CN219312456U

CN219312456U - Self-adaptive chassis for agricultural equipment

Info

Publication number: CN219312456U
Application number: CN202320616829.9U
Authority: CN
Inventors: 黄泽凯
Original assignee: South China Agricultural University
Current assignee: South China Agricultural University
Priority date: 2023-03-27
Filing date: 2023-03-27
Publication date: 2023-07-07
Anticipated expiration: 2033-03-27

Abstract

The utility model discloses a self-adaptive chassis for agricultural equipment, which comprises a self-adaptive adjusting suspension, four wheels arranged on the self-adaptive adjusting suspension, a driving device and a supporting frame, wherein the driving device is in driving connection with the wheels, and the agricultural equipment is arranged on the supporting frame; the self-adaptive adjusting suspension comprises an adjusting component, four groups of damping components and four groups of swing arm components, each wheel is arranged on one swing arm component, one end of each group of damping components is rotationally connected with the swing arm component, and the rotating shaft of each group of damping components is horizontally arranged; the damping component is rotationally connected with the adjusting component, and the rotating shaft of the damping component is vertically arranged. The self-adaptive adjusting suspension can ensure that each wheel can correspondingly change according to the lifting or descending of other wheels while the degree of freedom of the wheels is not restrained, and the self-adaptive effect on machinery can be realized.

Description

Self-adaptive chassis for agricultural equipment

Technical Field

The utility model relates to the technical field of agricultural construction, in particular to a self-adaptive chassis for agricultural equipment.

Background

The hilly and mountainous areas have complex terrains and frequent fluctuation, and the agricultural machinery vibrates severely during working, so that the machinery is easy to turn over. The main chassis solution is crawler-type driving, but the system has a complex structure, high cost of researching physical prototypes, difficulty in maintaining the vehicle body horizontally, difficulty in maintenance, inflexibility in operation and low operation efficiency. The crawler-type driving chassis has restricted the intensive and efficient agricultural production under the controllable condition, and the mechanization problem is increasingly highlighted.

The agricultural topography of the south area of China is mostly hilly topography, the topography is complex, the road is narrow and fluctuant, the difficulty of mechanical operation is large, the security is poor, and the yield of grains and oil crops in the hilly mountain area is high in proportion in agricultural production, so that the improvement of the agricultural production efficiency in the hilly mountain area has a certain value.

Most of the current self-adaptive chassis are adjusted through programming electric control, so that the cost is high, the failure rate is high, and the mechanical self-adaptive chassis which can adapt to complex agricultural terrains and is low in self-adaptive cost is urgently needed.

Disclosure of Invention

The utility model aims to overcome the defects of the prior art, and provides the self-adaptive chassis for agricultural equipment, which has wide application range, can improve the working efficiency of agricultural machines on special terrains, and is also suitable for other aspects such as terrain exploration, disaster relief exploration, terraced field tea picking and the like.

In order to achieve the above object, the present utility model provides the following technical solutions:

an adaptive chassis for agricultural equipment, comprising an adaptive adjustment suspension, four wheels mounted on the adaptive adjustment suspension, a driving device and a supporting frame, wherein the driving device is in driving connection with the wheels;

the self-adaptive adjusting suspension comprises an adjusting component, four groups of damping components and four groups of swing arm components, each wheel is installed on one swing arm component, one end of each damping component is rotationally connected with the swing arm component, and the damping components are rotationally connected with the adjusting component.

As a preferable scheme, the adjusting component comprises two groups of transmission plates and a connecting rod, wherein the two groups of transmission plates are opposite and are arranged at intervals, and two ends of the connecting rod are respectively connected with the transmission plates in a rotating way; the damping component is rotationally connected with the transmission plate.

Further, each group of transmission plates is provided with two transmission plates, and the connecting rod and the damping component are rotatably arranged between the two transmission plates.

As a preferred solution, each set of said shock absorbing members comprises two shock absorbers.

As a preferred solution, the wheel is a microphone nano wheel.

As a preferred solution, the driving device comprises four servo motors, each of which is arranged on a corresponding one of the swing arm assemblies and is in driving connection with a corresponding wheel.

