need to be provided with the power transmission mechanism 23 and the power distribution mechanism 24, that is, each of the front wheels 31 can drive the agricultural machine to travel when the power output from the transmission 22 is transmitted to each of the front wheels 31 through each of the front axles 12 to drive each of the front wheels 31 to rotate.

It is also worth mentioning that the type of the power mechanism 21 is not limited in the agricultural machine of the present invention, for example, the power mechanism 21 may be, but not limited to, an internal combustion engine or an electric motor. For example, in the preferred example of the agricultural machine of the present invention shown in fig. 1 to 14, the power mechanism 21 is an internal combustion engine, so that the power device 20 further includes a fuel tank 25 for containing chemical fuel (such as gasoline, diesel oil, etc.), wherein the power mechanism 21 is connected to the fuel tank 25 to provide power by burning the chemical fuel contained in the fuel tank 25.

With continued reference to fig. 1-14, in this preferred example of the agricultural machine of the present invention, each of the front axles 12 includes a front axle high end 121, a front axle low end 122, and a front axle transfer portion 123. The front-axle high end 121 of each front axle 12 is mounted to a side portion of the front end 111 of the frame body 11. The front axle low end portion 122 of each front axle 12 is rotatably held at a lower portion of the front axle high end portion 121 of each front axle 12, respectively, so as to allow the front axle low end portion 122 to rotate relative to the front axle high end portion 121. The front axle transmitting portion 123 of each front axle 12 further includes a front axle high-end transmitting portion 1231 and a front axle low-end transmitting portion 1232, respectively, wherein the front axle high-end transmitting portion 1231 extends from the front axle high-end portion 121 to the front axle low-end portion 122 in such a manner as to be rotatably held inside the front axle high-end portion 121 and inside the front axle low-end portion 122, such that the front axle high-end transmitting portion 1231 enables the front axle low-end portion 122 to be securely held at a lower portion of the front axle high-end portion 121, and the front axle high-end transmitting portion 1231 is drivably connected to the transmission case output shaft 221 of the transmission case 22, wherein the front axle low-end transmitting portion 1232 extends from inside to outside of the front axle low-end portion 122, and the front axle low-end transmitting portion 1232 and the front axle high-end transmitting portion 1231 are engaged with each other inside the front axle low-end portion 122, the front wheel 31 is mounted on the front axle lower end transmission part 1232, so that when the front axle lower end part 122 is driven to rotate relative to the front axle upper end part 121, the front axle lower end part 122 drives the front wheel 31 to rotate synchronously and at the same amplitude to realize the steering of the front wheel 31. The power output from the gearbox 22 can be transmitted to the front wheels 31 through the gearbox output shaft 221 of the gearbox 22 and the front axle high end transmission part 1231 and the front axle low end transmission part 1232 of the front axle 12 in sequence to drive the front wheels 31 to rotate, so that the rotation of the front wheels 31 drives the agricultural machine to walk.

Preferably, the gearbox output shaft 221 of the gearbox 22 extends inwardly of the front axle high end portion 121 of the front axle 12, such that the front axle high end transmission portion 1231 is drivably connected to the gearbox output shaft 221 in a manner that allows the front axle high end transmission portion 1231 and the gearbox output shaft 221 to intermesh within the front axle high end portion 121. More preferably, the front axle high end portion 121 of the front axle 12 is mounted to the transmission case 22, so that stability and reliability of the structural relationship of the front axle 12 and the transmission case 22 can be ensured. For example, the front axle high end portion 121 of the front axle 12 is mounted to a housing of the gearbox 22 to allow the gearbox output shaft 221 of the gearbox 22 to extend inside the front axle high end portion 121 of the front axle 12 and to allow the front axle high end transmission 1231 and the gearbox output shaft 221 to mesh with each other inside the front axle high end portion 121.

With continued reference to fig. 1-14, each of the rear axles 13 includes a rear axle body 131 and a rear axle transfer portion 132. The high end of the rear axle main body 131 of each rear axle 13 is mounted on the side of the rear end 112 of the housing body 11. The rear axle transmitting portion 132 of each rear axle 13 further includes a rear axle high end transmitting portion 1321 and a rear axle low end transmitting portion 1322 engaged with the rear axle high end transmitting portion 1321, respectively, wherein the rear axle high end transmitting portion 1321 is rotatably held inside the rear axle main body 131, and the rear axle high end transmitting portion 1321 is drivably connected to the power distribution output shaft 241 of the power distribution mechanism 24, the rear axle low end transmitting portion 1322 extends from the inside to the outside of the rear axle main body 131, wherein the rear wheel 32 is mounted to the rear axle low end transmitting portion 1322. The power output from the power distribution output shaft 241 of the power distribution mechanism 24 is transmitted to the rear wheel 32 through the rear axle high end transmission portion 1321 and the rear axle low end transmission portion 1322 in this order, so as to drive the rear wheel 32 to rotate, and thus the rotation of the rear wheel 32 drives the agricultural machine to travel.

Preferably, the power distribution output shaft 241 of the power distribution mechanism 24 extends to the inside of the rear axle main body 131 of the rear axle 13, and the rear axle high end transmission portion 1321 is drivably connected to the power distribution output shaft 241 in such a manner as to allow the rear axle high end transmission portion 1321 and the power distribution output shaft 241 to mesh with each other inside the rear axle main body 131. More preferably, the rear axle main body 131 of the rear axle 13 is mounted to the power distribution mechanism 24, so that the reliability and stability of the structural relationship of the rear axle 13 and the power distribution mechanism 24 can be ensured. For example, the rear axle main body 131 of the rear axle 13 is mounted to the power distribution mechanism 24 to allow the power distribution output shaft 241 of the power distribution mechanism 24 to extend to the inside of the rear axle main body 131 of the rear axle 13 while allowing the rear axle high end transmission portion 1321 and the power distribution output shaft 241 to mesh with each other inside the rear axle main body 131.

Further, referring to fig. 1 and 2A, the agricultural machine includes a mounting bracket 200, the mounting bracket 200 is mounted to the rear end 112 of the frame body 11, wherein a functional component can be mounted to the mounting bracket 200, for example, the functional component can be, but is not limited to, a seedling transplanting mechanism, so that the agricultural machine has a seedling transplanting function after the seedling transplanting mechanism is mounted to the mounting bracket 200. Preferably, referring to fig. 2B, the agricultural machine further includes a functional component output shaft 300, the functional component output shaft 300 is drivably connected to the transmission case 22 and extends from the transmission case 22 toward the rear end 112 of the frame body 11, and when the functional component is mounted on the mounting bracket 200, the functional component output shaft 300 can be mounted on the functional component to transmit the power output from the transmission case 22 to the functional component. In addition, the agricultural machine further includes a housing 400, and the housing 400 is mounted to the frame body 11 to form an integral appearance of the agricultural machine.

Referring to fig. 1 to 7B, the agricultural machine of the present invention further includes an automatic clutch device 50 and an automatic gear shifting device 60, wherein the automatic clutch device 50 and the automatic gear shifting device 60 are respectively connected to the transmission case 22 of the power device 20, and the automatic clutch device 50 and the automatic gear shifting device 60 can cooperate with each other to realize automatic gear shifting of the agricultural machine.

Specifically, the automatic clutch device 50 is used to cut off and restore the power transmission of the transmission case 22, and the automatic shifting device 60 is used to change the gear fitting position of the transmission case 22. More specifically, after the automatic clutch device 50 cuts off the power transmission of the transmission case 22, the automatic shifting device 60 changes the gear fitting position of the transmission case 22 so that the gear of the agricultural machine is adjusted after the automatic clutch device 50 resumes the power transmission of the transmission case 22.

