WO2020244089A1

WO2020244089A1 - Agricultural machinery

Info

Publication number: WO2020244089A1
Application number: PCT/CN2019/106302
Authority: WO
Inventors: 朱明�; 王新锋; 吴迪; 姚远
Original assignee: 丰疆智能科技研究院(常州)有限公司
Priority date: 2019-06-06
Filing date: 2019-09-18
Publication date: 2020-12-10

Abstract

Agricultural machinery, comprising a rack device (10) and a walking device (30), a power device (20), an automatic clutch device (50) and an automatic gear shifting device (60) which are separately arranged on the rack device (10). The automatic clutch device is used for cutting off and recovering power transmission of a gearbox (22) of the power device. The automatic gear shifting device is used for changing the gear engagement position of the gearbox, and therefore the automatic clutch device and the automatic gear shifting device may cooperate with each other to change the gear of the agricultural machinery. The agricultural machinery is further provided with an automatic steering device (40) which is used for automatically changing the walking direction of the agricultural machinery, so that the automation level of the agricultural machinery is improved so as to allow the agricultural machinery to achieve unmanned driving and operation.

Description

Agricultural machinery

Technical field

The present invention relates to an agricultural machine, in particular to an agricultural machine capable of automatic shifting and/or automatic steering.

Background technique

Agricultural machinery is a kind of operation equipment widely used in agricultural production, such as but not limited to rice transplanter, tillage machine, plant protection machine, etc. The emergence of agricultural machinery has greatly improved agricultural production and reduced labor intensity, and directly Promoted the rapid development of agricultural production in the direction of mechanization and modernization. In recent years, with the rapid development of science and technology, especially the rapid development of sensing technology and positioning technology, the research and development of automated agricultural machinery has also been put on the agenda. For example, the field of view is for the realization of unmanned driving and operation. The demand for agricultural machinery is becoming more and more urgent. The current agricultural machinery includes a frame and an internal combustion engine, a gearbox, a clutch, a shift lever, a set of wheels, a series of transmission mechanisms and a seat arranged in the frame, wherein the gearbox is connected to the An internal combustion engine, the transmission mechanism is connected to the gearbox and the wheels, so that the power output from the gearbox is transmitted to the wheels by the transmission mechanism to drive the operation (such as walking) of the agricultural machine, the clutch and the gear shift The rods are respectively connected to the gearbox and are arranged near the seat. The driver drives the agricultural machine by riding the seat. When the agricultural machine needs to be shifted, first, the driver operates (for example, stepping on) the clutch to cut off the power transmission of the gearbox; second, the driver operates (for example, manually operates) the shift lever to change the gearbox Then, the driver operates (for example, releases) the clutch to restore the power transmission of the gearbox, thereby allowing the agricultural machine to be shifted due to the changed gear engagement position of the gearbox. That is to say, to realize the shift of the agricultural machinery, the clutch must be used to cut off the power transmission of the gearbox before the shift and the clutch must be used to restore the power transmission of the gearbox after the shift, otherwise it is easy The gear box of the gearbox is damaged by the undesirable phenomenon of "toothing".

At present, there is a kind of automatic transmission on the market, such as hydraulic automatic transmission, hydraulic transmission automatic transmission, electric transmission automatic transmission, stepped mechanical automatic transmission, and continuously variable mechanical automatic transmission. These automatic transmissions It uses a planetary gear mechanism to change gears, which can automatically change gears according to the degree of the accelerator pedal and changes in vehicle speed. Although these automatic gearboxes have the advantages of automatic transmission, their stability is relatively poor and maintenance costs are high, especially agricultural machinery is generally used in more complex and harsh environments, such as rice transplanters used in paddy fields or muddy farmland , Which makes the automatic transmission not suitable for agricultural machinery.

Summary of the invention

An object of the present invention is to provide an agricultural machine, wherein the agricultural machine can operate automatically (for example, walking, including but not limited to walking along a straight line, turning, etc.) to improve the automation level of the agricultural machine.

An object of the present invention is to provide an agricultural machine, wherein the agricultural machine provides a gearbox, an automatic clutch device and an automatic shift device respectively connected to the gearbox, and the automatic clutch device cuts off the After the power transmission of the gearbox, the automatic shifting device can automatically change the gear meshing position of the gearbox, so that the agricultural machinery is automatically transferred after the automatic clutch device resumes the power transmission of the gearbox. Shift.

An object of the present invention is to provide an agricultural machine, wherein the automatic gear shifting device provides a driving part and a transmission part, the transmission part connects the driving part and the gearbox, wherein the driving part is driven by The transmission part cuts off and restores the power transmission of the gearbox to realize the automatic clutch of the gearbox.

An object of the present invention is to provide an agricultural machine, wherein the driving part includes an electric push rod to allow the driving part to generate power in a telescopic manner, thereby ensuring the reliability of the automatic clutch device and ensuring the agricultural Mechanical stability.

An object of the present invention is to provide an agricultural machine, wherein the transmission part is a transmission part of a mechanical structure. In this way, the transmission part can be guaranteed to effectively transmit the driving force generated by the driving part to the transmission To cut off or restore the power transmission of the gearbox.

An object of the present invention is to provide an agricultural machine, wherein the transmission part is a transmission part of a mechanical structure, so that compared with the existing automatic gearboxes on the market, the agricultural machine of the present invention passes through the automatic clutch device The way to realize the automatic clutch of the gearbox can greatly reduce the maintenance cost and repair cost of the agricultural machine.

An object of the present invention is to provide an agricultural machine, wherein the automatic gear shifting device provides a driver for driving a shift lever of the gearbox to move to change the gear fitting position of the gearbox, thereby achieving all The automatic shifting of agricultural machinery is described.

An object of the present invention is to provide an agricultural machine, wherein the automatic shifting device provides a swing arm, the shift lever is installed at the adjusting end of the swing arm, and the driven end of the shift lever Is installed in the driver so that when the driver drives the driving end of the shift lever, the middle part of the swing arm is set to be able to rotate around a fixed axis to drive the shift lever in the The internal space of the gearbox moves.

An object of the present invention is to provide an agricultural machine, wherein the driver drives the swing arm to rotate around the fixed shaft in a telescopic motion. In this way, the agricultural machine can avoid the power generated by the driver The undesirable phenomenon of transmission failure occurs during transmission to the swing arm, thereby ensuring the reliability of the automatic gear shifting device.

An object of the present invention is to provide an agricultural machine in which the gear position of the agricultural machine can be controlled by controlling the rotation angle of the driver relative to a frame device of the agricultural machine. In this way, it is beneficial to The unmanned driving and operation of the agricultural machinery are realized.

An object of the present invention is to provide an agricultural machine, wherein the agricultural machine provides an automatic steering device to realize automatic steering of the agricultural machine, so that the automation level of the agricultural machine can be further improved.

An object of the present invention is to provide an agricultural machine, wherein the automatic steering device can at least control a pair of front wheels to steer relative to the frame device, so as to realize the automatic steering of the agricultural machine.

An object of the present invention is to provide an agricultural machine, wherein the automatic steering device can control a pair of rear wheel differentials to control a pair of rear wheels to rotate relative to the frame device, thereby realizing the agricultural Mechanical automatic steering.

An object of the present invention is to provide an agricultural machine, wherein the automatic steering device is capable of controlling a pair of the front wheels to steer relative to the frame device while controlling the differential speed of the pair of rear wheels to make A pair of the rear wheels are turned relative to the frame device. In this way, the turning radius of the agricultural machine can be reduced.

An object of the present invention is to provide an agricultural machine, wherein the automatic steering device provides a drive motor, a drive disc that is drivably mounted on the drive motor, and two front axle steering mechanisms, wherein each of the front axles One end of the steering mechanism is respectively rotatably mounted on the drive plate, and the other end is mounted on the lower end of the front axle of the front axle of the agricultural machine, so that the drive motor drives the drive When the disc rotates, the drive disc can drive the low end of the front axle of the front axle to rotate relative to the high end of the front axle through the front axle steering mechanism, thereby realizing the front wheel Of steering.

An object of the present invention is to provide an agricultural machine, wherein the automatic steering device provides two rear axle steering mechanisms, one end of each of the rear axle steering mechanisms is rotatably mounted on the drive disc, and another One end is installed on a power distribution mechanism of the agricultural machine, so that when the drive motor drives the drive disk to rotate, the drive disk can be cut off from the power distribution mechanism through the rear axle drive mechanism. The power transmitted by the rear wheels is used to realize the differential speed of the pair of rear wheels, so as to realize the steering of the rear wheels.

According to one aspect of the present invention, the present invention provides an agricultural machine including:

A walking device;

A rack device;

A power device, which includes a power mechanism and a gearbox. The gearbox includes a gearbox housing, a driving gear set, a driven gear set, and a shift lever. The gearbox housing has an interior Space, a shift lever channel communicating with the internal space on the front side of the gearbox, and a shift lever channel communicating with the internal space on the end of the gearbox housing, wherein the driving gear set has A driving gear which is accommodated in the internal space and is driveably connected to the power mechanism, wherein the driven gear set has a driven gear accommodated in the internal space, a transmission shaft, and a driven gear A shift gear sleeved on the transmission shaft and driveably connected to the shift end of the shift lever, the driven gear is detachably fixed to the driving gear, and the shift lever is free The end extends to the outside of the gearbox through the shift lever channel;

An automatic clutch device comprising a driving part and a transmission part drivably connected to the driving part, the transmission part extending from the outside of the gearbox to the internal space through the shift lever channel, To allow the driven gear to be drivably connected to the transmission part; and

An automatic gear shifting device, which includes a driver and a swing arm, wherein the drive portion has an adjusting end and a driven end corresponding to the adjusting end, and the driven end of the swing arm is drivably Mounted on the driver, the free end of the shift lever is drivably mounted on the adjustment end of the swing arm, wherein the swing arm is configured to drive the swing arm by the driver At the driven end, the middle part of the swing arm is allowed to rotate around a fixed axis.

According to an embodiment of the present invention, the gearbox further includes an elastic element, the driven gear has a convex portion, and the elastic element is disposed between the driven gear and the convex portion, In addition, the elastic element is configured 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 part includes a shift arm and a shift lever, wherein the shift arm has a fixed end and a driving end corresponding to the fixed end, wherein the shift lever includes a lever element And a dial element, the lever element has an inner end and an outer end corresponding to the inner end, the lever element is shifted from the shift lever through the shift lever passage of the gearbox housing The outside of the box extends to the inner space to allow the driven gear to be drivably connected to the inner end of the rod element, wherein the outer end of the rod element is fixedly disposed at The fixed end of the arm.

