CN211107770U - Agricultural automatic navigation tractor - Google Patents
Agricultural automatic navigation tractor Download PDFInfo
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- CN211107770U CN211107770U CN201921773240.XU CN201921773240U CN211107770U CN 211107770 U CN211107770 U CN 211107770U CN 201921773240 U CN201921773240 U CN 201921773240U CN 211107770 U CN211107770 U CN 211107770U
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Abstract
the utility model discloses an agricultural automatic navigation tractor, including drive assembly, turn to the assembly, AGV control assembly, manual control assembly, wherein, drive assembly comprises AC motor rear axle, drive wheel and damping device, turn to the assembly and contain steering motor, ESP electronic steering device, direction steering wheel, ESP electronic steering device receives the instruction control steering motor's that comes from P L C communication module positive and negative rotation, passes through parallelogram mechanism with the steering spindle and is connected, AGV control assembly wholly is located the vehicle front end.
Description
Technical Field
The utility model relates to an agricultural automatic navigation tractor.
Background
An Automatic Guided Vehicle (AGV) is a traveling tool with an electromagnetic or laser device and capable of moving along a predetermined track, and generally uses a lead-acid battery or a lithium battery as a power source, a small automatic Guided tractor generally has three wheels, the front is an AGV guiding steering wheel, the rear is a driving wheel, and the front wheel senses an electromagnetic signal by receiving a magnetic strip or a magnetic rod preset on the ground so as to realize steering and track deviation correction.
More applications of present AGV tractor are as the essential element who drags and transport in industrial production, very big saving manpower and materials, and work efficiency has had obvious improvement simultaneously. With the development of facility agriculture and the explosive growth of large greenhouses, the carrying efficiency of fruits, vegetables and crops and the like is obviously improved, most of small greenhouses can basically meet the production requirement by carrying or dragging a transport trolley by manpower at the present stage, but in some large greenhouses, the fruit and vegetable boxes which move many tons frequently cannot be solved by manpower.
SUMMERY OF THE UTILITY MODEL
An object of the utility model is to overcome the aforesaid not enough, provide an agricultural automatic navigation tractor, its simple structure, the operation is convenient.
In order to realize the purpose, the utility model discloses a technical scheme be: an agricultural automatic navigation tractor having a chassis, comprising: the system comprises a driving assembly, a steering assembly, an AGV control assembly and a manual control assembly, wherein the driving assembly consists of an alternating current motor rear axle, a driving wheel and a damping device;
the steering assembly comprises a steering motor, an ESP electronic steering device and a steering wheel, wherein the ESP electronic steering device receives an instruction from the PLC communication module to control the forward and reverse rotation of the steering motor, and the steering motor is positioned below the multifunctional steering wheel and connected with a steering shaft through a parallelogram mechanism;
the AGV control assembly is integrally positioned at the front end of the vehicle and comprises an AGV control module, a P L C communication module, a track deviation sensor and a distance sensor, wherein the AGV control module is arranged above the front part of the guide steering wheel in an inclined mode, a signal receiving point is arranged perpendicular to the ground, the P L C communication module is used for receiving signals and sending an operation instruction according to a set program, the track deviation sensor and the AGV control module are arranged in the front and back mode along the central line of the vehicle and used for sensing the magnetic bar information of a road surface, the signals are transmitted to the P L C communication module after deviation occurs, and a steering motor makes yaw correction;
The manual control assembly is composed of a multifunctional steering wheel, a control panel and a speed regulation pedal, the control panel is installed on a shell below the front of a driver in an inclined mode, and the speed regulation pedal is fixedly installed on the front of the right of a chassis frame driving position platform. The alternating current motor rear axle is a 2Kw alternating current motor rear axle with a differential mechanism. The AGV control module is a radio frequency receiver. The damping device is arranged in a combined mode with the driving wheel. The speed regulation pedal is fixed through a bolt. The chassis also includes a battery well capable of housing a lead-acid battery. The steering assembly is connected with the multifunctional steering wheel through a steering shaft. The multifunctional steering wheel is connected with the steering shaft through a universal coupling. The front end of the vehicle is also provided with a road surface cleaning device. The road surface cleaning device comprises two mini axial flow fans.
