WO2020258645A1 - 田间农业机械测试平台 - Google Patents

田间农业机械测试平台 Download PDF

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Publication number
WO2020258645A1
WO2020258645A1 PCT/CN2019/116404 CN2019116404W WO2020258645A1 WO 2020258645 A1 WO2020258645 A1 WO 2020258645A1 CN 2019116404 W CN2019116404 W CN 2019116404W WO 2020258645 A1 WO2020258645 A1 WO 2020258645A1
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WO
WIPO (PCT)
Prior art keywords
trolley
test
agricultural machinery
field
hook
Prior art date
Application number
PCT/CN2019/116404
Other languages
English (en)
French (fr)
Inventor
王在满
张明华
罗锡文
许�鹏
臧英
杨文武
刘顺财
苏淼
裴娟
何思禹
叶扬青
Original Assignee
华南农业大学
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by 华南农业大学 filed Critical 华南农业大学
Priority to JP2021577373A priority Critical patent/JP7323222B2/ja
Priority to US17/623,305 priority patent/US20220373433A1/en
Publication of WO2020258645A1 publication Critical patent/WO2020258645A1/zh

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Classifications

    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01M—TESTING STATIC OR DYNAMIC BALANCE OF MACHINES OR STRUCTURES; TESTING OF STRUCTURES OR APPARATUS, NOT OTHERWISE PROVIDED FOR
    • G01M99/00—Subject matter not provided for in other groups of this subclass
    • G01M99/008—Subject matter not provided for in other groups of this subclass by doing functionality tests
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01M—TESTING STATIC OR DYNAMIC BALANCE OF MACHINES OR STRUCTURES; TESTING OF STRUCTURES OR APPARATUS, NOT OTHERWISE PROVIDED FOR
    • G01M13/00—Testing of machine parts
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
    • B60T17/00—Component parts, details, or accessories of power brake systems not covered by groups B60T8/00, B60T13/00 or B60T15/00, or presenting other characteristic features
    • B60T17/18—Safety devices; Monitoring
    • B60T17/22—Devices for monitoring or checking brake systems; Signal devices
    • B60T17/221—Procedure or apparatus for checking or keeping in a correct functioning condition of brake systems
    • B60T17/222—Procedure or apparatus for checking or keeping in a correct functioning condition of brake systems by filling or bleeding of hydraulic systems
    • B60T17/223—Devices for pressurising brake systems acting on pedal
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01L—MEASURING FORCE, STRESS, TORQUE, WORK, MECHANICAL POWER, MECHANICAL EFFICIENCY, OR FLUID PRESSURE
    • G01L5/00—Apparatus for, or methods of, measuring force, work, mechanical power, or torque, specially adapted for specific purposes
    • G01L5/16—Apparatus for, or methods of, measuring force, work, mechanical power, or torque, specially adapted for specific purposes for measuring several components of force
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01M—TESTING STATIC OR DYNAMIC BALANCE OF MACHINES OR STRUCTURES; TESTING OF STRUCTURES OR APPARATUS, NOT OTHERWISE PROVIDED FOR
    • G01M13/00—Testing of machine parts
    • G01M13/02—Gearings; Transmission mechanisms
    • G01M13/027—Test-benches with force-applying means, e.g. loading of drive shafts along several directions
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01M—TESTING STATIC OR DYNAMIC BALANCE OF MACHINES OR STRUCTURES; TESTING OF STRUCTURES OR APPARATUS, NOT OTHERWISE PROVIDED FOR
    • G01M17/00—Testing of vehicles
    • G01M17/007—Wheeled or endless-tracked vehicles
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01M—TESTING STATIC OR DYNAMIC BALANCE OF MACHINES OR STRUCTURES; TESTING OF STRUCTURES OR APPARATUS, NOT OTHERWISE PROVIDED FOR
    • G01M17/00—Testing of vehicles
    • G01M17/007—Wheeled or endless-tracked vehicles
    • G01M17/0072—Wheeled or endless-tracked vehicles the wheels of the vehicle co-operating with rotatable rolls
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01M—TESTING STATIC OR DYNAMIC BALANCE OF MACHINES OR STRUCTURES; TESTING OF STRUCTURES OR APPARATUS, NOT OTHERWISE PROVIDED FOR