As a preferable scheme, the swing arm assembly comprises two swing plates, the two swing plates are arranged at intervals, one ends of the two swing plates are fixedly connected with the servo motor, and the damping assembly is rotatably arranged between the two swing plates and is rotatably connected with the two swing plates.

As a preferable scheme, the supporting frame comprises a frame body and two connecting frames, and the frame body is arranged on the adjusting component; the two connecting frames are arranged on the bottom surface of the frame body at intervals, and the two connecting frames are respectively and rotatably connected with the corresponding two swing arm assemblies.

As a preferable scheme, the device further comprises two guide wheel assemblies, wherein the two guide wheel assemblies are installed at the bottom of a corresponding support frame at intervals.

As a preferred scheme, the guide wheel assembly comprises a fixed bar and a plurality of pulleys, and is arranged on the supporting frame; and a plurality of pulleys are arranged at intervals at the bottom end of the fixing strip.

Compared with the prior art, the utility model has the following beneficial effects:

the self-adaptive adjusting suspension can ensure that each wheel can correspondingly change according to the lifting or descending of other wheels while the degree of freedom of the wheels is not restrained, and the self-adaptive effect on machinery can be realized. For example, when one wheel passes over a step, the self-adaptive adjustment suspension enables one wheel to be on the step while keeping the other three wheels in contact with the ground, so that the four wheels are provided with supporting surfaces, the stability of agricultural equipment is ensured, and the aim is to improve the ground grabbing performance to a certain extent.

Through these self-adaptation functions of chassis, agricultural equipment meets on slope road surface or protruding soil block in the relief section such as woodland, mountain road, slope highway section, terraced fields, still can keep the stability of superstructure, snatchs fruit, picks crop or accurate spouts the medicine steadily, has improved agricultural equipment's stability at work greatly to improve agricultural operation's efficiency effectively.

Drawings

In order to more clearly illustrate the embodiments of the present utility model or the technical solutions in the prior art, the drawings that are required in the embodiments or the description of the prior art will be briefly described, and it is obvious that the drawings in the following description are only some embodiments of the present utility model, and other drawings may be obtained according to the structures shown in these drawings without inventive effort for a person skilled in the art.

FIG. 1 is a schematic view of an adaptive chassis of the present utility model;

FIG. 2 is a schematic view of another view of the adaptive chassis of the present utility model;

FIG. 3 is a schematic view of an adaptive chassis (without a support frame) of the present utility model;

FIG. 4 is an enlarged view of a portion of the idler assembly of the present disclosure;

reference numerals illustrate:

1-adaptively adjusting suspension; 11-an adjustment assembly; 111-a drive plate; 112-a connecting rod; 12-a shock absorbing assembly; 13-a swing arm assembly; 2-wheels; 3-a driving device; 4-supporting frames; 41-a frame; 42-connecting frames; 5-a guide wheel assembly; 51-fixing strips; 52-pulley.

Detailed Description

For a better understanding of the utility model with objects, structures, features, and effects, the utility model will be described further with reference to the drawings and to the detailed description. It should be noted that the features illustrated in the drawings are not necessarily drawn to scale. Furthermore, the described embodiments are some, but not all, embodiments of the utility model. All other embodiments, which can be made by a person skilled in the art without creative efforts, based on the described embodiments of the present utility model fall within the protection scope of the present utility model.

Unless defined otherwise, technical or scientific terms used in this disclosure should be given the ordinary meaning as understood by one of ordinary skill in the art to which this disclosure belongs. The terms "first," "second," and the like, as used in this disclosure, do not denote any order, quantity, or importance, but rather are used to distinguish one element from another. The terms "connected" or "connected," and the like, are not limited to physical or mechanical connections, but may include electrical connections, whether direct or indirect. "upper", "lower", "left", "right", "front", "rear", etc. are used merely to indicate relative positional relationships, which may also change accordingly when the absolute position of the object to be described changes. Furthermore, in the description of the present utility model, unless otherwise indicated, the meaning of "a plurality" is two or more.