The utility model has the advantages that:
the system is simple in structure and comprises a driving assembly, a steering assembly, an AGV control assembly and a manual control assembly, wherein the driving assembly consists of an alternating current motor rear axle, a driving wheel and a damping device, the alternating current motor rear axle is a power assembly of a whole vehicle, is fixed on the lower side of a vehicle chassis and is connected with the chassis through the damping device, the steering assembly comprises a steering motor, an ESP electronic steering device and a guide steering wheel, the ESP electronic steering device receives a command from a P L C communication module to control the forward and reverse rotation of the steering motor, the steering motor is positioned below a multifunctional steering wheel and is connected with a steering shaft through a parallelogram mechanism, the AGV control assembly is integrally positioned at the front end of the vehicle, the AGV control assembly comprises an AGV control module, a P L C communication module, a track offset sensor and a distance sensor, the AGV control module is installed above the front part of the guide steering wheel, a signal receiving point is vertically installed on the ground, the P L communication module is used for receiving signals and sending operation commands according to a set program, the track offset sensor and the AGV control module are arranged along the central line of the vehicle, the track offset sensor is used for sensing information of a magnetic rod, when a signal appears, the signal is offset, the signal of the AGV, the AGV is installed to the AGV, the AGV control module is installed in the transverse direction of a greenhouse chassis, the transverse direction of a greenhouse is increased, the transverse direction of a greenhouse, the transverse direction of a greenhouse is increased, the transverse direction of a.
Drawings
The accompanying drawings, which are included to provide a further understanding of the application and are incorporated in and constitute a part of this application, illustrate embodiment(s) of the application and together with the description serve to explain the application and not to limit the application. In the drawings:
Fig. 1 is a schematic structural diagram of the agricultural automatic navigation tractor of the present invention.
Schematic of the reference numerals
the system comprises an indicator lamp 1, a speed regulation pedal 2, a lead-acid battery 3, a damping device 4, a traction rod 5, a driving wheel 6, a chassis 7, a multifunctional steering wheel 8, a manual control button 9, a control panel 10, a shell 11, an ESP electronic steering device 12, a steering motor 13, a mini axial flow fan 14, a distance sensor 15, an AGV control module 16, a track deviation sensor 17, a steering wheel 18 and a PLC communication module.
Detailed Description
As used in the specification and in the claims, certain terms are used to refer to particular components. As one skilled in the art will appreciate, manufacturers may refer to a component by different names. This specification and claims do not intend to distinguish between components that differ in name but not function. In the following description and in the claims, the terms "include" and "comprise" are used in an open-ended fashion, and thus should be interpreted to mean "include, but not limited to. "substantially" means within an acceptable error range, and a person skilled in the art can solve the technical problem within a certain error range to substantially achieve the technical effect. The description which follows is a preferred embodiment of the present application, but is made for the purpose of illustrating the general principles of the application and not for the purpose of limiting the scope of the application. The protection scope of the present application shall be subject to the definitions of the appended claims.
ESP electron turn to device, mini axial fan, distance sensor, AGV control module, track skew sensor and P L C communication module be the product of buying on the market, for traditional technical structure.
Referring to fig. 1, the utility model discloses an agricultural automatic navigation tractor has the chassis, includes: the system comprises a driving assembly, a steering assembly, an AGV control assembly and a manual control assembly, wherein the driving assembly consists of an alternating current motor rear axle, a driving wheel and a damping device;
the steering assembly comprises a steering motor, an ESP electronic steering device and a steering wheel, wherein the ESP electronic steering device receives an instruction from the PLC communication module to control the forward and reverse rotation of the steering motor, and the steering motor is positioned below the multifunctional steering wheel and connected with a steering shaft through a parallelogram mechanism;
the AGV control assembly is integrally positioned at the front end of the vehicle and comprises an AGV control module, a P L C communication module, a track deviation sensor and a distance sensor, wherein the AGV control module is arranged above the front part of the guide steering wheel in an inclined mode, a signal receiving point is arranged perpendicular to the ground, the P L C communication module is used for receiving signals and sending an operation instruction according to a set program, the track deviation sensor and the AGV control module are arranged in the front and back mode along the central line of the vehicle and used for sensing the magnetic bar information of a road surface, the signals are transmitted to the P L C communication module after deviation occurs, and a steering motor makes yaw correction;
The manual control assembly is composed of a multifunctional steering wheel, a control panel and a speed regulation pedal, the control panel is installed on a shell below the front of a driver in an inclined mode, and the speed regulation pedal is fixedly installed on the front of the right of a chassis frame driving position platform.
In one embodiment, the AC motor rear axle is a 2Kw AC motor rear axle with a differential.
In one embodiment, the AGV control module is a radio frequency receiver.
In one embodiment, the damping device is provided in combination with the drive wheel.
In one embodiment, the governor pedal is secured by bolts.
In one embodiment, the chassis further comprises a battery well capable of housing a lead-acid battery.