    • G01M17/00—Testing of vehicles
    • G01M17/007—Wheeled or endless-tracked vehicles
    • G01M17/0072—Wheeled or endless-tracked vehicles the wheels of the vehicle co-operating with rotatable rolls
    • G01M17/0074—Details, e.g. roller construction, vehicle restraining devices
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01M—TESTING STATIC OR DYNAMIC BALANCE OF MACHINES OR STRUCTURES; TESTING OF STRUCTURES OR APPARATUS, NOT OTHERWISE PROVIDED FOR
    • G01M99/00—Subject matter not provided for in other groups of this subclass
    • G01M99/004—Testing the effects of speed or acceleration
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01M—TESTING STATIC OR DYNAMIC BALANCE OF MACHINES OR STRUCTURES; TESTING OF STRUCTURES OR APPARATUS, NOT OTHERWISE PROVIDED FOR
    • G01M99/00—Subject matter not provided for in other groups of this subclass
    • G01M99/005—Testing of complete machines, e.g. washing-machines or mobile phones
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01M—TESTING STATIC OR DYNAMIC BALANCE OF MACHINES OR STRUCTURES; TESTING OF STRUCTURES OR APPARATUS, NOT OTHERWISE PROVIDED FOR
    • G01M99/00—Subject matter not provided for in other groups of this subclass
    • G01M99/007—Subject matter not provided for in other groups of this subclass by applying a load, e.g. for resistance or wear testing
    • A—HUMAN NECESSITIES
    • A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
    • A01B—SOIL WORKING IN AGRICULTURE OR FORESTRY; PARTS, DETAILS, OR ACCESSORIES OF AGRICULTURAL MACHINES OR IMPLEMENTS, IN GENERAL
    • A01B76/00—Parts, details or accessories of agricultural machines or implements, not provided for in groups A01B51/00 - A01B75/00
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
    • Y02P60/00—Technologies relating to agriculture, livestock or agroalimentary industries
    • Y02P60/14—Measures for saving energy, e.g. in green houses

Definitions

  • the invention belongs to the technical field of agricultural machinery, and specifically relates to a field agricultural machinery testing platform.
  • the field agricultural machinery testing platform is an effective device for testing agricultural machinery.
  • the field agricultural machinery test platform can provide accurate and effective data for the research and development of new agricultural machinery and the testing of performance parameters. It is useful for exploring the working mechanism of key components such as soil cultivation, sowing, and harvesting, the separation of materials and soil, and the reduction of rent and consumption. Simplifying the structure and saving costs are of great significance.
  • the field agricultural machinery test platform is mainly used for the experimental research and performance testing of the whole machine or working parts such as tillage machinery, seeding machinery, rice transplanting machinery, leveling machinery and plant protection machinery. It has working speed, working resistance, six components of force, speed, torque,
  • the collection and real-time data processing functions of performance or state parameters such as tillage depth (and sowing depth, fertilization depth).
  • the field agricultural machinery testing platform Compared with field trials, the field agricultural machinery testing platform has the advantages of controllable conditions, larger effective working width, and shortening the research period.
  • these two types are mostly indoor small test platforms, and they have the following shortcomings: one is that the indoor test environment is not real enough, which increases the error; the other is that they are both small test platforms, which are not suitable for testing large agricultural machinery, and the test The accuracy is low. Therefore, there is a need for an outdoor field test platform for agricultural machinery with higher accuracy and better versatility.