The transmission case 22 includes a transmission case 222, a driving gear set 223, a driven gear set 224, an elastic member 225, and a shift lever 226.

The transmission housing 222 has an inner space 2221, an input shaft path 2222, a shift lever path 2223, two output shaft paths 2224 and a shift lever path 2225, wherein the input shaft path 2222 communicates with the inner space 2221 at one end of the transmission housing 222, the shift lever path 2225 communicates with the inner space 2221 at the other end of the transmission housing 222, the shift lever path 2223 communicates with the inner space 2221 at the side of the transmission housing 222, and each of the output shaft paths 2224 communicates with the inner space 2221 at two opposite ends of the transmission housing 222.

The driving gear set 223 has a driving input shaft 2231 and a driving gear 2232 drivably connected to the driving input shaft 2231, wherein the driving gear 2232 of the driving gear set 223 is rotatably held in the inner space 2221 of the transmission housing 222, and the driving input shaft 2231 of the driving gear set 223 extends from the inner space 2221 of the transmission housing 222 to the outside through the input shaft passage 2222 of the transmission housing 222 to be connected to the power mechanism 21.

Driven gear set 224 has a driven gear 2241, a shift gear 2243 drivably connected to driven gear 2241, and a drive shaft 2244 drivably connected to shift gear 2243, wherein driven gear 2241, shift gear 2243, and drive shaft 2244 are respectively rotatably held in interior space 2221 of transmission housing 222, and driven gear 2241 can be fixed to drive gear 2232 of drive gear set 223, so that driven gear 2241 and drive gear 2232 rotate synchronously. Each of the transmission output shafts 221 is drivably connected to the driven gear set 224 at the inner space 2221 of the transmission housing 222, respectively, and the transmission output shafts 221 extend from the inner space 2221 of the transmission housing 222 to the outside of the transmission housing 222 through the output shaft passages 2224 of the transmission housing 222 to be connected to the front axle high end transmission 1231 of the front axle 12. For example, the front axle high end 121 of the front axle 12 can be mounted to the transmission housing 222 of the transmission 22 to allow the transmission output shaft 221 to extend inside the front axle high end 121 of the front axle 12 to be engaged with the front axle high end transmission 1231 of the front axle 12 inside the front axle high end 121. Preferably, the shift gear 2243 is sleeved on the transmission shaft 2244, and the shift gear 2243 can adjust the gear engagement position of the transmission case 22 when moving along the transmission shaft 2244 to realize gear shifting of the agricultural machine.

Further, the driving gear 2232 of the driving gear set 223 has at least one positioning groove 22321, and the driven gear 2241 of the driven gear set 224 has at least one positioning protrusion 22411, wherein when the positioning protrusion 22411 of the driven gear 2241 is positioned in the positioning groove 22321 of the driving gear 2232, the driven gear 2241 is fixed to the driving gear 2232, so that the driven gear 2241 can be rotated in synchronization with the driving gear 2232, and accordingly, when the positioning protrusion 22411 of the driven gear 2241 is disengaged from the positioning groove 22321 of the driving gear 2232, the driven gear 2241 is separated from the driving gear 2232, and at this time, the driven gear 2241 can be kept still even though the driving gear 2232 rotates. Alternatively, the positioning groove 22321 is provided with the driven gear 2241, and the positioning protrusion 22411 is provided on the driving gear 2232, so that the driven gear 2241 is fixed to the driving gear 2232 when the positioning protrusion 22411 of the driving gear 2232 is positioned in the positioning groove 22321 of the driven gear 2241.

The driven gear set 224 further has a raised portion 2242, wherein one end of the resilient member 225 abuts against the raised portion 2242 of the driven gear set 224 and the other end abuts against the driven gear 2241, and the resilient member 225 is disposed to cause the driven gear 2241 to have a tendency to move toward the driving gear 2232 so that the positioning protrusion 22411 of the driven gear 2241 is positioned in the positioning groove 22321 of the driving gear 2232. It is worth mentioning that the male part 2242 of the driven gear set 224 may be, but is not limited to, a gear.

It will be appreciated that when the driven gear 2241 is operated to move in a direction away from the driving gear 2232 so that the positioning protrusions 22411 of the driven gear 2241 are disengaged from the positioning grooves 22321 of the driving gear 2232, the driven gear 2241 and the convex portion 2242 cooperate with each other to compress the resilient member 225. When the external force driving the driven gear 2241 to move away from the driving gear 2232 is removed, the elastic element 225 can restore the original state to drive the driven gear 2241 to move toward the driving gear 2232, so as to allow the positioning protrusion 22411 of the driven gear 2241 to be positioned in the positioning groove 22321 of the driving gear 2232, so that the driven gear 2241 is fixed to the driving gear 2232.

With continued reference to fig. 3 to 7B, the automatic clutch device 50 includes a driving portion 51 and a transmission portion 52, the transmission portion 52 is drivably connected to the driving portion 51, and the transmission portion 52 can extend to the internal space 2221 of the transmission housing 222 through the lever path 2223 of the transmission housing 222 of the transmission case 22 to connect to the driven gear 2241 of the driven gear set 224 of the transmission case 22, wherein the driving portion 51 can drive the driven gear 2241 to move away from the driving gear 2232 through the transmission portion 52 so as to disengage the positioning protrusion 22411 of the driven gear 2241 from the positioning groove 22321 of the driving gear 2232 to cut off the power transmission of the transmission case 22.

Specifically, the transmission portion 52 includes a shift lever 521, and the shift lever 521 further includes a dial wheel element 5211 and a lever element 5212. The lever member 5212 has an inner end 52121 and an outer end 52122 that corresponds to the inner end 52121, wherein the lever member 5212 extends from the exterior of the transmission housing 222 to the interior space 2221 of the transmission housing 222 through the lever passage 2223 of the transmission housing 222 such that the inner end 52121 of the lever member 5212 is retained in the interior space 2221 of the transmission housing 222 and the outer end 52122 of the lever member 5212 is retained in the exterior of the transmission housing 222. The thumb wheel element 5211 is mounted to the inner end 52121 of the lever element 5212, and the driven gear 2241 of the driven gear set 224 is drivably connected to the thumb wheel element 5211.

It is worth mentioning that the transmission housing 222 of the transmission case 22 is configured to prevent the lever member 5212 of the transmission part 52 from being displaced, while only allowing the lever member 5212 to rotate in the lever passage 2223 of the transmission housing 222. When the lever component 5212 rotates, the lever component 5212 can drive the dial wheel component 5211 to rotate synchronously to swing the dial wheel component 5211, so that the driven gear 2241 of the driven gear set 224 is driven by the dial wheel component 5211 to move in a direction away from the driving gear 2232 of the driving gear set 223, so that the positioning protrusion 22411 of the driven gear 2241 is disengaged from the positioning groove 22321 of the driving gear 2232, so as to cut off the power transmission of the transmission case 22, and at this time, the elastic element 225 is pressed by the driven gear 2241 and the protruding portion 2242 to generate elastic deformation. When the external force driving the lever member 5212 to rotate is removed, the resilient member 225 can restore the initial state to drive the driven gear 2241 to move toward the driving gear 2232, so as to allow the positioning protrusion 22411 of the driven gear 2241 to be positioned in the positioning slot 22321 of the driving gear 2232, so that the driven gear 2241 is fixed to the driving gear 2232, and thus, the power transmission of the transmission case 22 can be restored.