According to an embodiment of the present invention, the shift arm extends from the outer end of the lever element toward one end of the gearbox to allow the driver to drive the driving end of the shift arm When moving upward or downward, the fixed end of the shift arm rotates around the lever element.

According to an embodiment of the present invention, the driven gear has an annular groove, the dial element has at least one protrusion, wherein the protrusion of the dial element is positioned on the driven gear The annular card slot.

According to an embodiment of the present invention, the dial element includes a dial main body and two dial arms extending from the dial main body at intervals to form a dial space between the two dial arms, each Each of the dial arms is provided with a protrusion, and the protrusion is held in the dial space, wherein the dial main body is installed at the inner end of the lever element, Wherein a part of the driven gear is rotatably held in the dial space of the dial element, so that the two latching protrusions are held on opposite sides of the driven gear in a mutually symmetrical manner. side.

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

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

According to an embodiment of the present invention, the transmission part further includes a first pull rod, a second pull rod, and a steering arm, wherein the middle of the steering arm is rotatably mounted on the gearbox, and the first Two ends of a pull rod are respectively rotatably installed on the driving end of the shift arm and one end of the steering arm, and one end of the second pull rod is rotatably installed on the steering arm The other end of the second pull rod is drivably mounted on the driving part.

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

According to an embodiment of the present invention, the steering arm has an elongated first mounting channel to allow the first mounting channel to extend from the end of the steering arm to the middle, wherein the end of the tie rod The part is rotatably and slidably mounted on the first mounting channel of the steering arm.

According to an embodiment of the present invention, the middle part of the swing arm is rotatably mounted to the gearbox housing through the fixed shaft.

According to an embodiment of the present invention, the drive is drivably mounted on the rack device.

According to an embodiment of the present invention, the walking 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, and the front axle includes A front axle high end, a front axle low end, and a front axle transmission part, the front axle high end is arranged on the side of the front end of the frame body, and the front axle low end is rotatable The front axle transmission part is rotatably arranged at the lower end of the low end of the front axle, and is rotatably arranged inside the high end of the front axle and the low end of the front axle. The low end portion extends to the outside of the low end portion of the front axle, the front wheel is mounted on the front axle transmission portion, and the rear axle is provided on the side of the rear end of the frame body, The rear wheel is arranged on the rear axle, and the agricultural machine further includes an automatic steering device, which includes a drive motor, a drive disc, and two front axle steering mechanisms, and the drive disc is arranged on the machine. The frame body, the drive disc is drivably disposed on the drive motor, and each of the front axle steering mechanisms respectively includes a first front axle steering arm and pivotally mounted on the first front axle steering arm Of a second front axle steering arm, wherein the mounting end of the first front axle steering arm of each of the front axle steering mechanisms is symmetrically and rotatably mounted to the drive disc, and each of the The mounting end of the second front axle steering arm of the front axle steering mechanism is mounted on the lower end of the front axle of each of the front axles.

According to an embodiment of the present invention, the drive motor is mounted on the chassis body from top to bottom to allow the drive disk to be held in the lower space of the chassis body.

According to an embodiment of the present invention, the rear axle includes a rear axle body and a rear axle transmission part, the high end of the rear axle body is installed on the side of the rear end of the frame body, and the rear axle The axle transmission portion is rotatably held inside the rear axle body, and the rear axle transmission portion extends from the lower end of the rear axle body to the outside of the rear axle body, and the rear wheel is mounted on The rear axle transmission part, wherein the power plant includes a power transmission mechanism and a power distribution mechanism, the power distribution mechanism further includes a distribution part and two power distribution output shafts, the distribution part is held in a pair of Between the rear axles, each of the power distribution output shafts respectively extends from the distribution portion to and is connected to the rear axle transmission portion, and both ends of the power transmission mechanism are respectively connected to the gearbox and The distribution part.

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

According to an embodiment of the present invention, the automatic steering device further includes two rear axle steering mechanisms, each of the rear axle steering mechanisms includes a first rear axle steering arm, a second rear axle steering arm, and a third rear axle steering arm. A rear axle steering arm and a fourth rear axle steering arm, both ends of the first rear axle steering arm are rotatably mounted on the drive disc and one end of the second rear axle steering arm, so Both ends of the third rear axle steering arm are respectively rotatably mounted on the other end of the second rear axle steering arm and one end of the fourth rear axle steering arm. The fourth rear axle The other end of the steering arm is rotatably mounted on the power distribution output shaft.

According to an embodiment of the present invention, the power distribution mechanism includes a power distribution shell, the power distribution shell specifically has a containing space, and an output shaft channel and an output shaft communicating with the containing space at both ends of the power distribution shell respectively An arm passage, the distribution part is rotatably held in the accommodating space, the power distribution output shaft extends from the accommodating space to the outside through the output shaft passage, and the fourth rear axle steering arm passes through the The arm channel extends from the outside to the containing space.

According to an embodiment of the present invention, the first front axle steering arms of each of the front axle steering mechanisms are symmetrically mounted on both sides of the front of the drive disc, and each of the rear axle steering arms The first rear axle steering arms of the mechanism are symmetrically mounted on both sides of the rear part of the drive disc.

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

According to another aspect of the present invention, the present invention provides an automatic clutch device for an agricultural machine, which is used to cut off or restore the power transmission of a gearbox of the agricultural machine, wherein the gearbox includes a gearbox housing and an active A gear set, a driven gear set and an elastic element, the gearbox housing has an internal space and a lever channel communicating with the internal space on the front side of the gearbox housing, the driving gear set There is a driving gear, the driven gear set has a driven gear and a convex portion, the elastic element is arranged between the driven gear and the convex portion, and the elastic element is arranged The driven gear can be moved toward the driving gear to fix the driven gear to the driving gear, wherein the automatic clutch device includes a driving part and a driving part that is driveably connected to the driving part. The transmission part, wherein the transmission part further comprises:

A shift arm, wherein the shift arm has a fixed end and a drive end corresponding to the fixed end; and

A shift lever, wherein the shift lever includes a lever element and a wheel element, the lever element has an inner end and an outer end corresponding to the inner end, wherein the lever element passes through the The shift lever channel of the gearbox housing extends from the outside of the gearbox housing to the internal space, so that the inner end of the lever element is held on the gearbox housing The inner space and the outer end of the lever element are held outside the gearbox housing, wherein the dial element is mounted on the inner end of the dial, and the driven The gear is drivably mounted on the dial element, wherein the outer end of the lever element is fixedly arranged on the dial arm, and the dial arm is driven from the outer end of the lever element The part extends toward one end of the gearbox.

According to an embodiment of the present invention, the fixed end of the shift arm is drivably mounted on the driving part.

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

According to another aspect of the present invention, the present invention further provides an automatic clutch method for agricultural machinery, wherein the automatic clutch method includes the following steps:

(a) When a driving part pulls up a driving end of a shift arm to allow the shift arm to drive a shift wheel element to swing through a lever element, allowing a driven gear of a driven gear set to disengage from a driving gear set Cut off the power transmission of a gearbox; and

(b) When the driving force applied by the driving part to the shift arm is cancelled to allow an elastic element to return to the initial state, the elastic element pushes the driven gear of the driven gear set toward the driving gear The direction movement of the driving gear of the group and fixing the driven gear to the driving gear restore the power transmission of the gearbox.

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

(a.1) The driving part pulls the rear end of a second rod toward the rear end of a frame body;

(a.2) The second pull rod drives one end of the steering arm toward the rear end of the frame body to move downward and drive one end of the steering arm toward the rear end of the frame body in a manner that allows the middle of a steering arm to rotate around an axis One end of the steering arm facing the front end of the frame body moves upward; and

(a.3) The steering arm pulls the driving end of the shift arm upward through a first pull rod.

According to another aspect of the present invention, the present invention provides an automatic gear shifting device of an agricultural machine for adjusting the gear meshing position of a gearbox of the agricultural machine, wherein the gearbox includes a driven gear set, and The driven gear set has a transmission shaft, a shift lever, and a shift gear sleeved on the transmission shaft and drivably installed at the shift end of the shift lever, wherein the automatic shift device includes :

A drive; and

A swing arm, wherein the swing arm has an adjustment end and a driven end corresponding to the adjustment end, the driven end of the swing arm is drivably mounted on the driver, the shift lever The free end of the swing arm is drivably mounted on the adjustment end of the swing arm, wherein the swing arm is configured to allow the middle of the swing arm when the driver drives the driven end of the swing arm Rotate around a fixed axis.

According to an embodiment of the present invention, the middle part of the swing arm is rotatably mounted to the gearbox housing of the gearbox via the fixed shaft.

According to an embodiment of the present invention, the middle part of the swing arm is rotatably mounted to the frame body of the agricultural machine through the fixed shaft.

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

According to an embodiment of the present invention, the driver is a driving motor.

According to another aspect of the present invention, the present invention further provides an automatic gear shifting method for agricultural machinery for adjusting the gear meshing position of a gearbox, wherein the automatic gear shifting method includes the following steps:

(a) When a driven end of a swing arm is driven to move toward a gearbox so that the middle part of the swing arm rotates around a fixed axis, an adjustment end of the swing arm is allowed to move toward the shift Pull a shift lever of the gearbox on the outside of the box; and

(b) When the driven end of the swing arm is driven to move away from the gearbox so that the middle of the swing arm rotates around the fixed shaft, the adjustment of the swing arm is allowed Push the shift lever of the gearbox toward the inside of the gearbox.

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 present 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 drives the driven end of the swing arm in a rotating manner.

According to an embodiment of the present invention, in the above method, the driver drives the driven end of the swing arm to face the gearbox during the transition of the driver from an extended state to a contracted state And during the transition of the driver from the contracted state to the extended state, the driver drives the driven end of the swing arm to move away from the gearbox.

Description of the drawings

Fig. 1 shows a three-dimensional state of an agricultural machine according to a preferred embodiment of the present invention.

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

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

Fig. 4 shows a partial decomposition state of the agricultural machine according to the above-mentioned preferred embodiment of the present invention, which describes the structural relationship of a gearbox, an automatic clutch device and an automatic shift device of the agricultural machine.

5A shows a partial state of the agricultural machine according to the above-mentioned preferred embodiment of the present invention, which describes the three-dimensional state of the automatic clutch device of the agricultural machine when the power transmission of the gearbox is cut off.