  • the present invention provides a field agricultural machinery testing platform, which can adapt to the testing of most large and medium-sized agricultural machinery, and can realize the function of simulating field conditions for planting machinery performance testing. It is installed outdoors and has higher testing accuracy. .
  • Field agricultural machinery test platform including field soil trough, guide rail, walking trolley, hook trolley, hook mechanism and test system.
  • Two guide rails are arranged in parallel on both sides of the field soil trough, and the walking trolley is set on the guide rail ;
  • the walking trolley includes a cross beam and a trolley driving part.
  • the cross beam is set between two guide rails, and the two ends of the cross beam are connected with the trolley driving parts on both sides;
  • the hook trolley is set on the cross beam and the trolley is connected Equipped with a hooking mechanism, the test system is set on the hooking trolley, the hooking mechanism, and the test machine is connected to the hooking mechanism;
  • the test system includes image components, force testing components, control components, image components, force testing components, and control components They are all installed on the hook trolley and are electrically connected to the control components.
  • the hook-up trolley includes a motor, track pulleys, side auxiliary pulleys and a panel. Two pairs of track pulleys are symmetrically arranged on both sides of the panel. The drive shaft of one of the track pulleys is connected to the motor. With side auxiliary pulleys.
  • the hook mechanism is a three-point suspension device, the front and rear panels are arranged on the panel, the hook mechanism is fixed on the front and rear panels, and the hook mechanism is connected with the hydraulic lifting component;
  • the three-point suspension device includes an upper lifting part and The lower lifting part, the upper lifting part and the lower lifting part are all arranged on the front and rear plates, the lower lifting part is symmetrically arranged on both sides of the upper lifting part, and the test tool realizes three-point suspension through the upper lifting part and the lower lifting part.
  • a fine adjustment device is provided on the front and rear panels, and the fine adjustment device is connected to a three-point suspension device; the front side of the panel of the hook trolley is provided with a balance weight for balancing the hook test equipment.
  • the force test assembly includes sensors, the direction of the guide rail is the Y-axis direction, the direction of the beam is the X-axis direction, and the vertical upward and downward lifting directions are the Z-axis direction;
  • the right symmetrical way is arranged on the two side walls of the panel along the beam direction.
  • the Y-axis tension and pressure sensors are arranged symmetrically on the sidewalls of the panel along the guide rail.
  • the two Z-axis tension and pressure sensors are symmetrically up and down. Arranged on the lifting arm.
  • the imaging component is a high-speed camera, and a high-speed camera is installed on the hook trolley.
  • a foundation beam is laid in the field, the foundation beam is enclosed to form an open open-air rectangular test farmland block, and the outer surface of the foundation beam is covered by a foam sandwich panel, and the field soil troughs are arranged in parallel
  • the two sections before and after the field soil trough are buffer zones.
  • buffer stoppers are provided at the head and end of the guide rail.
  • the driving part of the trolley includes wheels, a frame, a driving device, a transmission mechanism, and a braking mechanism.
  • the driving device is connected to the wheels via the transmission mechanism and the braking mechanism Connected to the wheels, the power mechanism transmits the power to the wheels through the transmission mechanism.
  • the transmission mechanism includes a speed reducer and a sprocket assembly.
  • the sprocket assembly includes a sprocket shaft, a chain, and sprocket teeth.
  • the sprocket teeth are arranged on the sprocket shaft, and the chain and the sprocket teeth are meshed; the drive device and the reducer They are connected by belts, and at the same time, the gearbox is connected with the sprocket shaft under the seat to drive the sprocket teeth to rotate, and the chain is connected with the sprocket teeth and wheels, so that the power is output to the wheels through the chain, which drives the wheels to rotate.