In one embodiment, the steering assembly is coupled to the multi-function steering wheel via a steering shaft.
In one embodiment, the multi-function steering wheel is coupled to the steering shaft by a universal joint.
In one embodiment, the vehicle front end is further provided with a road surface cleaning device.
In one embodiment, the road surface cleaning device comprises two mini axial flow fans.
In one embodiment, the drive assembly comprises 2Kw alternating current motor rear axle (with differential mechanism), drive wheel 6 and damping device 4, and 2Kw alternating current motor rear axle (with differential mechanism) is the power assembly of whole car, is fixed in vehicle chassis 7 downside, passes through damping device 4 with chassis 7 and is connected, and damping device 4 sets up to be connected the mode with drive wheel 6, can effectually reduce the jolt of vehicle in the greenhouse, reduces the damage to the accurate part of AGV.
in one embodiment, the steering assembly comprises a steering motor 13, an ESP electronic steering device 12 and a steering wheel 18, wherein the ESP electronic steering device 12 can receive commands from a plc communication module 19 to control the forward and reverse installation of the steering motor 13, the steering motor is located below the multifunctional steering wheel 8 and is connected with the steering shaft through a parallelogram mechanism, and when the manual mode is switched, the parallelogram mechanism of the steering motor is automatically disconnected with the steering shaft, so that the steering damping brought by the motor in the manual mode is prevented.
in one embodiment, the AGV control assembly comprises an AGV control module, a P L C communication module 18, a track deviation sensor 17 and a distance sensor 15, the AGV control module 16 is a radio frequency receiver and is installed above the front part of the guide steering wheel 18 in an inclined mode, a signal receiving point is installed perpendicular to the ground, the P L C communication module 18 is used for receiving signals and sending an operation instruction according to a set program, the track deviation sensor and the radio frequency receiver are arranged in the front and at the back of the central line of the vehicle and used for sensing road surface magnetic rod information, the signals are transmitted to the P L C communication module after deviation occurs, and a steering motor conducts yaw correction.
In one embodiment, the manual control assembly is composed of a functional steering wheel 8, a control panel 10 and a speed regulation pedal 2, when the driving mode is changed into manual mode, the direction can be controlled through the multifunctional steering wheel, the driving options can be set through the control panel, as shown in fig. 1, the control panel is installed on a shell obliquely below the front of a driver, the operation is convenient, the vehicle can advance through the speed regulation pedal 2 to be adjusted, and the speed regulation pedal 2 is installed on the front right of a chassis frame driving position platform and is fixed through bolts.
In one embodiment, the road surface cleaning device mainly includes two mini axial fans 14 disposed at the lower portion of the front of the car body housing, and fixed to the inner side of the housing 11 through bolts, so as to clean light impurities such as fallen leaves in front of the car body in time, and prevent the light impurities from blocking signals and damaging secret devices such as an AGV module.
In one embodiment, the AGV distance sensor transmits the detection and identification signal to the PlC communication module, and the detected object is a magnetic bar and an obstacle (including but not limited to weeds, crop residues, fruits and vegetables and pedestrians) in a distance of 50cm directly in front of the vehicle body by changing the travel track or performing obstacle parking through a preset program.
The utility model provides an agricultural automatic navigation tractor, its drive wheel passes through the motor and drives, the difference of speed when realizing turning to through differential mechanism, through its speed that advances of speed governing switch adjustment, automobile body the place ahead is provided with distance sensor as automobile body anticollision detection source, is equipped with the sensor of response ground bar magnet and turning place ground mark under the automobile body front end for correct the automobile body and advance the skew and turn to, can switch over the automation and the manual driving mode of vehicle at any time through switching button.
The utility model has the advantages that:
the system is simple in structure and comprises a driving assembly, a steering assembly, an AGV control assembly and a manual control assembly, wherein the driving assembly consists of an alternating current motor rear axle, a driving wheel and a damping device, the alternating current motor rear axle is a power assembly of a whole vehicle, is fixed on the lower side of a vehicle chassis and is connected with the chassis through the damping device, the steering assembly comprises a steering motor, an ESP electronic steering device and a guide steering wheel, the ESP electronic steering device receives a command from a P L C communication module to control the forward and reverse rotation of the steering motor, the steering motor is positioned below a multifunctional steering wheel and is connected with a steering shaft through a parallelogram mechanism, the AGV control assembly is integrally connected with the front end of the vehicle, the AGV control assembly comprises an AGV control module, a P L C communication module, a track offset sensor and a distance sensor, the AGV control module is installed above the front part of the guide steering wheel, a signal receiving point is vertically installed on the ground, the P L communication module is used for receiving signals and sending operation commands according to a set program, the track offset sensor and the AGV control module are arranged along the central line of the vehicle, the track offset sensor is used for sensing information of a magnetic rod, when a signal appears, the signal is offset, the AGV signal is arranged to the front part of the front end of a greenhouse, the front end of a front steering wheel, the front end of a front steering wheel shaft of a front steering wheel, a front end of a front steering wheel, a front-mounted of a rear-mounted of a front-mounted of.