Preferably, the driven gear 2241 of the driven gear set 224 has a ring slot 22412, the dial element 5211 has at least one locking protrusion 52111, wherein the locking protrusion 52111 of the dial element 5211 is positioned in the ring slot 22412 of the driven gear 2241, in such a way that the locking protrusion 52111 of the dial element 5211 can be always retained in the ring slot 22412 of the driven gear 2241 even when the driven gear 2241 is rotated by the driving gear 2232. More preferably, the thumb wheel element 5211 comprises a thumb wheel body 52112 and two thumb wheel arms 52113 extending from the thumb wheel body 52112 at intervals so as to form a thumb wheel space 52114 of the thumb wheel element 5211 between the two thumb wheel arms 52113, wherein each of the thumb wheel arms 52113 is provided with one of the locking protrusions 52111, and the two locking protrusions 52111 are retained in the thumb wheel space 52114. A part of the driven gear 2241 is rotatably held in the wheel movement space 52114 defined by the two wheel movement arms 52113 of the wheel movement element 5211 to allow the two snap lugs 52111 to be held on opposite sides of the driven gear 2241 in a mutually symmetrical manner. The wheel main body 52112 of the wheel setting member 5211 is mounted to the inner end 52121 of the lever member 5212.

The transmission part 52 further includes a dial arm 522, the dial arm 522 has a fixed end 5221 and a driving end 5222 corresponding to the fixed end 5221, wherein the outer end portion 52122 of the lever member 5212 is fixedly secured to the fixed end 5221 of the toggle arm 522, and the toggle arm 522 extends from the outer end portion 52122 of the lever member 5212 in the direction of one end of the gear box 22, thus, when the driving end 5222 of the toggle arm 522 is moved upward, the toggle arm 522 can drive the toggle lever 521 to rotate relative to the transmission housing 222, so as to allow the positioning protrusion 22411 of the driven gear 2241 to disengage from the positioning slot 22321 of the driving gear 2232 by the driven gear 2241 moving away from the driving gear 2232 when the thumb wheel element 5211 swings, thereby cutting off the power transmission of the transmission case 22.

It is worth mentioning that the manner in which the outer end portion 52122 of the lever member 5212 is fixedly disposed at the fixed end 5221 of the dial arm 522 is not limited in the agricultural machine of the present invention. For example, the outer end 52122 of the lever member 5212 can be latched to the fixed end 5221 of the dial arm 522, or the outer end 52122 of the lever member 5212 can be welded to the fixed end 5221 of the dial arm 522, or the lever member 5212 and the dial arm 522 can be a unitary structure.

The transmission portion 52 further includes a first pull rod 523, a steering arm 524, and a second pull rod 525. The steering arm 524 is rotatably mounted at a middle portion thereof to the transmission case housing 222 of the transmission case 22, and the steering arm 524 has a first mounting passage 5241 and a second mounting passage 5242 at both ends thereof, respectively. The toggle arm 522 has a third mounting passage 52223 formed at the drive end 5222. The first tie rod 523 has a tie rod high end portion 5231 and a tie rod low end portion 5232 corresponding to the tie rod high end portion 5231, wherein the tie rod high end portion 5231 of the first tie rod 523 is rotatably mounted to the second mounting channel 5242 of the steering arm 524, and the tie rod low end portion 5232 of the first tie rod 523 is rotatably mounted to the third mounting channel 52223 of the dial arm 522. The second tie rod 525 has a tie rod front end 5251 and a tie rod rear end 5252 corresponding to the tie rod front end 5251, wherein the tie rod front end 5251 of the second tie rod 525 is rotatably mounted to the first mounting channel 5241 of the steering arm 524 and the tie rod rear end 5252 of the second tie rod 525 is drivably mounted to the drive portion 51. Preferably, the driving part 51 is mounted to the housing body 11.

When the driving portion 51 pulls the second pull rod 525 toward the rear end 112 of the housing body 11, the second pull rod 525 drives the steering arm 524 to make a driving motion relative to the transmission case 22, so as to move the end portion of the steering arm 524 where the first mounting passage 5241 is formed downward and move the end portion of the steering arm 524 where the second mounting passage 5242 is formed upward, and the steering arm 524 pulls the driving end 5222 of the dial arm 522 upward through the first pull rod 523, so that the dial element 5212 drives the driven gear 2241 to move away from the driving gear 2232, and the positioning protrusion 22411 of the driven gear 2241 is allowed to disengage from the positioning groove 22321 of the driving gear 2232, so as to cut off the power transmission of the transmission case 22.

Preferably, the driving portion 51 is an electric push rod, so that the driving portion 51 can pull the second pull rod 525 to move toward the rear end 112 of the rack body 11 by contracting. Alternatively, the driving part 51 is a driving motor, so that the driving part 51 can pull the second pulling rod 525 to move towards the rear end 112 of the rack body 11 by rotating.

It is worth mentioning that the first pull rod 523 is rotatably mounted to the dial arm 522 in such a manner that the pull rod lower end portion 5232 of the first pull rod 523 is mounted to the third mounting channel 52223 of the dial arm 522, so that the first pull rod 523 and the dial arm 522 can relatively rotate only in one plane, thereby limiting the rotation manner of the first pull rod 523 and the dial arm 522. The first tie rod 523 is rotatably mounted to the steering arm 524 in such a manner that the tie rod high end portion 5231 of the first tie rod 523 is mounted to the second mounting passage 5242 of the steering arm 524, so that the first tie rod 523 and the steering arm 524 can relatively rotate only in one plane, thereby restricting the manner in which the first tie rod 523 and the steering arm 524 rotate. The second tie rod 525 is rotatably mounted to the steering arm 524 in such a manner that the tie rod front end portion 5251 of the second tie rod 525 is mounted to the first mounting channel 5241 of the steering arm 524, so that the second tie rod 525 and the steering arm 524 can relatively rotate only in one plane, thus limiting the manner in which the second tie rod 525 and the steering arm 524 rotate. The second link 525 is rotatably attached to the driving unit 51 such that the link rear end portion 5252 of the second link 525 is attached to the driving unit 51, and thus the second link 525 and the driving unit 51 can relatively rotate only in one plane, thereby restricting the manner of rotation of the second link 525 and the driving unit 51.

Preferably, the first mounting channel 5241 of the steering arm 524 is an elongated mounting channel extending from the end of the steering arm 524 in a medial direction to allow the tie rod front end 5251 of the second tie rod 525 to move within the first mounting channel 5241 of the steering arm 524. Specifically, when the driving portion 51 drives the second tie rod 525 to move within the first mounting passage 5241 of the steering arm 524, the external force applied to the steering arm 524 is cancelled, such that the external force applied to the first tie rod 523, the toggle arm 522 and the toggle lever 521 is cancelled, such that the elastic element 225 drives the driven gear 2241 to move toward the driving gear 2232 to allow the positioning protrusion 22411 of the driven gear 2241 to be positioned at the positioning groove 22321 of the driving gear 2232 during the process of restoring the initial state of the elastic element 225, such that the driven gear 2241 is fixed to the driving gear 2232 to restore the power transmission of the transmission case 22.

Alternatively, in one modified example of the agricultural machine of the present invention, the driving end 5222 of the dial arm 522 can be directly drivably connected to the driving portion 51 to allow the driving portion 51 to directly drive the driving end 5222 of the dial arm 522 to move up and down.