  • the Honda agricultural machinery test platform sets up fixed soil trough fields, sets up a hook trolley on the walking trolley, and hooks the tested machine or tool through the three-point suspension device at the back end of the hook trolley
  • the small whole machine which more realistically simulates the state of the tractor with the equipment in the field, pulls and drives the tested equipment to move along the field soil trough at the same time, and transmits the obtained data to the control component through the force test component and the image component
  • the integrated processing is performed to combine the three functions of walking, testing and data processing into one, which can obtain field test data of large and medium-sized machinery more accurately, and the field agricultural machinery testing system platform of the present invention has a reasonable structure design and is designed outdoors. The test effect is more accurate and the scope of operation is wider.
  • Fig. 1 is a schematic diagram of a hooking trolley according to an embodiment of the present invention.
  • Figure 2 is an axonometric view of a driving part of a trolley according to an embodiment of the present invention.
  • Fig. 3 is a schematic bottom view of a driving part of a trolley according to an embodiment of the present invention.
  • FIG. 4 is a schematic structural diagram of the overall structure of an embodiment of the present invention.
  • Fig. 5 is a schematic side view of a belt working chamber according to an embodiment of the present invention.
  • 1-motor, 2-front plate, 3-fine adjustment device 4-connector, 5-connecting rod, 6-lift arm, 7-rear plate, 8-rail pulley, 9-panel, 10-side Auxiliary pulley, 11-balance weight, 12-hydraulic oil tank, 13-hydraulic pump, 14-seat guard, 15-seat, 16-drive shaft, 17-reducer, 18-sprocket shaft, 19-sprocket , 20-motor pulley, 21-drive, 22-wheel, 23-testing tool, 24-walking trolley, 25-rail, 26-field soil trough, 27-chain, 28-cable drum, 29-hook Trolley, 30-beam, 31-test system, 32-studio, 33-foam sandwich panel, 34-foundation beam, 35-outlet.
  • Field agricultural machinery test platform which includes field soil trough, guide rail, walking trolley, hook trolley, hook mechanism and test system.
  • the field soil trough is an outdoor open-air actual crop planting field, and the field soil trough is rectangular.
  • Two guide rails are arranged in parallel on both sides of the soil trench in the field, and the walking trolley is arranged on the guide rails.
  • the traveling trolley includes the trolley driving part and the beam.
  • the cross beam is arranged between the two guide rails, and the two ends of the cross beam are respectively connected with the trolley driving part, and the cross beam moves in the direction of the guide rail through the sliding of the two trolley driving parts on the guide rail.
  • the hitch trolley is arranged on the cross beam, the hitch trolley moves on the cross beam along the direction of the cross beam, and the hitch trolley moves along the cross beam in the direction of the guide rail.
  • a hook mechanism is provided on the hook trolley, and the test system is set on the hook trolley and the hook mechanism.
  • the test equipment and the hook mechanism are connected to realize the walking of the test machine in the field through the hook trolley and walking trolley. Test, and collect and process the data during the walking test through the test system, and then realize the field agricultural test of the test equipment.
  • a studio is set up in the non-orbital test work area.
  • the two sections before and after the field soil trough are buffer zones.
  • the field soil tank is an open-air soil tank and is rectangular.
  • a foundation beam is laid in the field, and the foundation beam is enclosed to form an open open-air rectangular experimental farmland block, and the outer surface of the foundation beam is covered by a foam sandwich panel, and the field soil trench is arranged in parallel on the experimental farmland block.
  • the field soil trough is 80m long and 20m wide. The two sections before and after the field soil trough are buffer zones.
  • the field soil tank uses the actual farmland planting soil.
  • the soil in the field soil tank has the advantages of lower organic matter and can avoid the growth of microorganisms and decay. It also improves the small area and low efficiency of the previous field test work environment.
  • the field soil trough is equipped with water inlets and drains; the water inlet is set on one side of the field soil trough, and the water inlet is connected with the water inlet device.
  • the water inlet device can be a pump, water inlet device and a trench on the side of the field soil trough Connection, so that water can be taken in the ditch through the water intake device to supply it into the field soil trough; the two sides of the field soil trough are provided with drainage outlets, which are connected with drainage facilities.