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

6A shows a partial state of the agricultural machine according to the above-mentioned preferred embodiment of the present invention, which describes the automatic shifting device of the agricultural machine when the gear fitting position of the gearbox is changed Three-dimensional state.

6B shows a partial state of the agricultural machine according to the above-mentioned preferred embodiment of the present invention, which describes that when the automatic shifting device changes the gear fitting position of the gearbox, the gearbox Gear relationship.

FIG. 7A shows a partial state of the agricultural machine according to the above-mentioned preferred embodiment of the present invention, which describes the three-dimensional state of the automatic clutch device of the agricultural machine when the power transmission of the gearbox is restored.

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

8A and 8B respectively show the three-dimensional state of an automatic steering device of the agricultural machine according to the above-mentioned preferred embodiment of the present invention from different perspectives.

9A and 9B respectively show the partial state of the agricultural machine according to the above-mentioned preferred embodiment of the present invention when traveling in a straight line from different perspectives.

Fig. 10 shows the state of a power distribution mechanism of the agricultural machine when the agricultural machine according to the above-mentioned preferred embodiment of the present invention is turning to the left.

FIGS. 11A and 11B respectively show the partial states of the agricultural machine according to the above-mentioned preferred embodiment of the present invention when it is turning to the left when driving from different perspectives.

Fig. 12 shows the state of the power distribution mechanism of the agricultural machine when the agricultural machine according to the above-mentioned preferred embodiment of the present invention is turning left.

FIGS. 13A and 13B respectively show the partial states of the agricultural machine according to the above-mentioned preferred embodiment of the present invention when it is turning to the right while driving from different perspectives.

FIG. 14 shows the state of the power distribution mechanism of the agricultural machine when the agricultural machine according to the above-mentioned preferred embodiment of the present invention is turning left.

Detailed ways

The following description is used to disclose the present invention so that those skilled in the art can implement the present invention. The preferred embodiments in the following description are only examples, and those skilled in the art can think of other obvious variations. The basic principles of the present invention defined in the following description can be applied to other embodiments, modifications, improvements, equivalents, and other technical solutions that do not depart from the spirit and scope of the present invention.

Those skilled in the art should understand that, in the disclosure of the present invention, the terms "longitudinal", "lateral", "upper", "lower", "front", "rear", "left", "right", " The orientation or positional relationship indicated by "vertical", "horizontal", "top", "bottom", "inner", "outer", etc. are based on the orientation or positional relationship shown in the drawings, which is only for the convenience of describing the present invention and The description is simplified, rather than indicating or implying that the pointed device or element must have a specific orientation, be constructed and operated in a specific orientation, and therefore the above terms should not be construed as limiting the present invention.

It can be understood that the term "a" should be understood as "at least one" or "one or more", that is, in one embodiment, the number of an element may be one, while in other embodiments, The number can be multiple, and the term "one" cannot be understood as a restriction on the number.

Referring to Figures 1 to 14 of the accompanying drawings of the specification of the present invention, 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 walking device 30.

Specifically, the frame device 10 includes a frame body 11, a pair of front axles 12, and a pair of rear axles 13, wherein the frame body 11 has a front end 111 and a front end 111 corresponding to the front end 111. The rear end 112, in which a pair of the front axles 12 are symmetrically arranged on the sides of the frame body 11, and a pair of the front axles 12 are held at the front end of the frame body 11 Portion 111, so that the pair of front axles 12 are held on both sides of the front end portion 111 of the frame body 11, and correspondingly, the pair of rear axles 13 are symmetrically arranged on the The side portion of the frame body 11, and a pair of the rear axles 13 are held on the rear end 112 of the frame body 11, so that the pair of rear axles 13 are held on the frame, respectively Both sides of the rear end 112 of the body 11. The power device 20 is installed on the frame body 11 to be supported by the frame body 11.

The walking device 30 includes a pair of front wheels 31 and a pair of rear wheels 32. The pair of front wheels 31 are respectively disposed on the pair of front axles 12, so that the pair of front wheels 31 are symmetrical to each other. Ground is held on both sides of the front end 111 of the frame body 11, and correspondingly, a pair of the rear wheels 32 are respectively disposed on the pair of the rear axles 13, so that the pair of rear wheels 32 They are held symmetrically on both sides of the rear end 112 of the frame body 11.

The power output from the power unit 20 can be transmitted to the pair of front wheels 31 through the pair of front axles 12 to drive the pair of front wheels 31 to rotate, and can pass through the pair of rear axles 13 respectively. It is transmitted to the pair of rear wheels 32 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 by the power plant 20 is transmitted to a pair of the front wheels 31 through a pair of the front axles 12 and a pair of the rear wheels 32 through a pair of the rear axles 13, a pair of The front wheel 31 and the pair of rear wheels 32 can drive the agricultural machine to advance, retreat, turn and so on.

More specifically, the power device 20 includes a power mechanism 21, a gearbox 22, a power transmission mechanism 23 and a power distribution mechanism 24. The gearbox 22 is mounted on the frame body 11, and the gearbox 22 is held between a pair of the front axles 12, wherein the gearbox 22 has two gearbox output shafts 221, each The two gearbox output shafts 221 respectively extend toward each of the front axles 12 at the front end portion 111 of the frame body 11 and are connected to each of the front axles 12 so as to rotate The power is output to each of the front axles 12, and the power 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. The power distribution mechanism 24 is installed on 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 power distribution output shaft 241 respectively extends toward each rear axle 13 located at the rear end 112 of the frame body 11 and is connected to each rear axle 13 to The power is output to each rear axle 13 in a rotating manner, and then the power is transmitted to each rear wheel 32 through each rear axle 13 to drive each rear wheel 32 to rotate. The power transmission mechanism 23 is configured to connect the transmission 22 and the power distribution mechanism 24 to transmit the power output by the transmission 22 to the power distribution mechanism 24. The power mechanism 21 is installed on the frame body 11, wherein the gearbox 22 is drivably connected to the power mechanism 21. When the power mechanism 21 outputs power to the gearbox 22, the two gearbox output shafts 221 of the gearbox 22 can rotate to output power to each of the front axles 12, and the power transmission The mechanism 23 can transmit the power output by the gearbox 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 of the rear axles 13.

It is worth mentioning that in this preferred example of the agricultural machine shown in FIGS. 1 to 14, the pair of front wheels 31 and the pair of rear wheels 32 of the agricultural machine are both driving Wheel, so that the power output from the gearbox 22 can be directly 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, and the gearbox 22 outputs The power of is transmitted to the power distribution mechanism 24 through the power transmission mechanism 23 and then indirectly transmitted to each of the rear wheels 32 by the power distribution mechanism 24 to drive each of the rear wheels 32 to rotate, Thereby driving the agricultural machinery to walk. Optionally, in other examples of the agricultural machine of the present invention, the pair of front wheels 31 of the agricultural machine are drive wheels, so that the power device 20 of the agricultural machine does not need to be configured. The power transmission mechanism 23 and the power distribution mechanism 24, that is, the power output from the gearbox 22 is transmitted to each of the front wheels 31 via each of the front axles 12 to drive each of the front wheels 31 When rotating, each of the front wheels 31 can drive the agricultural machinery to walk.

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 FIG. 14, the power mechanism 21 is an internal combustion engine, so the power device 20 further includes an oil tank 25 for holding chemical Fuel (such as gasoline, diesel, 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.

Continuing to refer to FIGS. 1 to 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. Bridge transmission part 123. The front axle high end portion 121 of each of the front axles 12 is respectively mounted on the side portion of the front end portion 111 of the frame body 11. The front axle low end portion 122 of each front axle 12 is respectively rotatably held at the lower part of the front axle high end portion 121 of each front axle 12, thus allowing the front axle low end portion 122 rotates relative to the high end 121 of the front axle. The front axle transmission portion 123 of each of the front axles 12 further includes a front axle high-end transmission portion 1231 and a front-axle low-end transmission portion 1232, respectively, wherein the front-axle high-end transmission portion 1231 is rotatably held The way inside the front axle high end 121 and the front axle low end 122 extends from the front axle high end 121 to the front axle low end 122, so the front axle high end transmission part 1231 enables the front axle low end portion 122 to be reliably held at the lower portion of the front axle high end portion 121, and the front axle high end transmission portion 1231 is drivably connected to the transmission of the gearbox 22 Box output shaft 221, wherein the front axle low end transmission portion 1232 extends from the inside to the outside of the front axle low end portion 122, and the front axle low end transmission portion 1232 and the front axle high end transmission portion 1231 are at The interiors of the front axle low end 122 mesh with each other, wherein the front wheel 31 is mounted on the front axle low end transmission portion 1232, so that the front axle low end 122 is driven relative to the front axle When the high end 121 of the axle rotates, the low end 122 of the front axle drives the front wheels 31 to rotate synchronously and at the same amplitude to realize the steering of the front wheels 31. The power output from the gearbox 22 can sequentially pass through the gearbox output shaft 221 of the gearbox 22 and the front axle high-end transmission portion 1231 and the front axle low-end transmission portion 1232 of the front axle 12 It is transmitted to the front wheel 31 to drive the front wheel 31 to rotate, so that the rotation of the front wheel 31 drives the agricultural machine to walk.

Preferably, the gearbox output shaft 221 of the gearbox 22 extends to the inside of the front axle high end 121 of the front axle 12 to allow the front axle to be inside the front axle high end 121 The high-end transmission portion 1231 and the gearbox output shaft 221 mesh with each other so that the front axle high-end transmission portion 1231 is drivably connected to the gearbox output shaft 221. More preferably, the front axle high end 121 of the front axle 12 is installed on the gearbox 22, so that the stability and reliability of the structural relationship between the front axle 12 and the gearbox 22 can be ensured. For example, the front axle high end 121 of the front axle 12 is mounted on the housing of the gearbox 22 to allow the gearbox output shaft 221 of the gearbox 22 to extend to the front axle 12 The inside of the front axle high end portion 121 and the inside of the front axle high end portion 121 allow the front axle high end transmission portion 1231 and the gearbox output shaft 221 to mesh with each other.