With continued reference to fig. 3-7B, the shift lever 226 has a shifting end 2261 and a free end 2262 corresponding to the shifting end 2261, wherein the free end 2262 of the shift lever 226 extends from the interior space 2221 of the transmission housing 222 to an exterior of the transmission housing 222 through the shift lever passage 2225 of the transmission housing 222, wherein the shift gear 2243 of the driven gear set 224 is drivably mounted to the shifting end 2261 of the shift lever 226. In the agricultural machine of the present invention, the driven gear 2241 of the driven gear set 224 and the driving gear 223 the driving gear 2232 is separated to cut off the power of the gearbox 22, then the external operation of the gearbox 22 the free end 2262 of the shift lever 226, the shift lever 226 the shift end 2261 can drive the shift gear 2243 along the transmission shaft 2244 moves to change the gear engaged with the shift gear 2243 the gear of the driven gear set 224, so as to complete the shifting operation of the agricultural machine.

Preferably, the shift gear 2243 has an annular groove 22431, and the shift end 2261 of the shift lever 226 forms a symmetrical shift arm 2263, wherein two shift arms 2263 of the shift arm 2263 extend from the shift end 2261 to and are positioned at a distance from each other in the annular groove 22431 of the shift gear 2243, so that the shift arms 2263 of the shift lever 226 can be always held in the annular groove 22431 of the shift gear 2243 during the rotational movement of the shift gear 2243.

Further, referring to fig. 1 to 6B, the automatic shifting apparatus 60 includes a swing arm 61 and an actuator 62. The swing arm 61 is pivotally mounted at its mid-portion to the transmission housing 222 of the transmission case 22 by a fixed axle 100, wherein the swing arm 61 has an adjustment end 611 and a driven end 612 corresponding to the adjustment end 611, the driven end 612 of the swing arm 61 is drivably mounted to the driver 62, and the free end 2262 of the shift lever 226 is drivably mounted to the adjustment end 611 of the swing arm 61. In the agricultural machine of the present invention, the driven gear 2241 of the driven gear set 224 is driven to the driving gear 2232 of the driving gear set 223 is separated to cut off the power of the transmission case 22, the driver 62 is arranged on the swing arm 61, the driven end 612 drives the swing arm 61 to rotate around the fixed shaft 100 to pass through the adjustment end 611 of the swing arm 61 to pull or push the shift lever 226 outwards, the movement of the shift lever 226 drives the shift gear 2243 to move synchronously along the transmission shaft 2244, so as to adjust the other gears of the driven gear set 224 engaged with the shift gear 2243 to complete the shifting operation of the agricultural machine. After the shift gears 2243 are properly adjusted, the elastic member 225 drives the driven gear 2241 to move toward the driving gear 2232 to fix the driven gear 2241 and the driving gear 2232 by positioning the positioning protrusion 22411 of the driven gear 2241 in the positioning groove 22321 of the driving gear 2232, thereby restoring the power of the transmission case 22.

Alternatively, the middle portion of the swing arm 61 may be pivotally mounted to the frame body 11 by the fixed shaft 100, so that the driver 62 can also drive the swing arm 61 to rotate around the fixed shaft 100.

Preferably, the driver 62 drives the swing arm 61 to rotate around the fixed shaft 100 in a telescopic motion manner, and in this way, the agricultural machine can avoid the bad phenomenon that the power generated by the driver 62 fails to drive when the power is transmitted to the swing arm 61, so that the reliability of the automatic gear shifting device 60 and the stability of the agricultural machine are ensured. For example, in the preferred example of the agricultural machine of the present invention, the actuator 62 is an electric push rod having a contracted state and an expanded state, wherein one end of the actuator 62 is rotatably mounted to the frame body 11. When the driver 62 is switched from the extended state to the retracted state, the driver 62 can drive the driven end 612 of the swing arm 61 to move toward the transmission case 22, and because the middle of the swing arm 61 rotates around the fixed shaft 100, the adjustment end 611 of the swing arm 61 moves away from the transmission case 22, and the movement of the adjustment end 611 of the swing arm 61 drives the shift lever 226 to be pulled outwards to pull the shift gear 2243 along the transmission shaft 2244 through the shift lever 226 to adjust the gear of the driven gear set 224 engaged by the shift gear 2243. Accordingly, when the driver 62 is switched from the retracted state to the extended state, the driver 62 can drive the driven end 612 of the swing arm 61 to move away from the transmission case 22, and because the middle portion of the swing arm 61 rotates around the fixed shaft 100, the adjustment end 611 of the swing arm 61 moves toward the direction approaching the transmission case 22, and the movement of the adjustment end 611 of the swing arm 61 drives the shift lever 226 to be pushed inward to drive the shift gear 2243 to move along the transmission shaft 2244 via the shift lever 226 to adjust the gear of the driven gear set 224 engaged by the shift gear 2243. Alternatively, the driver 62 may be a driving motor, which rotationally drives the driven end 612 of the swing arm 61 to move toward the transmission case 22 or away from the transmission case 22.

More preferably, the driver 62 is rotatably mounted to the housing body 11 so that the mounting angle of the driver 62 with respect to the housing body 11 can be automatically adjusted during the transition of the driver 62 between the retracted state and the extended state, and thus, the gears of the driven gear set 224 engaged by the shift gear 2243 can be conveniently controlled by controlling the angle of the driver 62 with respect to the housing body 11 to control the gear position of the agricultural machine. For example, in a preferred example of the agricultural machine of the present invention, the driver 62 may be provided with an angle sensor to detect the angle of the driver 62, so that the agricultural machine can judge the gear of the agricultural machine according to the angle of the driver 62, or the agricultural machine can be adjusted to be in a suitable gear by rotating the driver 62 to a suitable angle.

Alternatively, in other examples of the agricultural machine of the present invention, the driver 62 is rotatably mounted to the transmission case 22, so that the mounting angle of the driver 62 with respect to the transmission case 22 can be automatically adjusted during the transition of the driver 62 between the retracted state and the extended state, and thus the gears of the driven gear set 224 engaged by the shift gear 2243 can be conveniently controlled by controlling the angle of the driver 62 with respect to the transmission case 22.

Alternatively, in other examples of the agricultural machine of the present invention, the free end 2262 of the shift lever 226 is directly drivably mounted to the driver 62, so that the driver 62 can directly drive the shift lever 226 to be pulled outward or pushed inward.

With continued reference to fig. 1-14, the agricultural machine further includes an automatic steering device 40, wherein the automatic steering device 40 is capable of controlling at least one pair of the front wheels 31 to steer the agricultural machine. For example, the automatic steering device 40 can steer the front wheels 31 by controlling the front axle low end portion 122 of the front axle 12 to rotate relative to the front axle high end portion 121. For example, when the agricultural machine generates a steering signal, the automatic steering device 40 can drive the front axle low end 122 of the front axle 12 to rotate relative to the front axle high end 121 based on the steering signal to control the front wheels 31 to steer, so as to achieve automatic steering of the agricultural machine.

Specifically, referring to fig. 8A and 8B, the automatic steering device 40 includes a driving motor 41, a driving disk 42 and two front axle steering mechanisms 43, wherein the driving motor 41 is mounted on the frame body 11, the driving disk 42 is drivably mounted on the driving motor 41, one end of each front axle steering mechanism 43 is rotatably mounted on the driving disk 42, and the other end of each front axle steering mechanism 43 is mounted on the front axle lower end 122 of each front axle 12, so that when the driving disk 42 is driven by the driving motor 41 to rotate, the driving disk 42 can drive each front axle steering mechanism 43 to rotate, so as to pull the front axle lower end 122 of one front axle 12 to rotate relative to the front axle higher end 121 by one front axle steering mechanism 43, and pushing the front axle low end part 122 of the other front axle 12 to rotate relative to the front axle high end part 121 by the other front axle steering mechanism 43, so that when the front axle low end part 122 rotates relative to the front axle high end part 121, the front wheels 31 are driven by the front axle low end part 122 to steer relative to the frame body 11, so as to steer the agricultural machine.