  • the drainage facility is a water pump, which can drain water through The facility drains the water in the field soil trough from the drainage outlet; therefore, through the design of the water inlet and outlet, the water content of the soil in the field trough can be adjusted to ensure the soil strength required by the test conditions and the cohesive force and attachment of the soil. Efforts, etc., can easily adjust the soil properties of the simulated paddy field or dry field required for the experiment.
  • guide rails are symmetrically laid on the left and right sides of the soil trench in the field, and the guide rails are laid on the reinforced concrete structure.
  • the head and end of the guide rail are equipped with buffer stoppers.
  • the buffer stoppers can prevent the travel trolley from derailing when it reaches the limit position when working, thereby avoiding safety accidents.
  • the total length of each guide rail is more than 70 meters, the width of the unilateral guide rail platform is more than 2 meters, and the total load bearing of the guide rail is more than 10t, which can meet the normal work of the mobile hook trolley, and is equipped with a self-checking function.
  • the walking trolley starts from the buffer at the head end, and slowly increases the speed to the working speed required for the field test. When the walking trolley reaches the expected speed and other parameters, the sensors connected to the walking trolley will collect data at the same time.
  • the driving part of the trolley includes wheels, frame, driving device, transmission mechanism, and braking mechanism, and adopts a four-wheel drive design.
  • a total of four wheels are arranged on both sides of the front and rear of the frame.
  • the driving device is connected to the wheels through the transmission mechanism, and the braking mechanism is connected to the wheels.
  • the power mechanism transmits the power to the wheels through the transmission mechanism, so that the wheels move and then drive the overall movement of the frame.
  • the driving device is a variable frequency speed regulating two-way servo motor, which is transmitted into the reducer through a belt, and the reducer is designed to be continuously variable to meet the speed and working speed required by various experimental conditions as much as possible.
  • the frequency conversion adjustment of the frequency conversion speed regulation bidirectional servo motor it can realize the stepless speed regulation between low and high speed gears.
  • the gearbox's variable speed action if the speed becomes slower, the corresponding torque will increase. Therefore, the transmission shaft diameter of the gearbox will increase from high speed to low speed, and the modulus of the gear will increase accordingly. Big.
  • the transmission mechanism includes a speed reducer and a sprocket assembly.
  • the sprocket assembly includes a sprocket shaft, a chain, and sprocket teeth.
  • the sprocket teeth are arranged on the sprocket shaft, and the chain and the sprocket teeth mesh.
  • the driving device and the reducer are connected by a belt to transmit power, thereby driving the reducer to work; the reducer is connected with the sprocket assembly, and the transmission shaft of the reducer transmits the force to the sprocket shaft under the seat to drive the sprocket to rotate.
  • the chain is connected with the sprocket teeth and the wheels, so that the power is output to the wheels through the chain, and then the wheels are driven to rotate, which can drive the walking trolley to move in the direction of the guide rail in the soil trough in the field.
  • the brake mechanism uses an electromagnetic brake. Through the release and clamping of the brake, it is used to ensure the safety of the walking trolley when it is working.
  • the walking trolley needs to be able to brake at any time during the working process. Because the large-scale outdoor field agricultural machinery test system platform is used frequently and does not travel at a uniform speed for short distances, the selected brake must have a simple structure and convenient installation and maintenance. Quick replacement, simple adjustment after the corresponding accessories are worn out, safe and reliable.
  • the trolley includes a motor, a track pulley, a side auxiliary pulley, and a panel. Two pairs of track pulleys are symmetrically arranged on both sides of the panel. The drive shaft of one of the track pulleys is connected to the motor, so that the motor drives the track. The pulley rolls, and then the hook trolley moves in the track of the beam through four track pulleys. There is also a side auxiliary pulley on the outer side of the track pulley. The side auxiliary pulley is used as a power support to help balance the movement offset of the hitch trolley and hitch trolley, thereby improving the bearing capacity and safety factor of the hitch trolley.