Continuing to refer to FIGS. 1 to 14, each rear axle 13 includes a rear axle body 131 and a rear axle transmission portion 132 respectively. The high end of the rear axle body 131 of each rear axle 13 is respectively installed on the side of the rear end 112 of the frame body 11. The rear axle transmission portion 132 of each rear axle 13 further includes a rear axle high-end transmission portion 1321 and a rear-axle low-end transmission portion 1322 engaged with the rear-axle high-end transmission portion 1321, wherein the The rear axle high-end transmission portion 1321 is rotatably held inside the rear axle body 131, and the rear-axle high-end transmission portion 1321 is drivably connected to the power distribution output shaft 241 of the power distribution mechanism 24 The rear axle low-end transmission portion 1322 extends from the inside of the rear axle body 131 to the outside, wherein the rear wheel 32 is installed on the rear axle low-end transmission portion 1322. The power output from the power distribution output shaft 241 of the power distribution mechanism 24 is sequentially transmitted to the rear wheels 32 through the rear axle high-end transmission portion 1321 and the rear axle low-end transmission portion 1322 to drive the The rear wheel 32 rotates, so that the rotation of the rear wheel 32 drives the agricultural machine to walk.

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 to allow the rear axle to be high-end inside the rear axle main body 131 The transmission portion 1321 and the power distribution output shaft 241 mesh with each other so that the rear axle high-end transmission portion 1321 is drivably connected to the power distribution output shaft 241. More preferably, the rear axle body 131 of the rear axle 13 is installed on the power distribution mechanism 24, so that the reliability and stability of the structural relationship between the rear axle 13 and the power distribution mechanism 24 can be ensured . For example, the rear axle body 131 of the rear axle 13 is mounted on the power distribution mechanism 24 to allow the power distribution output shaft 241 of the power distribution mechanism 24 to extend to the rear axle 13 The inside of the rear axle body 131 and the inside of the rear axle body 131 allow the rear axle high-end transmission portion 1321 and the power distribution output shaft 241 to mesh with each other.

Further, referring to FIGS. 1 and 2A, the agricultural machine includes a mounting frame 200, the mounting frame 200 is mounted on the rear end 112 of the frame body 11, wherein functional components can be mounted on For the mounting frame 200, for example, the functional component may be but not limited to a rice planting mechanism, so that when the rice planting mechanism is installed on the mounting frame 200, the agricultural machine has a rice planting function. 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 gearbox 22 and from the gearbox 22 to the machine The rear end 112 of the frame body 11 extends in the direction. When the functional component is installed on the mounting frame 200, the functional component output shaft 300 can be installed on the functional component to transmit the power output by the gearbox 22 To functional parts. In addition, the agricultural machine further includes a housing 400 which is mounted on the frame body 11 to form the overall appearance of the agricultural machine.

1 to 7B, the agricultural machine of the present invention further includes an automatic clutch device 50 and an automatic shift device 60, wherein the automatic clutch device 50 and the automatic shift device 60 are respectively connected to the The gearbox 22 of the power unit 20, and the automatic clutch device 50 and the automatic shift 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 gearbox 22, and the automatic gear shift device 60 is used to change the gear fitting position of the gearbox 22. More specifically, after the automatic clutch device 50 cuts off the power transmission of the gearbox 22, the automatic shift device 60 changes the gear fitting position of the gearbox 22 to restore the automatic clutch device 50 After the power of the gearbox 22 is transmitted, the gear position of the agricultural machine is adjusted.

The gearbox 22 includes a gearbox housing 222, a driving gear set 223, a driven gear set 224, an elastic element 225 and a shift lever 226.

The gearbox housing 222 has an internal space 2221, an input shaft passage 2222, a shift lever passage 2223, two output shaft passages 2224, and a shift lever passage 2225, wherein the input shaft passage 2222 is connected to the gearbox One end of the housing 222 communicates with the internal space 2221, the shift lever channel 2225 communicates with the internal space 2221 at the other end of the gearbox housing 222, and the shift lever channel 2223 communicates with the internal space 2221. The side of the gearbox housing 222 communicates with the internal space 2221, and each of the output shaft passages 2224 communicates with the internal space 2221 at opposite ends of the gearbox 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 internal space 2221 of the gearbox housing 222 and the drive input shaft 2231 of the drive gear set 223 pass through the input shaft passage 2222 of the gearbox housing 222 from the gearbox housing The inner space 2221 of 222 extends to the outside to be connected to the power mechanism 21.

The driven gear set 224 has a driven gear 2241, a shift gear 2243 that is drivably connected to the driven gear 2241, and a transmission shaft 2244 that is drivably connected to the shift gear 2243 , Wherein the driven gear 2241, the shift gear 2243 and the transmission shaft 2244 are respectively rotatably held in the internal space 2221 of the gearbox housing 222, and the driven gear 2241 can The driving gear 2232 is fixed to the driving gear set 223 so that the driven gear 2241 and the driving gear 2232 rotate synchronously. Each of the gearbox output shafts 221 is drivably connected to the driven gear set 224 in the internal space 2221 of the gearbox housing 222, and the gearbox output shaft 221 passes through the gearbox The output shaft passage 2224 of the box housing 222 extends from the internal space 2221 of the gear box housing 222 to the outside of the gear box housing 222 to be connected to the front of the front axle 12 Bridge high-end transmission part 1231. For example, the front axle high end 121 of the front axle 12 can be installed on the gearbox housing 222 of the gearbox 22 to allow the gearbox output shaft 221 to extend to the front axle 12 The inside of the front axle high end portion 121 and the inside of the front axle high end portion 121 are engaged with the front axle high end transmission portion 1231 of the front axle 12. Preferably, the shift gear 2243 is sleeved on the transmission shaft 2244, and when the shift gear 2243 moves along the transmission shaft 2244, the gear meshing position of the gearbox 22 can be adjusted to achieve the Shifting of agricultural machinery.

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 driven gear When the positioning protrusion 22411 of the 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 interact with each other. The driving gear 2232 rotates synchronously. Accordingly, when the positioning protrusion 22411 of the driven gear 2241 is separated from the positioning groove 22321 of the driving gear 2232, the driven gear 2241 and the driving gear The gears 2232 are separated. At this time, even if the driving gear 2232 rotates, the driven gear 2241 can remain stationary. Optionally, 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 when the positioning protrusion 22411 of the driving gear 2232 is positioned at the When the positioning groove 22321 of the driven gear 2241 is described, the driven gear 2241 is fixed to the driving gear 2232.

The driven gear set 224 further has a raised portion 2242, wherein one end of the elastic element 225 abuts the raised portion 2242 of the driven gear set 224, and the other end abuts the slave The driving gear 2241, and the elastic element 225 is arranged so that the driven gear 2241 has a direction to move toward the driving gear 2232 so that the positioning protrusion 22411 of the driven gear 2241 is positioned on the driving gear 2232 of the positioning groove 22321 trend. It is worth mentioning that the protruding portion 2242 of the driven gear set 224 may be but not limited to gears.

It is understandable that when the driven gear 2241 is operated to move in a direction away from the driving gear 2232, the positioning protrusion 22411 of the driven gear 2241 can escape from the positioning groove 22321 of the driving gear 2232. At this time, the driven gear 2241 and the protruding portion 2242 cooperate with each other to compress the elastic element 225. When the external force that drives the driven gear 2241 to move away from the driving gear 2232 is removed, the elastic element 225 can restore the initial state to drive the driven gear 2241 to move in the direction of the driving gear 2232, This allows 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.

Continuing to refer to FIGS. 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 The shift lever channel 2223 of the gearbox housing 222 of the gearbox 22 extends to the internal space 2221 of the gearbox housing 222 to be connected to the driven gear of the gearbox 22 The driven gear 2241 of the group 224, wherein the driving portion 51 can drive the driven gear 2241 through the transmission portion 52 to move away from the driving gear 2232 so that the driven gear 2241 is The positioning protrusion 22411 escapes from the positioning groove 22321 of the driving gear 2232 to cut off the power transmission of the gearbox 22.

Specifically, the transmission part 52 includes a shift lever 521, and the shift lever 521 further includes a shift wheel element 5211 and a lever element 5212. The lever element 5212 has an inner end 52121 and an outer end 52122 corresponding to the inner end 52121, wherein the lever element 5212 passes through the shift lever channel 2223 of the gearbox housing 222. The outside of the gearbox housing 222 extends to the inner space 2221 of the gearbox housing 222, so that the inner end 52121 of the lever element 5212 is held at all the gearbox housing 222 The inner space 2221, and the outer end 52122 of the rod element 5212 are held outside the gearbox housing 222. The dial element 5211 is mounted on 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 dial element 5211.

It is worth mentioning that the gearbox housing 222 of the gearbox 22 is used to prevent the rod element 5212 of the transmission part 52 from being displaced, while only allowing the rod element 5212 to be in the gearbox housing The lever channel 2223 of the body 222 rotates. When the lever element 5212 rotates, the lever element 5212 can drive the dial element 5211 to rotate synchronously to realize the swing of the dial element 5211, so that the dial element 5211 drives the follower The driven gear 2241 of the gear set 224 moves 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 separated from the driving gear 2232 The positioning groove 22321 can cut off the power transmission of the gearbox 22 in this way. At this time, the elastic element 225 is squeezed by the driven gear 2241 and the convex portion 2242 to generate elastic deformation. When the external force driving the lever element 5212 to rotate is removed, the elastic element 225 can restore the initial state and drive the driven gear 2241 to move toward the driving gear 2232, so as to allow all the driven gear 2241 to move in the direction of the driving gear 2232. The positioning protrusion 22411 is positioned in the positioning groove 22321 of the driving gear 2232, so that the driven gear 2241 is fixed to the driving gear 2232, so that the power transmission of the gearbox 22 can be restored.

Preferably, the driven gear 2241 of the driven gear set 224 has an annular groove 22412, the dial element 5211 has at least one protrusion 52111, wherein the protrusion 5211 of the dial element 5211 The annular groove 22412 is positioned in the driven gear 2241. In this way, even when the driven gear 2241 is driven by the driving gear 2232 to make a rotational movement, the setting of the dial element 5211 The locking protrusion 52111 can always be held in the annular locking groove 22412 of the driven gear 2241. More preferably, the dial element 5211 includes a dial main body 52112 and two dial arms 52113 spaced apart from each other extending from the dial main body 52112, so as to form a space between the two dial arms 52113. In a dial space 52114 of the dial element 5211, each of the dial arms 52113 is provided with one protrusion 52111, and both of the protrusions 52111 are held in the dial space 52114. A part of the driven gear 2241 is rotatably held in the dial space 52114 defined by the two dial arms 52113 of the dial element 5211 to allow the two locking protrusions 52111 to be symmetrical to each other Is maintained on opposite sides of the driven gear 2241. The dial main body 52112 of the dial element 5211 is mounted on the inner end 52121 of the lever element 5212.