As shown in fig. 1-4, the present embodiment provides an adaptive chassis for agricultural equipment, which comprises an adaptive adjustment suspension 1, four wheels 2 mounted on the adaptive adjustment suspension 1, a driving device 3 and a supporting frame 4, wherein the driving device 3 is in driving connection with the wheels 2, and the agricultural equipment is mounted on the supporting frame 4;

the self-adaptive adjusting suspension 1 comprises an adjusting assembly 11, four groups of damping assemblies 12 and four groups of swing arm assemblies 13, wherein each wheel 2 is arranged on one swing arm assembly 13, one end of each group of damping assemblies 12 is rotationally connected with the swing arm assembly 13, and the rotating shaft of each group of damping assemblies is horizontally arranged; the damping component 12 is rotatably connected with the adjusting component 11, and the rotating shaft of the damping component is vertically arranged.

The adaptive adjustment suspension 1 may not restrict the degrees of freedom of the wheels 2, and may make corresponding changes between each wheel 2 according to the lifting or lowering of the other wheels 2, so as to achieve a mechanical adaptive effect. For example, when one wheel 2 passes over a step, the adaptive adjustment suspension 1 enables one wheel 2 to be on the step while keeping the other three wheels 2 in contact with the ground, thereby realizing that all four wheels 2 have supporting surfaces, ensuring the stability of agricultural equipment and improving the ground grabbing performance to a certain extent.

As shown in fig. 3, in this embodiment, the adjusting assembly 11 includes two sets of driving plates 111 and a connecting rod 112, the two sets of driving plates 111 are opposite and spaced apart, two ends of the connecting rod 112 are respectively rotatably connected with one driving plate 111, and a rotating shaft thereof is vertically arranged; the shock absorbing assembly 12 is rotatably connected with the driving plate 111, and the two driving plates 111 are respectively connected with the front and rear wheels 2 positioned at the left side and the right side. Thus, the change of the wheel 2 on one side can enable the wheel 2 on the other side to realize self-adaptive adjustment, namely, the wheel 2 on the other side can be self-adaptively lowered when the wheel 2 on one side is lifted, so that the ground grabbing force is increased.

Preferably, each set of driving plates 111 has two driving plates 111, and the connecting rod 112 and the damper assembly 12 are rotatably disposed between the two driving plates 111, so as to facilitate improving the structural stability of the adjusting assembly 11.

Preferably, each set of said damper assemblies 12 comprises two dampers.

In this embodiment, the wheel 2 is a microphone nano wheel; the omni-directional movement is based on the principle of a center wheel having a plurality of wheel axles located at the periphery of the wheel, the angled peripheral wheel axles translating a portion of the wheel steering force above a wheel normal force. Depending on the direction and speed of the respective wheel, the final combination of these forces creates a resultant force vector in any desired direction, thereby ensuring that the platform is free to move in the direction of the final resultant force vector without changing the direction of the wheel itself, and thus can perform complex actions such as in-situ rotation, translation, etc.

As shown in fig. 1 to 4, in this embodiment, the driving device 3 includes four servomotors, each of which is provided on a corresponding one of the swing arm assemblies 13 and is in driving connection with a corresponding one of the wheels 2; under the environmental factors of climbing, ground friction increase and the like, the ground grabbing performance is improved by adjusting the output power of the four servo motors, and the problem of idle running of the wheels 2 is avoided.

As shown in fig. 3, in this embodiment, the swing arm assembly 13 includes two swing plates 131, two swing plates 131 are disposed at intervals, one ends of the two swing plates 131 are fixedly connected to the servo motor, and the damper assembly 12 is rotatably disposed between the two swing plates 131 and is rotatably connected to the two swing plates 131.

As shown in fig. 1-2, in the present embodiment, the supporting frame 4 includes a frame 41 and two connecting frames 42, the frame 41 is disposed on the adjusting assembly 11, and the agricultural equipment is mounted on the frame 41; the two connecting frames 42 are arranged on the bottom surface of the frame 41 at intervals, the two connecting frames 42 are respectively connected with the two swing arm assemblies 13 positioned on the left side and the right side in a rotating way, and the rotating shafts of the two connecting frames are horizontally arranged.

Preferably, the supporting frame 4 is composed of a plurality of aluminum alloy square tubes, and is connected with the aluminum alloy square tubes through carbon fiber plates, so that the weight of the supporting frame is reduced while the stability of the structure is ensured.