  • a hook mechanism is installed on the rear side of the hook trolley, and the front side of the panel of the hook trolley is provided with a balance weight, which is used to balance the hook machine.
  • the hook mechanism is a three-point suspension device.
  • the hook mechanism is connected with the hydraulic lifting component; the three-point suspension device includes an upper lifting part and a lower lifting part.
  • the upper lifting part and the lower lifting part are both arranged on the front and rear plates, and the lower lifting part is symmetrically arranged on both sides of the upper lifting part.
  • the test equipment Three-point suspension is realized through the upper and lower lifting parts.
  • the upper lifting part includes a lifting shaft, a lifting arm, a lifting rod and a lowering rod.
  • the lifting shaft is fixed on the rear plate body of the front and rear plates, one end of the lifting arm is fixedly connected with the lifting shaft, the other end of the lifting arm is hinged with the upper end of the lifting rod, the down rod is fixed on the back plate of the front and rear plates, and the lower end of the lifting rod is hinged with the down rod .
  • the lower lifting part includes an upper rod.
  • the upper pull rod is fixed on the rear plate body of the front and rear plates.
  • the hydraulic lifting components include a hydraulic pump and a hydraulic oil tank.
  • the hydraulic oil tank is installed on the panel, and the hydraulic pump is arranged on the hydraulic oil tank.
  • the test equipment suspended by the three-point suspension can be lifted or lowered through the hydraulic pump and the hydraulic oil tank.
  • the three-point suspension device includes a connecting rod, a lifting arm, and a connecting body.
  • the connecting rod, the lifting arm and the connecting body are connected.
  • the connecting body is fixed on the rear panel of the front and rear panels, and the front and rear panels are installed on the panel.
  • the connecting body is movably connected with the testing equipment. Further, it also includes hydraulic lifting components, which include a hydraulic pump and a hydraulic oil tank, and the hydraulic oil tank is installed on the panel.
  • the hydraulic pump is arranged on the hydraulic oil tank, and the test equipment of the three-point suspension device can be raised or lowered through the hydraulic pump.
  • the front plate of the front and rear plates is equipped with a fine-tuning device. The principle of the fine-tuning device is similar to that of a balance.
  • the fine adjustment device is connected with the three-point suspension device.
  • the fine adjustment device includes a floating joint and a support adjustment mechanism.
  • the rear side of the front plate body is installed on the hitch trolley through the support and adjustment mechanism, the front side of the front plate body is connected with the floating joint, and the floating joint is connected with the hydraulic lifting component; the vertical movement of the joint is driven by the floating of the hydraulic component to drive the front and rear plates Lifting, and through the cooperation of the supporting adjustment mechanism, realizes the fine adjustment of the front and rear plates up, down, left, and right; then realizes the fine adjustment of the hitch trolley, and realizes the fine adjustment of the hitch component connected with the hitch trolley.
  • the support adjustment mechanism includes a ball sleeve, a ball sleeve shaft, a ball sleeve shaft base, a spherical upper cover, and a spherical lower cover.
  • the ball sleeve is spherical, and the outer diameter of the ball sleeve is slightly larger than the inner diameter of the round hole of the front plate.
  • the lower end of the ball sleeve shaft is installed on the panel of the trolley through the ball sleeve shaft base, the ball sleeve is sleeved on the ball sleeve shaft, the ball sleeve passes through the round hole of the front plate body, and the front plate body is clamped to the front through the round hole On the plate body; the spherical upper cover and the spherical lower cover are separately arranged on the upper and lower sides of the front plate body, and the spherical upper cover is sleeved on the upper part of the ball sleeve, and the spherical lower cover is sleeved on the lower part of the ball sleeve.
  • the test system includes image components, force test components, and control components.
  • the imaging component, the force testing component, and the control component are all installed on the hook trolley, and the imaging component, the force testing component are all electrically connected to the control component.