For example, when the agricultural machine generates the steering signal, the driving motor 41 can be powered (the driving motor 41 can operate) and controlled (the operation mode of the driving motor 41 is controlled, such as the rotation speed and the rotation amplitude are controlled) to drive the driving disk 42 to rotate, so that the driving disk 42 drives each front axle steering mechanism 43 when rotating, so that one front axle steering mechanism 43 pulls the front axle low end portion 122 of one front axle 12 to rotate relative to the front axle high end portion 121, and the other front axle steering mechanism 43 pushes the front axle low end portion 122 of the other front axle 12 to rotate relative to the front axle high end portion 121.

Preferably, the distance between the driving motor 41 and one of the front axles 12 is the same as the distance between the driving motor 41 and the other front axle 12, so that the two front axle steering mechanisms 43 are symmetrical to each other. More preferably, the distance between the drive disk 42 and the front axle 12 is smaller than the distance between the drive disk 42 and the rear axle 13, so that the drive disk 42 is close to the front axle 12, thus enabling the steering flexibility of the agricultural machine to be improved.

Preferably, in this specific example of the agricultural machine shown in fig. 1 to 14, the drive motor 41 is mounted to the frame body 11 from top to bottom, and the rotor of the drive motor 41 extends to the lower space of the frame body 11 body, so that the drive disk 42 drivably mounted to the rotor of the drive motor 41 is held in the lower space of the frame body 11, in such a manner that the structure of the agricultural machine can be made more compact.

With continued reference to fig. 8A and 8B, each of the front axle steering mechanisms 43 includes a first front axle steering arm 431 and a second front axle steering arm 432 pivotally mounted to an end of the first front axle steering arm 431 such that the second front axle steering arm 432 is rotatably mounted to the first front axle steering arm 431. Preferably, the first front axle steering arm 431 and the second front axle steering arm 432 of the front axle steering mechanism 43 can only rotate in one plane of rotation, so that the manner of rotation of the first front axle steering arm 431 and the second front axle steering arm 432 is limited. It is understood that the first front axle steering arm 431 and the second front axle steering arm 432 of the front axle steering mechanism 43 respectively have a pivot end and a mounting end corresponding to the pivot end, wherein the mounting end of the first front axle steering arm 431 is rotatably mounted to the drive disc 42, and the mounting end of the second front axle steering arm 432 is mounted to the front axle lower end 122 of the front axle 12. It should be noted that, in the agricultural machine of the present invention, the mounting end of the second front axle steering arm 432 of the front axle steering mechanism 43 is fixedly mounted to the front axle low end portion 122 of the front axle 12, so as to prevent the second front axle steering arm 432 from rotating relative to the front axle low end portion 122 of the front axle 12.

When the driving motor 41 rotates in the first direction, the mounting end of the first front axle steering arm 431 of the front axle steering mechanism 43 on the left side of the agricultural machine is driven by the driving disc 42 to rotate relative to the driving disc 42, and at the same time, the pivot end of the second front axle steering arm 432 rotates relative to the pivot end of the first front axle steering arm 431, so as to push the front axle low end 122 of the front axle 12 on the left side of the agricultural machine to rotate relative to the front axle high end 121, thereby driving the front wheel 31 on the left side of the agricultural machine to steer; accordingly, the mounting end of the first front-axle steering arm 431 of the front-axle steering mechanism 43 on the right side of the agricultural machine is rotated by the drive disk 42 relative to the drive disk 42, and at the same time, the pivot end of the second front-axle steering arm 432 is rotated relative to the pivot end of the first front-axle steering arm 431, so as to pull the front-axle low end 122 of the front axle 12 on the right side of the agricultural machine to rotate relative to the front-axle high end 121, thereby steering the front wheel 31 on the right side of the agricultural machine.

When the driving motor 41 rotates in a second direction opposite to the first direction, the mounting end of the first front axle steering arm 431 of the front axle steering mechanism 43 on the right side of the agricultural machine is driven by the driving disc 42 to rotate relative to the driving disc 42, and at the same time, the pivot end of the second front axle steering arm 432 rotates relative to the pivot end of the first front axle steering arm 431, so as to push the front axle low end 122 of the front axle 12 on the right side of the agricultural machine to rotate relative to the front axle high end 121, thereby driving the front wheel 31 on the right side of the agricultural machine to steer; accordingly, the mounting end of the first front-axle steering arm 431 of the front-axle steering mechanism 43 on the left side of the agricultural machine is rotated by the drive disk 42 relative to the drive disk 42, and at the same time, the pivot end of the second front-axle steering arm 432 is rotated relative to the pivot end of the first front-axle steering arm 431, so as to pull the front-axle low end 122 of the front axle 12 on the left side of the agricultural machine to rotate relative to the front-axle high end 121, thereby driving the front wheel 31 on the left side of the agricultural machine to steer.

With continued reference to fig. 1 to 14, the power distribution mechanism 24 further includes a distribution portion 242, the distribution portion 242 being drivably connected to the power transmission mechanism 23, wherein each of the power distribution output shafts 241 is detachably connected to each side portion of the distribution portion 242, respectively. In other words, each of the power distribution output shafts 241 extends from the distribution portion 242 to the rear axle high end transmission portion 1321 of each of the rear axles 13, respectively. When the power distribution output shaft 241 is connected to the distribution portion 242 and the power output from the power mechanism 21 is sequentially transmitted to the distribution portion 242 of the power distribution mechanism 24 through the transmission case 22 and the power transmission mechanism 23, the distribution portion 242 can further transmit the power to the rear wheel 32 through the power distribution output shaft 241 and the rear axle high end transmission portion 1321 and the rear axle low end transmission portion 1322 of the rear axle 13 to drive the rear wheel 32 to rotate. Accordingly, when the power distribution output shaft 241 is separated from the distribution portion 242, the rear wheel 32 is stationary.

Further, the automatic steering device 40 includes two rear axle steering mechanisms 44, wherein the two rear axle steering mechanisms 44 can achieve steering of the agricultural machine by controlling the differential speed of the pair of rear wheels 32. Specifically, each of the rear axle steering mechanisms 44 includes a first rear axle steering arm 441, a second rear axle steering arm 442, a third rear axle steering arm 443, and a fourth rear axle steering arm 444, respectively, wherein both ends of the first rear axle steering arm 441 are pivotally mounted to one end portions of the drive disc 42 and the second rear axle steering arm 442, both end portions of the third rear axle steering arm 443 are pivotally mounted to the other end portion of the second rear axle steering arm 442 and one end portion of the fourth rear axle steering arm 444, respectively, and the other end portion of the fourth rear axle steering arm 444 is pivotally mounted to the power distribution output shaft 241 of the power distribution mechanism 24. Preferably, the first rear axle steering arm 441 and the second rear axle steering arm 442 of the rear axle steering mechanism 44 can only rotate in one plane of rotation, so as to limit the manner of rotation of the first rear axle steering arm 441 and the second rear axle steering arm 442; the second rear axle steering arm 442 and the third rear axle steering arm 443 of the rear axle steering mechanism 44 can only rotate in one plane of rotation, thereby limiting the manner of rotation of the second rear axle steering arm 442 and the third rear axle steering arm 443; the third rear axle steering arm 443 and the fourth rear axle steering arm 444 of the rear axle steering mechanism 44 can only rotate in one plane of rotation, thereby limiting the manner of rotation of the third rear axle steering arm 443 and the fourth rear axle steering arm 444.