As shown in fig. 4, in this embodiment, the adaptive chassis further includes a pair of guide wheel assemblies 5, each pair of guide wheel assemblies 5 being mounted outside a corresponding one of the link frames 42. Each guide wheel assembly 5 comprises a fixing strip 51 and a plurality of pulleys 52, wherein the fixing strip 51 is in a strip shape, and two ends of the fixing strip are bent downwards to enable the bottom surface to form an arc line, and the fixing strip is arranged on the connecting frame 42; a plurality of pulleys 52 are installed at intervals along the arc of the fixing strip 51 at the bottom end of the fixing strip 51. In places with large steps or drops, in order to prevent the wheel 2 from being suspended and unable to move, the pulley 52 can slide down by means of gravitational potential energy when the wheel 2 is suspended.

Finally, it should be noted that: the foregoing description is only a preferred embodiment of the present utility model, and the present utility model is not limited thereto, but it is to be understood that modifications and equivalents of some of the technical features described in the foregoing embodiments may be made by those skilled in the art, although the present utility model has been described in detail with reference to the foregoing embodiments. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present utility model should be included in the protection scope of the present utility model.

Claims

1. An adaptive chassis for agricultural equipment, characterized by comprising an adaptive adjustment suspension (1), four wheels (2) mounted on the adaptive adjustment suspension (1), a driving device (3) and a supporting frame (4), wherein the driving device (3) is in driving connection with the wheels (2);

the self-adaptive adjusting suspension (1) comprises an adjusting component (11), four groups of damping components (12) and four groups of swing arm components (13), each wheel (2) is installed on one swing arm component (13), one end of each damping component (12) is rotationally connected with the swing arm component (13), and the damping components (12) are rotationally connected with the adjusting component (11).

2. An adaptive chassis for agricultural equipment according to claim 1, characterized in that said adjusting assembly (11) comprises two sets of transmission plates (111) and a connecting rod (112), said two sets of transmission plates (111) being opposite and spaced apart, both ends of said connecting rod (112) being respectively in rotational connection with one of said transmission plates (111); the damping component (12) is rotationally connected with the transmission plate (111).

3. An adaptive chassis for an agricultural apparatus according to claim 2, characterized in that each set of said drive plates (111) has two drive plates (111), said connecting rod (112) and said shock absorbing assembly (12) being rotatably arranged between two of said drive plates (111).

4. An adaptive chassis for an agricultural apparatus according to claim 1, wherein each set of said shock absorbing assemblies (12) comprises two shock absorbers.

5. An adaptive chassis for agricultural equipment according to claim 1, characterized in that the wheels (2) are microphone nano-wheels.

6. An adaptive chassis for agricultural equipment according to claim 1, characterized in that the driving means (3) comprise four servomotors, each arranged on a respective one of the swing arm assemblies (13) and in driving connection with a respective wheel (2).

7. An adaptive chassis for an agricultural apparatus according to claim 6, wherein the swing arm assembly (13) includes two swing plates (131), the two swing plates (131) are disposed at intervals, one end of each of the two swing plates (131) is fixedly connected to the servo motor, and the damper assembly (12) is rotatably disposed between the two swing plates (131) and is rotatably connected to the two swing plates (131).

8. An adaptive chassis for agricultural equipment according to claim 1, characterized in that the supporting frame (4) comprises a frame (41) and two connecting frames (42), the frame (41) being arranged at the adjustment assembly (11); the two connecting frames (42) are arranged on the bottom surface of the frame body (41) at intervals, and the two connecting frames (42) are respectively and rotatably connected with the two corresponding swing arm assemblies (13).

9. An adaptive chassis for agricultural equipment according to claim 1, further comprising two guide wheel assemblies (5), two of said guide wheel assemblies (5) being mounted at spaced apart locations on the bottom of a corresponding one of said support frames (4).

10. An adaptive chassis for agricultural equipment according to claim 9, characterized in that the guide wheel assembly (5) comprises a fixed bar (51) and a plurality of pulleys (52) mounted on the support frame (4); the bottom ends of the fixing strips (51) are arranged at intervals by a plurality of pulleys (52).