The transmission portion 52 further includes a shift arm 522 having a fixed end 5221 and a driving end 5222 corresponding to the fixed end 5221, wherein the outer end 52122 of the rod element 5212 is It is fixedly arranged at the fixed end 5221 of the shift arm 522, and the shift arm 522 extends from the outer end 52122 of the lever element 5212 toward one end of the gearbox 22, so when When the driving end 5222 of the shift arm 522 is moved upward, the shift arm 522 can drive the shift lever 521 to rotate relative to the gearbox housing 222 to swing through the shift wheel element 5211 At this time, the driven gear 2241 can be driven to move away from the driving gear 2232 to allow the positioning protrusion 22411 of the driven gear 2241 to escape from the positioning groove 22321 of the driving gear 2232 to cut off the The power transmission of the gearbox 22 is described.

It is worth mentioning that the manner in which the outer end 52122 of the rod element 5212 is fixedly arranged on the fixed end 5221 of the shift arm 522 is not limited in the agricultural machine of the present invention. For example, the outer end 52122 of the rod element 5212 may be locked to the fixed end 5221 of the shift arm 522, or the outer end 52122 of the rod element 5212 may be welded to the The fixed end 5221 of the shift arm 522, or the lever element 5212 and the shift arm 522 are an integrated structure.

The transmission part 52 further includes a first pull rod 523, a steering arm 524 and a second pull rod 525. The middle part of the steering arm 524 is rotatably mounted on the gearbox housing 222 of the gearbox 22, and both ends of the steering arm 524 have a first mounting channel 5241 and a second mounting channel respectively 5242. The shift arm 522 has a third mounting channel 52223 formed at the driving end 5222. The first pull rod 523 has a pull rod high end 5231 and a pull rod low end 5232 corresponding to the pull rod high end 5231, wherein the pull rod high end 5231 of the first pull rod 523 is rotatably mounted on the The second installation channel 5242 of the steering arm 524 and the lower end portion 5232 of the pull rod of the first pull rod 523 are rotatably installed on the third installation channel 52223 of the shift arm 522. The second pull rod 525 has a pull rod front end 5251 and a pull rod rear end 5252 corresponding to the pull rod front end 5251. The pull rod front end 5251 of the second pull rod 525 is rotatably mounted on the pull rod. In the first installation channel 5241 of the steering arm 524, the pull rod rear end 5252 of the second pull rod 525 is drivably installed on the driving part 51. Preferably, the driving part 51 is installed on the frame body 11.

When the driving portion 51 pulls the second pull rod 525 toward the rear end 112 of the frame body 11, the second pull rod 525 drives the steering arm 524 relative to the gearbox 22 Active to make the end of the steering arm 524 formed with the first mounting channel 5241 move downward and the end of the steering arm 524 formed with the second mounting channel 5242 to move upward, so The steering arm 524 pulls the driving end 5222 of the shift arm 522 to move upward through the first pull rod 523, so that the lever element 5212 drives the shift wheel element 5211 to drive the driven gear 2241 away from the The direction of the driving gear 2232 allows the positioning protrusion 22411 of the driven gear 2241 to escape from the positioning groove 22321 of the driving gear 2232 to cut off the power transmission of the gearbox 22.

Preferably, the driving part 51 is an electric push rod, so that the driving part 51 can pull the second pull rod 525 toward the rear end 112 of the frame body 11 in a contracted manner. Optionally, the driving part 51 is a driving motor, so that the driving part 51 can pull the second pull rod 525 toward the rear end 112 of the frame body 11 by rotating.

It is worth mentioning that the first pull rod 523 is rotatably installed in such a manner that the lower end 5232 of the pull rod of the first pull rod 523 is installed in the third mounting channel 52223 of the shift arm 522 For the shift arm 522, the first pull rod 523 and the shift arm 522 can only rotate relative to each other on one plane, thereby restricting the rotation mode of the first pull rod 523 and the shift arm 522. The first tie rod 523 is rotatably mounted on the steering arm 524 in a manner that the tie rod high end portion 5231 of the first tie rod 523 is mounted on the second mounting channel 5242 of the steering arm 524, In this way, the first pull rod 523 and the steering arm 524 can only rotate relative to each other in one plane, thereby restricting the rotation mode of the first pull rod 523 and the steering arm 524. The second tie rod 525 is rotatably mounted on the steering arm 524 in a manner that the tie rod front end portion 5251 of the second tie rod 525 is mounted on the first mounting channel 5241 of the steering arm 524, Therefore, the second pull rod 525 and the steering arm 524 can only rotate relative to each other in one plane, thus restricting the rotation mode of the second pull rod 525 and the steering arm 524. The second pull rod 525 is rotatably mounted to the driving portion 51 in such a manner that the pull rod rear end 5252 of the second pull rod 525 is mounted on the driving portion 51, so that the second pull rod 525 The driving part 51 and the driving part 51 can only rotate relative to each other in one plane, so that the rotation mode of the second pull rod 525 and the driving part 51 is restricted.

Preferably, the first mounting channel 5241 of the steering arm 524 is a long-shaped mounting channel extending from the end of the steering arm 524 to the middle direction to allow the second tie rod 525 to The front end portion 5251 of the pull rod moves in the first mounting channel 5241 of the steering arm 524. Specifically, when the driving part 51 drives the second pull rod 525 to move in the first mounting channel 5241 of the steering arm 524, the external force applied to the steering arm 524 is cancelled, so that the The external forces of the first pull rod 523, the shift arm 522, and the shift lever 521 are all cancelled, so that when the elastic element 225 returns to the initial state, the elastic element 225 drives the driven gear 2241 toward The driving gear 2232 moves in the direction 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 is used to restore the power transmission of the gearbox 22.

Optionally, in a modified example of the agricultural machine of the present invention, the driving end 5222 of the shift arm 522 can be directly and drivably connected to the driving part 51 to allow the driving part 51 The driving end 5222 of the shift arm 522 is directly driven to move upward and downward.

Continuing to refer to FIGS. 3 to 7B, the shift lever 226 has a shift end 2261 and a free end 2262 corresponding to the shift end 2261, wherein the free end 2262 of the shift lever 226 passes through The shift lever channel 2225 of the gearbox housing 222 extends from the internal space 2221 of the gearbox housing 222 to the outside of the gearbox housing 222, wherein the driven gear set 224 The shift gear 2243 is drivably installed at the shift end 2261 of the shift lever 226. In the agricultural machine of the present invention, after the driven gear 2241 of the driven gear set 224 is separated from the driving gear 2232 of the driving gear set 223 to cut off the power of the gearbox 22, The free end 2262 of the shift lever 226 is operated outside the gearbox 22, and the shift end 2261 of the shift lever 226 can drive the shift gear 2243 along the transmission shaft 2244 Movement to change the gears of the driven gear set 224 engaged by the shift gear 2243 to complete the shift 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 symmetric shift arm 2263, wherein the two shift arms of the shift arm 2263 The shift arms 2263 extend from the shift end 2261 to the annular groove 22431 of the shift gear 2243 at intervals, so that when the shift gear 2243 rotates, the shift lever The shift arm 2263 of 226 can always be held in the annular groove 22431 of the shift gear 2243.

Further, referring to FIG. 1 to FIG. 6B, the automatic shifting device 60 includes a swing arm 61 and a driver 62. The middle portion of the swing arm 61 is pivotally mounted to the gearbox housing 222 of the gearbox 22 through a fixed shaft 100, wherein the swing arm 61 has an adjusting end 611 and corresponding to the adjusting end 611, the driven end 612 of the swing arm 61 is drivably installed on the driver 62, and the free end 2262 of the shift lever 226 is drivably installed on the 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 separated from the driving gear 2232 of the driving gear set 223 to cut off the power of the gearbox 22 Afterwards, the driver 62 drives the swing arm 61 to rotate around the fixed shaft 100 at the driven end 612 of the swing arm 61 to pull or pull outward through the adjustment end 611 of the swing arm 61. Push the shift lever 226 inward, and the movement of the shift lever 226 drives the shift gear 2243 to move synchronously along the transmission shaft 2244, thereby adjusting the driven gear 2243 meshing with the shift gear 2243. The other gears of the gear set 224 are used to complete the shift operation of the agricultural machine. After the shift gear 2243 is adjusted to a proper position, the elastic element 225 drives the driven gear 2241 to move toward the driving gear 2232 to pass the positioning protrusion of the driven gear 2241 22411 is positioned in the positioning groove 22321 of the driving gear 2232 to fix the driven gear 2241 and the driving gear 2232 so as to restore the power of the gearbox 22.

Optionally, the middle portion of the swing arm 61 can be pivotally mounted to the frame body 11 through the fixed shaft 100, so that the driver 62 can also drive the swing arm 61 around the fixed axis 100 rotations.

Preferably, the driver 62 drives the swing arm 61 to rotate around the fixed shaft 100 in a telescopic motion. In this way, the agricultural machine can prevent the power generated by the driver 62 from moving toward the swing arm. The undesirable phenomenon of transmission failure occurs during the transmission of the arm 61, thereby ensuring the reliability of the automatic gear shifting device 60 and the stability of the agricultural machine. For example, in this preferred example of the agricultural machine of the present invention, the driver 62 is an electric push rod, which has a contracted state and an extended state, wherein one end of the driver 62 is rotatably Installed on the frame body 11. When the driver 62 switches from the extended state to the contracted state, the driver 62 can drive the driven end 612 of the swing arm 61 to move closer to the gearbox 22, and because of the The middle part of the swing arm 61 rotates around the fixed shaft 100, so that the adjustment end 611 of the swing arm 61 moves away from the gearbox 22, and the adjustment end 611 of the swing arm 61 The movement drives the shift lever 226 to be pulled outward, and the shift lever 226 pulls the shift gear 2243 to move along the transmission shaft 2244 to adjust the driven gear engaged by the shift gear 2243. Gears of gear set 224. Correspondingly, when the driver 62 transitions from the contracted state to the extended state, the driver 62 can drive the driven end 612 of the swing arm 61 to move away from the gearbox 22, And because the middle part of the swing arm 61 rotates around the fixed shaft 100, the adjustment end 611 of the swing arm 61 moves toward the direction of the gearbox 22, and the adjustment of the swing arm 61 The movement of the end 611 drives the shift lever 226 to be pushed inward, and the shift lever 226 pushes the shift gear 2243 to move along the transmission shaft 2244 to adjust the mesh of the shift gear 2243. The gears of the driven gear set 224 are described. Optionally, the driver 62 may be a drive motor, which drives the driven end 612 of the swing arm 61 to move toward the gearbox 22 or move away from the gearbox by rotating. Movement in the direction of 22.