Specifically, when the drive motor 41 rotates in the first direction, the first rear axle steering arm 441, the second rear axle steering arm 442, the third rear axle steering arm 443, and the fourth rear axle steering arm 444 of the rear axle steering mechanism 44 on the left side of the agricultural machine can cooperate with each other to drive the power distribution output shaft 241 of the power distribution mechanism 24 to be disengaged from the distribution portion 242, so that the rear wheels 32 on the left side of the agricultural machine are stationary. Accordingly, when the driving motor 41 rotates in the second direction, the first rear axle steering arm 441, the second rear axle steering arm 442, the third rear axle steering arm 443, and the fourth rear axle steering arm 444 of the rear axle steering mechanism 44 on the right side of the agricultural machine can cooperate with each other to drive the power distribution output shaft 241 of the power distribution mechanism 24 to be disengaged from the distribution portion 242, so that the rear wheels 32 on the right side of the agricultural machine are stationary. For example, the first rear axle steering arm 441, the second rear axle steering arm 442, the third rear axle steering arm 443, and the fourth rear axle steering arm 444 of the rear axle steering mechanism 44 can cooperate with each other to push the power distribution output shaft 241 inward to disengage the power distribution output shaft 241 from the distribution portion 242; or the first rear axle steering arm 441, the second rear axle steering arm 442, the third rear axle steering arm 443, and the fourth rear axle steering arm 444 of the rear axle steering mechanism 44 can cooperate with each other to pull the power distribution output shaft 241 outward so that the power distribution output shaft 241 is drivably connected to the distribution portion 242.

Further, the power distribution mechanism 24 includes a power distribution case 243, wherein the power distribution case 243 has a receiving space 2431 and an output shaft passage 2432 communicating with the receiving space 2431 at both ends of the power distribution case 243, respectively, wherein the distributing portion 242 is held in the receiving space 2431 of the power distribution case 243, and each of the power distribution output shafts 241 extends from the receiving space 2431 to the outside through each of the output shaft passages 2432 of the power distribution case 243, respectively. The fourth rear axle steering arm 444 of the rear axle steering mechanism 44 is held in the accommodating space 2431 of the power distribution case 243. The power distribution case 243 further has two arm passages 2433 respectively communicating with the accommodating space 2431, wherein the third rear axle steering arm 443 of the rear axle steering mechanism 44 is pivotally connected to the fourth rear axle steering arm 444 after extending to the accommodating space 2431 of the power distribution case 243 through the arm passages 2433 of the power distribution case 243.

As will be understood by those skilled in the art, the agricultural machine of the present invention can prevent the relative position of the third rear axle steering arm 443 and the power distribution case 243 from being changed and only allow the third rear axle steering arm 443 to rotate relative to the power distribution case 243 by allowing the third rear axle steering arm 443 of the rear axle steering mechanism 44 to be pivotally connected to the fourth rear axle steering arm 444 after extending to the accommodating space 2431 of the power distribution case 243 through the arm passage 2433 of the power distribution case 243, thus when the third rear axle steering arm 443 is rotated to bring the fourth rear axle steering arm 444 in motion, the fourth rear axle steering arm 444 can drive the power distribution output shaft 241 to be disengaged from the distribution portion 242 or drive the power distribution output shaft 241 to be connected to the distribution portion 242.

Fig. 9A to 10 show a partial state of the agricultural machine when the agricultural machine is traveling straight, in which case two of the automatic steering devices 40 and two of the front axle steering mechanisms 43 and two of the rear axle steering mechanisms 44 are symmetrical to each other. In addition, both of the power distribution output shafts 241 can be connected to the distribution portion 242. When the power mechanism 21 and the transmission case 22 are engaged with each other to output power, power is transmitted to each front wheel 31 through each transmission case output shaft 221 of the transmission case 22 and the front axle high-end transmission portion 1231 and the front axle low-end transmission portion 1232 of each front axle 12 in turn to drive the front wheels 31 to rotate, and power is transmitted to each rear wheel 32 through the power transmission mechanism 23, the distribution portion 242 of the power distribution mechanism 24 and each power distribution output shaft 241 and the rear axle high-end transmission portion 1321 and the rear axle low-end transmission portion 1322 of each rear axle 13 in turn to drive the rear wheels 32 to rotate, so that the agricultural machine is driven to be in a traveling state.

Fig. 11A to 12 show a partial state of the agricultural machine according to the present invention when the agricultural machine is driven in a left turn, in which the driving motor 41 of the automatic steering device 40 rotates in the first direction, the mounting end of the first front axle steering arm 431 of the front axle steering mechanism 43 on the left side of the agricultural machine is driven by the driving disc 32 to rotate relative to the driving disc 42, and at the same time, the pivot end of the second front axle steering arm 432 rotates relative to the pivot end of the first front axle steering arm 431, so as to push the front axle low end portion 122 of the front axle 12 on the left side of the agricultural machine to rotate relative to the front axle high end portion 121, thereby driving the front wheel 31 on the left side of the agricultural machine to turn; accordingly, the mounting end of the first front-axle steering arm 431 of the front-axle steering mechanism 43 on the right side of the agricultural machine is rotated by the drive disk 32 relative to the drive disk 42, and at the same time, the pivot end of the second front-axle steering arm 432 is rotated relative to the pivot end of the first front-axle steering arm 431, so as to pull the front-axle low end 122 of the front axle 12 on the right side of the agricultural machine to rotate relative to the front-axle high end 121, thereby steering the front wheel 31 on the right side of the agricultural machine. When the power mechanism 21 and the transmission case 22 are matched with each other to output power, the power is transmitted to each front wheel 31 through each transmission case output shaft 221 of the transmission case 22 and the front axle high end transmission part 1231 and the front axle low end transmission part 1232 of each front axle 12 in turn to drive the front wheels 31 to rotate. At the same time, the first rear axle steering arm 441, the second rear axle steering arm 442, the third rear axle steering arm 443, and the fourth rear axle steering arm 444 of the rear axle steering mechanism 44 on the left side of the agricultural machine cooperate with each other to drive the power distribution output shaft 241 of the power distribution mechanism 24 to move inward to disengage from the distribution portion 242, so that power transmission to the power distribution output shaft 241 on the left side through the distribution portion 242 is prevented. That is, power is allowed to be transmitted only to the power distribution output shaft 241 on the right side through the distribution portion 242, and is continuously transmitted to the rear wheel 32 on the right side through the rear axle high end transmission portion 1321 and the rear axle low end transmission portion 1322 of the rear axle 13 to drive the rear wheel 32 on the right side to rotate. In this manner, the agricultural machine can be steered to the left.

It should be noted that when the agricultural machine is shifted from the left-turning state to the straight-going state, the first rear axle steering arm 441, the second rear axle steering arm 442, the third rear axle steering arm 443 and the fourth rear axle steering arm 444 of the rear axle steering mechanism 44 on the left side of the agricultural machine cooperate with each other to drive the power distribution output shaft 241 of the power distribution mechanism 24 to move outward to connect the distribution portion 242, thereby allowing the rear wheels 32 on the left side to be driven to rotate.