The foregoing description shows and describes several preferred embodiments of the present application, but as aforementioned, it is to be understood that the application is not limited to the forms disclosed herein, but is not to be construed as excluding other embodiments and is capable of use in various other combinations, modifications, and environments and is capable of changes within the scope of the application as described herein, commensurate with the above teachings, or the skill or knowledge of the relevant art. And that modifications and variations may be effected by those skilled in the art without departing from the spirit and scope of the application, which is to be protected by the claims appended hereto.
Claims (10)
1. An agricultural automatic navigation tractor having a chassis, comprising: the system comprises a driving assembly, a steering assembly, an AGV control assembly and a manual control assembly, wherein the driving assembly consists of an alternating current motor rear axle, a driving wheel and a damping device;
the steering assembly comprises a steering motor, an ESP electronic steering device and a steering wheel, wherein the ESP electronic steering device receives an instruction from the PLC communication module to control the forward and reverse rotation of the steering motor, and the steering motor is positioned below the multifunctional steering wheel and connected with a steering shaft through a parallelogram mechanism;
the AGV control assembly is integrally positioned at the front end of the vehicle and comprises an AGV control module, a P L C communication module, a track deviation sensor and a distance sensor, wherein the AGV control module is arranged above the front part of the guide steering wheel in an inclined mode, a signal receiving point is arranged perpendicular to the ground, the P L C communication module is used for receiving signals and sending an operation instruction according to a set program, the track deviation sensor and the AGV control module are arranged in the front and back mode along the central line of the vehicle and used for sensing the magnetic bar information of a road surface, the signals are transmitted to the P L C communication module after deviation occurs, and a steering motor makes yaw correction;
The manual control assembly is composed of a multifunctional steering wheel, a control panel and a speed regulation pedal, the control panel is installed on a shell below the front of a driver in an inclined mode, and the speed regulation pedal is fixedly installed on the front of the right of a chassis frame driving position platform.
2. The agricultural automatic guided tractor according to claim 1, wherein the ac motor rear axle is a 2Kw ac motor rear axle with a differential.
3. The agricultural automatic navigation tractor of claim 2, wherein the AGV control module is a radio frequency receiver.
4. An agricultural automatic guided tractor according to claim 1, characterised in that the shock absorbing means is provided in a combined mode with the drive wheels.
5. The agricultural automatic navigation tractor of claim 2, wherein the speed pedal is secured by bolts.
6. The agricultural automated guided tractor of claim 3, wherein the chassis further comprises a battery well configured to receive a lead acid battery.
7. The agricultural automated guided tractor of claim 4, wherein the steering assembly is coupled to the multi-function steering wheel via a steering shaft.
8. The agricultural automated guided tractor of claim 7, wherein the multi-function steering wheel is coupled to the steering shaft by a universal joint.
9. An agricultural automatic guided tractor according to claim 1, characterised in that the vehicle front end is further provided with a road surface cleaning device.
10. An agricultural automatic guided tractor according to claim 9, characterised in that the road cleaning device comprises two mini axial fans.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201921773240.XU CN211107770U (en) | 2019-10-22 | 2019-10-22 | Agricultural automatic navigation tractor |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201921773240.XU CN211107770U (en) | 2019-10-22 | 2019-10-22 | Agricultural automatic navigation tractor |
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| Publication Number | Publication Date |
|---|---|
| CN211107770U true CN211107770U (en) | 2020-07-28 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201921773240.XU Active CN211107770U (en) | 2019-10-22 | 2019-10-22 | Agricultural automatic navigation tractor |
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| CN (1) | CN211107770U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114942432A (en) * | 2022-05-20 | 2022-08-26 | 杭州立安飞科技有限公司 | Device for detecting tiny foreign matters on runway in unmanned mode |
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2019
- 2019-10-22 CN CN201921773240.XU patent/CN211107770U/en active Active
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114942432A (en) * | 2022-05-20 | 2022-08-26 | 杭州立安飞科技有限公司 | Device for detecting tiny foreign matters on runway in unmanned mode |
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