More preferably, the driver 62 is rotatably installed on the frame body 11, so that during the process of the driver 62 being converted between the retracted state and the extended state, the driver 62 is relatively The installation angle of the frame body 11 can be automatically adjusted. In this way, by controlling the angle of the driver 62 relative to the frame body 11, it is convenient to control the driven gear engaged by the shift gear 2243. The gears of the gear set 224 are used to control the gears of the agricultural machinery. For example, in a preferred example of the agricultural machine of the present invention, the driver 62 can be provided with an angle sensor to detect the angle of the driver 62, so that the agricultural machine can be based on the The angle determines the gear position of the agricultural machine, or by turning the driver 62 to a proper angle, the agricultural machine can be adjusted to be in a proper gear position.

Optionally, in other examples of the agricultural machine of the present invention, the driver 62 is rotatably mounted on the gearbox 22, so that when the driver 62 is in the retracted state and the extended state During the conversion process, the installation angle of the driver 62 relative to the gearbox 22 can be automatically adjusted. In this way, the angle of the driver 62 relative to the gearbox 22 can be conveniently controlled. The gears of the driven gear set 224 meshed with the shift gear 2243.

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

Continuing to refer to FIGS. 1 to 14, the agricultural machine further includes an automatic steering device 40, wherein the automatic steering device 40 can at least control the steering of a pair of the front wheels 31 to realize the steering of the agricultural machine. For example, the automatic steering device 40 can realize the steering of the front wheels 31 by controlling the front axle low end 122 of the front axle 12 to rotate relative to the front axle high end 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 be relative to the front axle high end 121 based on the steering signal. The rotation of the front wheel 31 controls the steering of the front wheel 31, thereby realizing the automatic steering of the agricultural machine.

Specifically, referring to FIGS. 8A and 8B, the automatic steering device 40 includes a driving motor 41, a driving disc 42 and two front axle steering mechanisms 43, wherein the driving motor 41 is installed on the frame body 11 , The drive disc 42 is drivably mounted on the drive motor 41, one end of each front axle steering mechanism 43 is rotatably mounted on the drive disc 42, and each of the front axles The other end of the axle steering mechanism 43 is respectively mounted on the front axle low end 122 of each of the front axles 12, so that when the drive motor 41 drives the drive plate 42 to rotate, the drive plate 42 can drive each of the front axle steering mechanisms 43 to rotate, so that the front axle low end 122 of the front axle 12 is pulled by a front axle steering mechanism 43 relative to the front axle high end. 121, and the other front axle steering mechanism 43 pushes the front axle low end 122 of the other front axle 12 to rotate relative to the front axle high end 121, so that when the When the front axle low end 122 rotates relative to the front axle high end 121, the front wheel 31 is driven by the front axle low end 122 to make a steering relative to the frame body 11 to achieve The steering of the agricultural machinery.

For example, when the agricultural machine generates the steering signal, the drive motor 41 can be powered (the drive motor 41 can work) and be controlled (the working mode of the drive motor 41 is controlled, such as speed and rotation. The width is controlled) to drive the drive plate 42 to rotate, so that the drive plate 42 drives each of the front axle steering mechanisms 43 when rotating, so that one of the front axle steering mechanisms 43 pulls one of the front axles. The front axle low end 122 of 12 rotates relative to the front axle high end 121, and the front axle low end of the other front axle 12 is pushed by the other front axle steering mechanism 43 The portion 122 rotates relative to the high end portion 121 of the front axle.

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 Symmetrical. More preferably, the distance between the drive disc 42 and the front axle 12 is smaller than the distance between the drive disc 42 and the rear axle 13, so that the drive disc 42 is close to the front axle 12. In this way, the steering flexibility of the agricultural machine is improved.

Preferably, in this specific example of the agricultural machine shown in FIGS. 1 to 14, the drive motor 41 is mounted on the frame body 11 from top to bottom, and the rotor of the drive motor 41 Extending to the lower space of the main body of the frame body 11, so that the drive disk 42 that is drivably mounted on the rotor of the drive motor 41 is held in the lower space of the main body 11, through such In this way, the structure of the agricultural machine can be more compact.

8A and 8B, each of the front axle steering mechanism 43 includes a first front axle steering arm 431 and a first front axle steering arm 431 pivotally mounted on the end of the first front axle steering arm 431 Two front axle steering arms 432, so that the second front axle steering arm 432 is rotatably installed on 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 rotation plane, thereby restricting the first front axle steering arm 431 and The rotation mode of the second front axle steering arm 432. It can be 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. The mounting end of the first front axle steering arm 431 is rotatably mounted on the drive plate 42, and the mounting end of the second front axle steering arm 432 is mounted on the lower front axle of the front axle 12.端部122。 End 122. It should be noted that, in the agricultural machine of the present invention, the installation end of the second front axle steering arm 432 of the front axle steering mechanism 43 is fixedly installed on the front axle of the front axle 12 The low end 122 prevents the second front axle steering arm 432 from rotating relative to the front axle low end 122 of the front axle 12.

When the driving motor 41 rotates in the first direction, the installation 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 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 at the same time to push the pivot end of the first front axle steering arm 431 The front axle low end 122 of the front axle 12 on the left side of the agricultural machine rotates relative to the front axle high end 121 to drive the front wheel 31 on the left side of the agricultural machine Correspondingly, the installation end of the first front axle steering arm 431 of the front axle steering mechanism 43 located on the right side of the agricultural machine is driven by the drive plate 42 to be relative to the drive plate 42 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 to pull the all on the right side of the agricultural machine The low end 122 of the front axle of the front axle 12 rotates relative to the high end 121 of the front axle, thereby driving the front wheel 31 on the right side of the agricultural machine to steer.

When the driving motor 41 rotates in a second direction opposite to the first direction, the installation end of the first front axle steering arm 431 of the front axle steering mechanism 43 located on the right side of the agricultural machine Driven by the drive disc 42 to rotate relative to the drive disc 42, at the same time, the pivot end of the second front axle steering arm 432 is pivoted relative to the first front axle steering arm 431 The shaft end rotates 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 agricultural machine The front wheel 31 on the right side turns; 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 driven by the drive disc 42 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 at the same time, so as to pull the pivot end of the first front axle steering arm 431 The front axle low end 122 of the front axle 12 on the left side of the agricultural machine rotates relative to the front axle high end 121 to drive the front wheel 31 on the left side of the agricultural machine Steering.

Continuing to refer to FIGS. 1 to 14, the power distribution mechanism 24 further includes a distribution portion 242 which is drivably connected to the power transmission mechanism 23, wherein each of the power distribution output shafts 241 They are detachably connected to each side of the distribution part 242 respectively. In other words, each of the power distribution output shafts 241 respectively extends from the distribution portion 242 to the rear axle high-end transmission portion 1321 of each of the rear axles 13. When the power distribution output shaft 241 is connected to the distribution portion 242, and the power output by the power mechanism 21 is sequentially transmitted to all of the power distribution mechanism 24 through the gearbox 22 and the power transmission mechanism 23 In the case of the distribution part 242, the distribution part 242 can further transmit power to the rear axle 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 The rear wheel 32 drives the rear wheel 32 to rotate. Correspondingly, 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 realize the steering of the agricultural machine by controlling the differential speed of the pair of rear wheels 32. Specifically, each rear axle steering mechanism 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, two ends of the first rear axle steering arm 441 are pivotally mounted on the drive plate 42 and one end of the second rear axle steering arm 442, and the third rear axle steering arm The two ends of the 443 are respectively pivotally mounted to the other end of the second rear axle steering arm 442 and one end of the fourth rear axle steering arm 444. The fourth rear axle steering arm The other end of the 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 rotation plane, thereby restricting the first rear axle steering arm 441 and The rotation mode of 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 rotation plane, thereby limiting The rotation mode 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 It can only rotate in one rotation plane, thereby limiting the rotation mode of the third rear axle steering arm 443 and the fourth rear axle steering arm 444.

Specifically, when the driving motor 41 rotates in the first direction, the first rear axle steering arm 441 and the second rear axle steering arm 441 of the rear axle steering mechanism 44 located on the left side of the agricultural machine The axle steering arm 442, the third rear axle steering arm 443, and the fourth rear axle steering arm 444 can cooperate with each other to drive the power distribution output shaft 241 of the power distribution mechanism 24 away from the distribution portion 242, So that the rear wheel 32 located on the left side of the agricultural machine is stationary. Correspondingly, when the driving motor 41 rotates in the second direction, the first rear axle steering arm 441 and the second rear axle of the rear axle steering mechanism 44 on the right side of the agricultural machine The steering arm 442, the third rear axle steering arm 443, and the fourth rear axle steering arm 444 can cooperate with each other to drive the power distribution output shaft 241 of the power distribution mechanism 24 away from the distribution portion 242 to The rear wheel 32 located on the right side of the agricultural machine is stopped. 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 In cooperation with each other, 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 of the rear axle steering mechanism 44, the The second rear axle steering arm 442, the third rear axle steering arm 443, and the fourth rear axle steering arm 444 can cooperate with each other to pull the power distribution output shaft 241 outward to make the power distribution output shaft 241 It is driveably connected to the distribution part 242.

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

Those skilled in the art can understand that the agricultural machine of the present invention allows the third rear axle steering arm 443 of the rear axle steering mechanism 44 to pass through the arm passage 2433 of the power distribution housing 243 The accommodating space 2431 extending to the power distribution housing 243 is pivotally connected to the fourth rear axle steering arm 444, which can prevent the third rear axle steering arm 443 from being connected to the power distribution housing The relative position of 243 is changed and only the third rear axle steering arm 443 is allowed to rotate relative to the power distribution shell 243, so that the third rear axle steering arm 443 rotates to drive the fourth rear axle When the steering arm 444 is turned, the fourth rear axle steering arm 444 can drive the power distribution output shaft 241 away from the distribution portion 242 or drive the power distribution output shaft 241 to be connected to the distribution portion 242.