Fig. 13A to 14 show a partial state of the agricultural machine according to the present invention when the agricultural machine is driven in a right turn, in which the driving motor 41 of the automatic steering apparatus 40 rotates in the second direction, the mounting end of the first front axle steering arm 431 of the front axle steering mechanism 43 on the right side of the agricultural machine is driven by the driving disc 42 to rotate relative to the driving disc 42, and at the same time, the pivot end of the second front axle steering arm 432 rotates relative to the pivot end of the first front axle steering arm 431, so as to push the front axle low end portion 122 of the front axle 12 on the right side of the agricultural machine to rotate relative to the front axle high end portion 121, thereby driving the front wheel 31 on the right side of the agricultural machine to turn; accordingly, the mounting end of the first front-axle steering arm 431 of the front-axle steering mechanism 43 on the left side of the agricultural machine is rotated by the drive disk 42 relative to the drive disk 42, and at the same time, the pivot end of the second front-axle steering arm 432 is rotated relative to the pivot end of the first front-axle steering arm 431, so as to pull the front-axle low end 122 of the front axle 12 on the left side of the agricultural machine to rotate relative to the front-axle high end 121, thereby driving the front wheel 31 on the left side of the agricultural machine to steer. When the power mechanism 21 and the transmission case 22 are matched with each other to output power, the power is transmitted to each front wheel 31 through each transmission case output shaft 221 of the transmission case 22 and the front axle high end transmission part 1231 and the front axle low end transmission part 1232 of each front axle 12 in turn to drive the front wheels 32 to rotate. At the same time, the first rear axle steering arm 441, the second rear axle steering arm 442, the third rear axle steering arm 443, and the fourth rear axle steering arm 444 of the rear axle steering mechanism 44 on the right side of the agricultural machine cooperate with each other to drive the power distribution output shaft 241 of the power distribution mechanism 24 to move inward to disengage the distribution portion 242, so that power transmission to the power distribution output shaft 241 on the right side through the distribution portion 242 is prevented. That is, the power is only allowed to be transmitted to the power distribution output shaft 241 on the left side through the distribution portion 242, and is continuously transmitted to the rear wheel 32 on the left side through the rear axle high end transmission portion 1321 and the rear axle low end transmission portion 1322 of the rear axle 13 to drive the rear wheel 32 on the left side to rotate. In this manner, the agricultural machine can be steered to the right.

It is to be noted that, when the agricultural machine is shifted from the right-turn state to the straight-ahead state, the first rear-axle steering arm 441, the second rear-axle steering arm 442, the third rear-axle steering arm 443, and the fourth rear-axle steering arm 444 of the rear-axle steering mechanism 44 on the right side of the agricultural machine cooperate with each other to drive the power distribution output shaft 241 of the power distribution mechanism 24 to move outward to connect the distribution portion 242, thereby allowing the rear wheels 32 on the right side to be driven to rotate.

Further, referring to fig. 9A, 9B, 11A, 11B, 13A and 13B of the drawings, the automatic steering apparatus 40 further includes a rotation angle detector 45, wherein the rotation angle detector 45 includes a sensor assembly 451 and a detecting lever 452, the sensor assembly 451 has a slide slot 4511, a lower end of the detecting lever 452 is mounted to the driving disc 42, and a higher end of the detecting lever 452 is slidably mounted to the slide slot 4511 of the sensor assembly 451 to allow the higher end of the detecting lever 452 to slide in the slide slot 4511 of the sensor assembly 451. When the driving disc 42 is driven to rotate, the driving disc 42 drives the detection rod 452 to rotate synchronously, so as to drive the sensor assembly 451 to rotate synchronously relative to the frame body 11 while the high end of the detection rod 452 rotates in the sliding groove 4511 of the sensor assembly 451, thereby controlling the steering angle of the agricultural machine by obtaining the detection data of the sensor assembly 451, and further accurately controlling the walking path of the agricultural machine.

With continued reference to fig. 1 to 14, the agricultural machine further includes a processor 70, and a positioning device 80 and a monitoring device 90 respectively connected to the processor 70, wherein the driving part 51 of the automatic clutch device 50, the driver 62 of the automatic gear shifting device 60, and the driving motor 41 of the automatic steering device 40 are respectively controllably connected to the processor 70, wherein the processor 70 controls the operating states of the driving part 51, the driver 62, and the driving motor 41 based on the positioning device 80 and the monitoring device 90.

For example, the processor 70 controls the agricultural machine to travel along a straight line on a working site according to a preset path, during which the positioning device 80 can provide the current position of the agricultural machine in real time, and the monitoring device 90 can acquire the surrounding environment information of the agricultural machine in real time. If the processor 70 determines that the agricultural machine needs to adjust the shift position, it generates a clutch signal and a shift signal, wherein firstly based on the clutch signal, the processor 70 controls the driving unit 51 of the automatic clutch device 50 to drive the driven gear 2241 of the driven gear set 224 to move away from the driving gear 2232 of the driving gear set 224 through the transmission unit 52 by the driving unit 51 to cut off the power transmission of the transmission case 22, secondly based on the shift signal, the processor 70 controls the driver 62 of the automatic shift device 60 to adjust the gear of the transmission case 22 engaged with the shift gear 2243 of the driven gear set 224 by driving the shift lever 226 through the swing arm 61 by the driver 62, and then the processor 70 controls the driving unit 51 of the automatic clutch device 50 to cancel the driving force applied to the transmission unit 52, the gear of the agricultural machine is changed by fixing the driven gear 2241 to the driving gear 2232 by moving the driven gear 2241 of the driven gear set 224 toward the driving gear 2232 of the driving gear set 223 by the elastic member 225 of the transmission case 22, thereby restoring the power transmission of the transmission case 22. If the processor 70 determines that the agricultural machine needs to turn, it generates a turning signal, wherein based on the turning signal, the processor 70 can control the driving motor 41 of the automatic steering device 40 to drive the driving disc 42 to rotate by the driving motor 41, so that the rotation of the driving disc 42 drives each front axle turning mechanism 43 to drive the front axle low end portion 122 of each front axle 12 to rotate relative to the front axle high end portion 121 to turn each front wheel 31, and drives the corresponding rear axle turning mechanism 44 to cut off the power transmission of the power distribution mechanism 24 to make the two rear wheels 32 have a speed difference, so as to turn each rear wheel 32.

It will be appreciated by persons skilled in the art that the above embodiments are only examples, wherein features of different embodiments may be combined with each other to obtain embodiments which are easily imaginable in accordance with the disclosure of the invention, but which are not explicitly indicated in the drawings.

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. An agricultural machine, comprising:

a walking device;

a rack device;

2. An agricultural machine according to claim 1, wherein the transmission case further includes a resilient member, the driven gear has a convex portion, the resilient member is disposed between the driven gear and the convex portion, and the resilient member is configured to move the driven gear toward the driving gear to fix the driven gear to the driving gear.

3. An agricultural machine according to claim 2, wherein the transmission portion includes a toggle arm and a toggle lever, wherein the toggle arm has a fixed end and a driving end corresponding to the fixed end, wherein the toggle lever includes a lever member and a dial wheel member, the lever member having an inner end and an outer end corresponding to the inner end, the lever member extending from outside the transmission case to the inner space through the toggle lever passage of the transmission case to allow the driven gear to be drivably connected to the inner end of the lever member, wherein the outer end of the lever member is fixedly disposed at the fixed end of the toggle arm.

4. An agricultural machine according to claim 3, wherein the toggle arm extends from the outer end of the lever member in a direction toward one end of the gearbox to allow the fixed end of the toggle arm to rotate about the lever member when the driver drives the drive end of the toggle arm up or down.

5. The agricultural machine of claim 4, wherein the driven gear has an annular groove and the thumb wheel element has at least one detent, wherein the detent of the thumb wheel element is positioned in the annular groove of the driven gear.

6. An agricultural machine according to claim 5, wherein the wheel pusher member includes a wheel pusher body and two wheel pusher arms extending from the wheel pusher body at a distance from each other to form a wheel pusher space therebetween, each of the wheel pusher arms being provided with one of the click projections, respectively, and the click projections being held in the wheel pusher space, wherein the wheel pusher body is mounted to the inner end portion of the rod member, wherein a portion of the driven gear is rotatably held in the wheel pusher space of the wheel pusher member so that the two click projections are held on opposite sides of the driven gear in a symmetrical manner with respect to each other.