Figures 9A to 10 respectively show a partial state of the agricultural machine of the present invention when it is traveling in a straight line. At this time, the two front axle steering mechanisms 43 of the automatic steering device 40 are symmetrical to each other, and the The two rear axle steering mechanisms 44 of the automatic steering device 40 are symmetrical to each other. In addition, both the two power distribution output shafts 241 can be connected to the distribution part 242. When the power mechanism 21 and the gearbox 22 cooperate with each other to output power, the power sequentially passes through each gearbox output shaft 221 of the gearbox 22 and the front axle of each front axle 12 The high-end transmission portion 1231 and the front axle low-end transmission portion 1232 are transmitted to each of the front wheels 31 to drive the front wheels 31 to rotate, and the power sequentially passes through the power transmission mechanism 23 and the power distribution mechanism 24 The distribution portion 242 and each of the power distribution output shafts 241 and the rear axle high-end transmission portion 1321 and the rear axle low-end transmission portion 1322 of each of the rear axles 13 are transmitted to each of the The rear wheel 32 drives the rear wheel 32 to rotate, so that the agricultural machine is driven to be in a walking state.

Attachments 11A to 12 respectively show the local state of the agricultural machine of the present invention when it is turning to the left. At this time, the driving motor 41 of the automatic steering device 40 rotates in the first direction and is located at the The installation 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 drive disk 32 to rotate relative to the drive disk 42, 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 to push the front axle 12 on the left side of the agricultural machine The low end 122 of the front axle rotates relative to the high end 121 of the front axle, thereby driving the front wheel 31 on the left side of the agricultural machine to steer; accordingly, the all on the right side of the agricultural machine The mounting end of the first front axle steering arm 431 of the front axle steering mechanism 43 is driven by the drive disk 32 to rotate relative to the drive disk 42. At the same time, the second front axle steering arm The pivot end of 432 rotates relative to the pivot end of the first front axle steering arm 431 to pull the front axle low end 122 of the front axle 12 located on the right side of the agricultural machine to oppose The rotation of the high end 121 of the front axle drives the front wheel 31 on the right side of the agricultural machine to steer. When the power mechanism 21 and the gearbox 22 cooperate with each other to output power, the power sequentially passes through each gearbox output shaft 221 of the gearbox 22 and the front axle of each front axle 12 The high-end transmission portion 1231 and the front axle low-end transmission portion 1232 are transmitted to each of the front wheels 31 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, and the third rear axle steering arm 443 of the rear axle steering mechanism 44 located on the left side of the agricultural machine And the fourth rear axle steering arm 444 cooperate with each other to drive the power distribution output shaft 241 of the power distribution mechanism 24 to move inwardly to separate from the distribution portion 242, so as to prevent power from being transmitted to the distribution portion 242 The power distribution output shaft 241 on the left. In other words, power is only allowed to be transmitted to the power distribution output shaft 241 on the right through the distribution portion 242, and continues to pass through the rear axle high-end transmission portion 1321 and the rear axle low-end transmission portion 1321 of the rear axle 13 The transmission part 1322 transmits to the rear wheel 32 on the right to drive the rear wheel 32 on the right to rotate. In this way, the agricultural machine can be turned to the left.

It is worth noting that when the agricultural machine transitions from the left-turn state to the straight-running state, the first rear axle steering arm 441 and the first rear axle steering arm 441 of the rear axle steering mechanism 44 on the left side of the agricultural machine The second rear axle steering arm 442, the third rear axle steering arm 443, and the fourth rear axle steering arm 444 cooperate with each other to drive the power distribution output shaft 241 of the power distribution mechanism 24 to move outward to connect the The distribution part 242 allows the rear wheel 32 on the left to be driven to rotate.

FIGS. 13A to 14 respectively show the local state of the agricultural machine of the present invention when it is turning right when driving. At this time, the driving motor 41 of the automatic steering device 40 rotates in the second direction and is located at 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 to push the front axle 12 on the right side of the agricultural machine The low end portion 122 of the front axle rotates relative to the high end portion 121 of the front axle, thereby driving the front wheel 31 on the right side of the agricultural machine to steer; accordingly, the left side of the agricultural machine The mounting end of the first front axle steering arm 431 of the front axle steering mechanism 43 is driven by the driving disc 42 to rotate relative to the driving disc 42, and at the same time, the second front axle is steered The pivot end of the arm 432 rotates relative to the pivot end of the first front axle steering arm 431 to pull the front axle low end 122 of the front axle 12 on the left side of the agricultural machine. Relative to the rotation of the high end 121 of the front axle, the front wheel 31 on the left side of the agricultural machine is driven to turn. When the power mechanism 21 and the gearbox 22 cooperate with each other to output power, the power sequentially passes through each gearbox output shaft 221 of the gearbox 22 and the front axle of each front axle 12 The high-end transmission portion 1231 and the front axle low-end transmission portion 1232 are transmitted to each of the front wheels 31 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, and the third rear axle steering arm 443 of the rear axle steering mechanism 44 located on the right side of the agricultural machine And the fourth rear axle steering arm 444 cooperate with each other to drive the power distribution output shaft 241 of the power distribution mechanism 24 to move inwardly to separate from the distribution portion 242, so as to prevent power from being transmitted to the distribution portion 242 The power distribution output shaft 241 on the right. In other words, power is only allowed to be transmitted to the power distribution output shaft 241 on the left through the distribution portion 242, and continues to pass through the rear axle high-end transmission portion 1321 and the rear axle low-end transmission portion 1321 of the rear axle 13 The transmission part 1322 transmits to the rear wheel 32 on the left to drive the rear wheel 32 on the left to rotate. In this way, the agricultural machine can be turned to the right.

It is worth noting that when the agricultural machine transitions from the right-turned state to the straight-running state, the first rear axle steering arm 441 and the first rear axle steering arm 441 of the rear axle steering mechanism 44 located on the right side of the agricultural machine The second rear axle steering arm 442, the third rear axle steering arm 443, and the fourth rear axle steering arm 444 cooperate with each other to drive the power distribution output shaft 241 of the power distribution mechanism 24 to move outward to connect the The distribution portion 242 allows the rear wheel 32 on the right side to be driven to rotate.

Further, referring to the drawings FIGS. 9A, 9B, 11A, 11B, 13A and 13B, the automatic steering device 40 further includes a rotation angle detector 45, wherein the rotation angle detector 45 includes a sensor assembly 451 And a detection rod 452, the sensor assembly 451 has a sliding groove 4511, the low end of the detection rod 452 is mounted on the drive plate 42, and the high end of the detection rod 452 is slidably mounted on the sensor The sliding groove 4511 of the assembly 451 allows the high end of the detection rod 452 to slide in the sliding groove 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 rotate in the sliding groove 4511 of the sensor assembly 451 at the high end of the detection rod 452 At the same time, the sensor assembly 451 is driven to rotate synchronously relative to the frame body 11, so as to control the steering angle of the agricultural machine by obtaining the detection data of the sensor assembly 451, thereby accurately Control the walking path of the agricultural machine.

Continuing to refer to Figures 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 automatic clutch device 50 The drive unit 51, the driver 62 of the automatic shift device 60, and the drive motor 41 of the automatic steering device 40 are respectively controllably connected to the processor 70, wherein the processor 70 is based on the The positioning device 80 and the monitoring device 90 control the working states of the driving part 51, the driver 62 and the driving motor 41.

For example, the processor 70 controls the agricultural machine to walk along a straight line along a preset path on a work site. In this process, 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 gear, it generates a clutch signal and a gear shift signal, wherein first based on the clutch signal, the processor 70 controls the driving of the automatic clutch device 50 The driving part 51 drives 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 part 52 by the driving part 51 to move Cut off the power transmission of the gearbox 22, and secondly, based on the shift signal, the processor 70 controls the driver 62 of the automatic shift device 60 and is driven by the driver 62 through the swing arm 61 The shift lever 226 adjusts the gears of the transmission 22 meshed by the shift gear 2243 of the driven gear set 224, and then the processor 70 controls the driving part of the automatic clutch device 50 51. Withdraw the driving force applied to the transmission portion 52 to make the driven gear 2241 of the driven gear set 224 face the driving gear set under the action of the elastic element 225 of the gearbox 22 The driving gear 2232 of 223 moves in the direction to fix the driven gear 2241 to the driving gear 2232, thereby restoring the power transmission of the gearbox 22. Through the above-mentioned process, the gear position of the agricultural machine is replace. If the processor 70 determines that the agricultural machine needs to be turned to generate a steering signal, based on the steering signal, the processor 70 can control the drive motor 41 of the automatic steering device 40 to use the The drive motor 41 drives the drive plate 42 to rotate, so that the rotation of the drive plate 42 drives each of the front axle steering mechanisms 43 to drive the front axle low end 122 of each of the front axles 12 relative to the The rotation of the front axle high-end portion 121 turns each of the front wheels 31, and drives the rear axle steering mechanism 44 on the corresponding side to cut off the power transmission of the power split mechanism 24 to make the two rear wheels 32 There is a speed difference to turn each of the rear wheels 32.

Those skilled in the art can understand that the above embodiments are only examples, in which the features of different embodiments can be combined with each other to obtain implementations that are easily conceivable according to the disclosure of the present invention but are not clearly indicated in the drawings.

Those skilled in the art should understand that the above description and the embodiments of the present invention shown in the accompanying drawings are only examples and do not limit the present invention. The purpose of the present invention has been completely and effectively achieved. The functions and structural principles of the present invention have been shown and explained in the embodiments. Without departing from the principles, the embodiments of the present invention may have any deformation or modification.