7. An agricultural machine according to any one of claims 1 to 6, wherein the driving gear has at least one detent and the driven gear has at least one detent, wherein the detent of the driven gear is located in the detent of the driving gear.

8. An agricultural machine according to any one of claims 1 to 6, wherein the driving gear has at least one positioning projection and the driven gear has at least one positioning slot, wherein the positioning projection of the driving gear is positioned in the positioning slot of the driven gear.

9. An agricultural machine according to any one of claims 1 to 6, wherein the transmission portion further comprises a first tie rod, a second tie rod and a steering arm, wherein a middle portion of the steering arm is rotatably mounted to the gearbox, wherein both ends of the first tie rod are rotatably mounted to the drive end of the pick arm and one end of the steering arm, respectively, one end of the second tie rod is rotatably mounted to the other end of the steering arm, and the other end of the second tie rod is drivably mounted to the drive portion.

10. An agricultural machine according to claim 9, wherein an end of the second tie rod is slidably mounted to the steering arm.

11. An agricultural machine according to claim 10, wherein the pitman arm has an elongated first mounting channel to allow the first mounting channel to extend from an end of the pitman arm in a medial direction, wherein an end of the tie rod is rotatably and slidably mounted to the first mounting channel of the pitman arm.

12. An agricultural machine according to any one of claims 1 to 6, wherein a middle portion of the swing arm is rotatably mounted to the transmission housing via the fixed shaft.

13. An agricultural machine according to claim 11, wherein a middle portion of the swing arm is rotatably mounted to the transmission housing by the fixed shaft.

14. An agricultural machine according to claim 13, wherein the drive is drivably mounted to the frame means.

15. An agricultural machine according to any one of claims 1 to 6, wherein the running gear includes a pair of front wheels and a pair of rear wheels, wherein the frame device includes a frame body, a pair of front axles, and a pair of rear axles, the front axle includes a front axle high end portion provided at a side of the front end portion of the frame body, a front axle low end portion rotatably provided at a lower portion of the front axle low end portion, and a front axle transmitting portion rotatably provided inside the front axle high end portion and inside the front axle low end portion and extending outside the front axle low end portion at the front axle low end portion, the front wheels being mounted to the front axle transmitting portion, wherein the rear axles are provided at sides of the rear end portion of the frame body, the rear wheels being provided to the rear axles, wherein the agricultural machine further includes an automatic steering device including a driving motor, a driving disc, and two front axle steering mechanisms, the driving disc being provided to the frame body, the driving disc being drivably provided to the driving motor, each of the front axle steering mechanisms including a first front axle steering arm and a second front axle steering arm pivotally mounted to the first front axle steering arm, respectively, wherein mounting ends of the first front axle steering arms of each of the front axle steering mechanisms are symmetrically and rotatably mounted to the driving disc, and mounting ends of the second front axle steering arms of each of the front axle steering mechanisms are mounted to the front axle lower end portion of each of the front axles.

16. An agricultural machine according to claim 14, wherein the traveling device includes a pair of front wheels and a pair of rear wheels, wherein the frame device includes a frame body, a pair of front axles, and a pair of rear axles, the front axle includes a front axle high end portion provided at a side of the front end portion of the frame body, a front axle low end portion rotatably provided at a lower portion of the front axle low end portion, and a front axle transmitting portion rotatably provided inside the front axle high end portion and inside the front axle low end portion and extending outside the front axle low end portion at the front axle low end portion, the front wheels being mounted to the front axle transmitting portion, wherein the rear axles are provided at sides of the rear end portion of the frame body, and the rear wheels being provided to the rear axles, wherein the agricultural machine further includes an automatic steering device, the front axle steering mechanism comprises a driving motor, a driving disc and two front axle steering mechanisms, wherein the driving disc is arranged on the rack body, the driving disc is arranged on the driving motor in a driving way, each front axle steering mechanism comprises a first front axle steering arm and a second front axle steering arm which is pivotally arranged on the first front axle steering arm, the mounting end of the first front axle steering arm of each front axle steering mechanism is symmetrically and rotatably arranged on the driving disc, and the mounting end of the second front axle steering arm of each front axle steering mechanism is arranged at the lower end part of the front axle of each front axle.

17. An agricultural machine according to claim 16, wherein the drive motor is mounted to the frame body from above to below to allow the drive disc to be held in the lower space of the frame body.

18. An agricultural machine according to claim 16, wherein the rear axle includes a rear axle main body and a rear axle transmitting portion, the high end of the rear axle main body is mounted on the side part of the rear end part of the frame body, the rear axle transmission part is rotatably held in the rear axle main body, and the rear axle transmitting part extends from a lower end of the rear axle main body to an outside of the rear axle main body, the rear wheel being mounted to the rear axle transmitting part, wherein the power device comprises a power transmission mechanism and a power distribution mechanism, the power distribution mechanism further comprises a distribution part and two power distribution output shafts, the distribution portion is held between a pair of the rear axles, each of the power distribution output shafts extends from the distribution portion to and is connected to the rear axle transmission portion, respectively, and both ends of the power transmission mechanism are connected to the transmission case and the distribution portion, respectively.

19. An agricultural machine according to claim 17, wherein the rear axle includes a rear axle main body and a rear axle transmitting portion, the high end of the rear axle main body is mounted on the side part of the rear end part of the frame body, the rear axle transmission part is rotatably held in the rear axle main body, and the rear axle transmitting part extends from a lower end of the rear axle main body to an outside of the rear axle main body, the rear wheel being mounted to the rear axle transmitting part, wherein the power device comprises a power transmission mechanism and a power distribution mechanism, the power distribution mechanism further comprises a distribution part and two power distribution output shafts, the distribution portion is held between a pair of the rear axles, each of the power distribution output shafts extends from the distribution portion to and is connected to the rear axle transmission portion, respectively, and both ends of the power transmission mechanism are connected to the transmission case and the distribution portion, respectively.

20. An agricultural machine according to claim 19, wherein the power distribution output shaft is detachably mounted to the distribution portion.

21. An agricultural machine according to claim 20, wherein the automatic steering device further includes two rear axle steering mechanisms, each of the rear axle steering mechanisms including a first rear axle steering arm, a second rear axle steering arm, a third rear axle steering arm, and a fourth rear axle steering arm, both ends of the first rear axle steering arm being rotatably mounted to one end of the drive plate and one end of the second rear axle steering arm, respectively, both ends of the third rear axle steering arm being rotatably mounted to the other end of the second rear axle steering arm and one end of the fourth rear axle steering arm, respectively, the other end of the fourth rear axle steering arm being rotatably mounted to the power distribution output shaft.

22. An agricultural machine according to claim 21, wherein the power distribution mechanism includes a power distribution case having a housing space, an output shaft passage and an arm passage communicating with the housing space at both ends of the power distribution case, respectively, the distribution portion being rotatably held in the housing space, the power distribution output shaft extending from the housing space to the outside through the output shaft passage, and the fourth rear axle steering arm extending from the outside to the housing space through the arm passage.

23. An agricultural machine according to claim 21, wherein the first front axle steering arms of each of the front axle steering mechanisms are symmetrically mounted to each other on both sides of a front portion of the drive plate, and the first rear axle steering arms of each of the rear axle steering mechanisms are symmetrically mounted to each other on both sides of a rear portion of the drive plate.

24. An agricultural machine according to claim 21, wherein the distance between the ends of the second rear axle steering arms of the two rear axle steering mechanisms connected to the first rear axle steering arm is greater than the distance between the ends of the second rear axle steering arms connected to the third rear axle steering arm.