Claims

An agricultural machine, characterized in that it includes:

A walking device;

A rack device;

A power device, which includes a power mechanism and a gearbox. The gearbox includes a gearbox housing, a driving gear set, a driven gear set, and a shift lever. The gearbox housing has an interior Space, a shift lever channel communicating with the internal space on the front side of the gearbox, and a shift lever channel communicating with the internal space on the end of the gearbox housing, wherein the driving gear set has A driving gear which is accommodated in the internal space and is driveably connected to the power mechanism, wherein the driven gear set has a driven gear accommodated in the internal space, a transmission shaft, and a driven gear A shift gear sleeved on the transmission shaft and driveably connected to the shift end of the shift lever, the driven gear is detachably fixed to the driving gear, and the shift lever is free The end extends to the outside of the gearbox through the shift lever channel;

An automatic clutch device comprising a driving part and a transmission part drivably connected to the driving part, the transmission part extending from the outside of the gearbox to the internal space through the shift lever channel, To allow the driven gear to be drivably connected to the transmission part; and

An automatic gear shifting device, which includes a driver and a swing arm, wherein the drive portion has an adjusting end and a driven end corresponding to the adjusting end, and the driven end of the swing arm is drivably Mounted on the driver, the free end of the shift lever is drivably mounted on the adjustment end of the swing arm, wherein the swing arm is configured to drive the swing arm by the driver At the driven end, the middle part of the swing arm is allowed to rotate around a fixed axis.
The agricultural machine according to claim 1, wherein the gearbox further comprises an elastic element, the driven gear has a convex portion, and the elastic element is disposed on the driven gear and the convex portion In between, and the elastic element is arranged to enable the driven gear to move toward the driving gear to fix the driven gear to the driving gear.
The agricultural machine according to claim 2, wherein the transmission part includes a shift arm and a shift lever, wherein the shift arm has a fixed end and a driving end corresponding to the fixed end, wherein the shift lever includes A lever element and a dial element, the lever element has an inner end and an outer end corresponding to the inner end, the lever element is free from the lever passage through the gearbox housing The outside of the gearbox extends to the inner space to allow the driven gear to be drivably connected to the inner end of the lever element, wherein the outer end of the lever element is fixed The ground is arranged at the fixed end of the arm.
The agricultural machine according to claim 3, wherein the shift arm extends from the outer end of the lever element toward one end of the gearbox to allow the driver to drive all the shift arm When the driving end moves upward or downward, the fixed end of the shift arm rotates around the lever element.
The agricultural machine according to claim 4, wherein the driven gear has an annular groove, the dial element has at least one protrusion, wherein the protrusion of the dial element is positioned on the slave The annular groove of the movable gear.
The agricultural machine according to claim 5, wherein the dial element includes a dial main body and two dial arms extending from the dial main body at intervals to form a dial between the two dial arms Space, each of the dial arms is provided with a protrusion, and the protrusion is held in the dial space, wherein the dial body is installed in the inner part of the lever element End, wherein a part of the driven gear is rotatably held in the dial space of the dial element, so that the two latching protrusions are held in the driven gear in a mutually symmetrical manner On opposite sides.
The agricultural machine according to claim 1, wherein the driving gear has at least one positioning groove, the driven gear has at least one positioning protrusion, and the positioning protrusion of the driven gear can be positioned at the The positioning groove of the driving gear.
The agricultural machine according to claim 1, wherein the driving gear has at least one positioning protrusion, the driven gear has at least one positioning groove, and wherein the positioning protrusion of the driving gear can be positioned on the The positioning groove of the driven gear.
The agricultural machine according to claim 1, wherein the transmission part further comprises a first tie rod, a second tie rod and a steering arm, wherein the middle part of the steering arm is rotatably mounted on the gearbox, wherein Both ends of the first pull rod are respectively rotatably installed on the driving end of the shift arm and one end of the steering arm, and one end of the second pull rod is rotatably installed on the The other end of the steering arm, and the other end of the second pull rod is drivably mounted to the driving part.
The agricultural machine according to claim 6, wherein the transmission part further comprises a first tie rod, a second tie rod and a steering arm, wherein the middle part of the steering arm is rotatably mounted on the gearbox, wherein Both ends of the first pull rod are respectively rotatably installed on the driving end of the shift arm and one end of the steering arm, and one end of the second pull rod is rotatably installed on the The other end of the steering arm, and the other end of the second pull rod is drivably mounted to the driving part.
The agricultural machine according to claim 9, wherein the end of the second pull rod is slidably mounted on the steering arm.
The agricultural machine according to claim 11, wherein the steering arm has an elongated first mounting channel to allow the first mounting channel to extend from the end of the steering arm to the middle, wherein the The end of the tie rod is rotatably and slidably mounted on the first mounting channel of the steering arm.
The agricultural machine according to claim 1, wherein the middle part of the swing arm is rotatably mounted to the gearbox housing through the fixed shaft.
The agricultural machine according to claim 6, wherein the middle part of the swing arm is rotatably mounted to the gearbox housing through the fixed shaft.
The agricultural machine according to claim 12, wherein the middle portion of the swing arm is rotatably mounted to the gearbox housing through the fixed shaft.
The agricultural machine according to claim 13, wherein the driver is drivably mounted on the rack device.
The agricultural machine according to claim 1, wherein the walking 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 The front axle includes a front axle high end, a front axle low end, and a front axle transmission portion. The front axle high end is arranged on the side of the front end of the frame body, and the front axle low end Is rotatably arranged at the lower part of the low end of the front axle, and the front axle transmission part is rotatably arranged in the interior of the high end of the front axle and the interior of the low end of the front axle. The low end of the front axle extends to the outside of the low end of the front axle, the front wheel is mounted on the front axle transmission part, and the rear axle is arranged at the rear end of the frame body. On the side, the rear wheel is arranged on the rear axle, wherein the agricultural machine further includes an automatic steering device, which includes a drive motor, a drive disc and two front axle steering mechanisms, the drive disc is arranged on The frame body, the drive disc is drivably disposed on the drive motor, each of the front axle steering mechanisms respectively includes a first front axle steering arm and is pivotally mounted on the first front axle A second front axle steering arm of the axle steering arm, wherein the mounting end of the first front axle steering arm of each of the front axle steering mechanisms is symmetrically and rotatably mounted to the drive disc, and each The mounting end of the second front axle steering arm of the front axle steering mechanism is mounted on the lower end of the front axle of each of the front axles.
The agricultural machine according to claim 6, wherein the walking 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 The front axle includes a front axle high end, a front axle low end, and a front axle transmission portion. The front axle high end is arranged on the side of the front end of the frame body, and the front axle low end Is rotatably arranged at the lower part of the low end of the front axle, and the front axle transmission part is rotatably arranged in the interior of the high end of the front axle and the interior of the low end of the front axle. The low end of the front axle extends to the outside of the low end of the front axle, the front wheel is mounted on the front axle transmission part, and the rear axle is arranged at the rear end of the frame body. On the side, the rear wheel is arranged on the rear axle, wherein the agricultural machine further includes an automatic steering device, which includes a drive motor, a drive disc and two front axle steering mechanisms, the drive disc is arranged on The frame body, the drive disc is drivably disposed on the drive motor, each of the front axle steering mechanisms respectively includes a first front axle steering arm and is pivotally mounted on the first front axle A second front axle steering arm of the axle steering arm, wherein the mounting end of the first front axle steering arm of each of the front axle steering mechanisms is symmetrically and rotatably mounted to the drive disc, and each The mounting end of the second front axle steering arm of the front axle steering mechanism is mounted on the lower end of the front axle of each of the front axles.
The agricultural machine according to claim 16, wherein the walking 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 The front axle includes a front axle high end, a front axle low end, and a front axle transmission portion. The front axle high end is arranged on the side of the front end of the frame body, and the front axle low end Is rotatably arranged at the lower part of the low end of the front axle, and the front axle transmission part is rotatably arranged in the interior of the high end of the front axle and the interior of the low end of the front axle. The low end of the front axle extends to the outside of the low end of the front axle, the front wheel is mounted on the front axle transmission part, and the rear axle is arranged at the rear end of the frame body. On the side, the rear wheel is arranged on the rear axle, wherein the agricultural machine further includes an automatic steering device, which includes a drive motor, a drive disc and two front axle steering mechanisms, the drive disc is arranged on The frame body, the drive disc is drivably disposed on the drive motor, each of the front axle steering mechanisms respectively includes a first front axle steering arm and is pivotally mounted on the first front axle A second front axle steering arm of the axle steering arm, wherein the mounting end of the first front axle steering arm of each of the front axle steering mechanisms is symmetrically and rotatably mounted to the drive disc, and each The mounting end of the second front axle steering arm of the front axle steering mechanism is mounted on the lower end of the front axle of each of the front axles.
The agricultural machine according to claim 19, wherein the drive motor is mounted on the frame body from top to bottom to allow the drive disk to be held in the lower space of the frame body.
The agricultural machine according to claim 19, wherein the rear axle includes a rear axle main body and a rear axle transmission part, and the high end of the rear axle main body is installed on the side of the rear end of the frame body, The rear axle transmission portion is rotatably held inside the rear axle main body, and the rear axle transmission portion extends from the lower end of the rear axle main body to the outside of the rear axle main body, and the rear wheel Is installed in the rear axle transmission part, wherein the power device includes a power transmission mechanism and a power distribution mechanism, the power distribution mechanism further includes a distribution part and two power distribution output shafts, the distribution part is held in Between a pair of the rear axles, each of the power distribution output shafts respectively extends from the distribution portion to and is connected to the rear axle transmission portion, and both ends of the power transmission mechanism are respectively connected to the Gearbox and the distribution part.
The agricultural machine according to claim 20, wherein the rear axle includes a rear axle body and a rear axle transmission part, and the high end of the rear axle body is installed on the side of the rear end of the frame body, The rear axle transmission portion is rotatably held inside the rear axle main body, and the rear axle transmission portion extends from the lower end of the rear axle main body to the outside of the rear axle main body, and the rear wheel Is installed in the rear axle transmission part, wherein the power device includes a power transmission mechanism and a power distribution mechanism, the power distribution mechanism further includes a distribution part and two power distribution output shafts, the distribution part is held in Between a pair of the rear axles, each of the power distribution output shafts respectively extends from the distribution portion to and is connected to the rear axle transmission portion, and both ends of the power transmission mechanism are respectively connected to the Gearbox and the distribution part.
The agricultural machine according to claim 22, wherein the power distribution output shaft is detachably mounted to the distribution part.
The agricultural machine according to claim 23, wherein the automatic steering device further comprises two rear axle steering mechanisms, each of the rear axle steering mechanisms 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 mounted to one end of the drive disc and the second rear axle steering arm The two ends of the third rear axle steering arm are respectively rotatably mounted on the other end of the second rear axle steering arm and one end of the fourth rear axle steering arm, and the first The other end of the four rear axle steering arm is rotatably mounted on the power distribution output shaft.
24. The agricultural machine according to claim 24, wherein the power distribution mechanism comprises a power distribution shell, the power distribution shell has a containing space, and two ends of the power distribution shell are respectively connected with an output of the containing space A shaft passage and an arm passage, the distribution part is rotatably held in the accommodation space, the power distribution output shaft extends from the accommodation space to the outside through the output shaft passage, and the fourth rear axle is steered The arm extends from the outside to the containing space through the arm channel.
The agricultural machine according to claim 24, wherein the first front axle steering arms of each of the front axle steering mechanisms are mounted symmetrically to each other on both sides of the front of the drive disc, and each of the The first rear axle steering arms of the rear axle steering mechanism are symmetrically installed on both sides of the rear part of the drive disc.
The agricultural machine according to claim 24, wherein the distance between the ends of the second rear axle steering arms of the two rear axle steering mechanisms that are connected to the first rear axle steering arm is greater than the The distance between the ends of the second rear axle steering arm that are connected to the third rear axle steering arm.