  • the control component can be a PLC of model 6ES7214-1AD23-0XB8.
  • the image component is a high-speed camera.
  • a high-speed camera is installed on the hook trolley, the number of cameras that can be connected is ⁇ 2, the camera sensor is C-MOS, the sensor size is 5.12 ⁇ 5.12 mm, the shooting speed is 500FPS, and the recording time when the resolution reaches 512 ⁇ 512 ⁇ 30 minutes, the recording content is stored in the system's built-in SSD solid state hard disk (space is greater than or equal to 512G), the operating software supports the Chinese system and can be operated with a handheld touch screen, and the built-in power supply of the device can drive time ⁇ 70 min, the size of the camera is less than or equal to 35 ⁇ 35 ⁇ 34 mm, and the recording method adopts speed priority mode (data is directly stored in the memory 4GB, the frame rate is the fastest) and time priority mode (data is transferred to the SSD, the shooting time is the longest), when During field test work, the data of the connected test equipment part or sensor test can be collected, displayed, stored, and saved to the system for later playback and data analysis and
  • the force test assembly includes a sensor.
  • the direction of the guide rail is the Y-axis direction
  • the direction of the beam is the X-axis direction
  • the vertical up and down lifting direction is the Z-axis direction.
  • the sensor group includes two X-axis tension and pressure sensors arranged in the beam direction, two Y-axis tension and pressure sensors arranged in the traction direction, and two Z-axis tension and pressure sensors arranged in the vertical direction.
  • Two X-axis tension and pressure sensors are respectively arranged on the two side walls of the panel along the beam direction in a left and right symmetrical manner.
  • the Y-axis tension and pressure sensors are arranged on the side walls of the panel along the guide rail in a symmetrical manner.
  • the Z-axis tension and pressure sensor is symmetrically arranged on the lifting arm of the lower lifting part.
  • various field test data can be collected, displayed, stored, and live video taken for automatic storage, playback analysis and related data processing.
  • the power output mechanism consists of two parts: one part is the X-axis power output that drives the trolley to move left and right, and the other part is the Y-axis power output that drives the entire beam and the trolley to move forward and back.
  • the X-axis power output includes frequency conversion bidirectional speed regulating servo motor, track pulley, and side auxiliary pulley.
  • the frequency conversion bidirectional speed regulating servo motor transmits the output power to the drive shaft of one of the four track pulleys, and acts as the driving wheel to drive the remaining driven wheels in the The beam moves left and right, and the four track pulleys are equipped with side auxiliary slides as power supports to help balance the trolley and movement offset, and improve the bearing capacity and safety factor.
  • the Y-axis power output includes a variable frequency bidirectional speed regulating motor.
  • the variable frequency bidirectional speed regulating motor drives the transmission shaft of the gearbox through a leather belt. After the gearbox works, the output power is transmitted to the sprocket on the gear shaft through the torque speed sensor, and the sprocket passes through Work with the chain to transmit power to the entire walking trolley, one on each side to ensure the stability and synchronization of the working parts.
  • Working together with the variable frequency bidirectional speed regulating motor is the cable reel, which moves with the walking trolley and the hook trolley to provide power, control power and control signals for the entire mobile equipment.
  • the field agricultural machinery test platform can accurately test parameters such as soil resistance in the forward direction (Y direction) or trolley traction, the combined force of the machine gravity (Z direction) and the soil reaction force, and the soil lateral (X direction) reaction force in the field test , According to the distance between the tension and compression sensors and the force measured by each sensor, after the control component receives the data of each sensor, it can calculate and know the X, Y, Z axis points acting on the machine through simple four calculation formulas. Forces and moments, thereby realizing the measurement of mechanical parameters, avoiding the preparation work of attaching strain gauges to the tested machine tool before the traditional force measuring device, and facilitating the replacement of the machine tool.

Abstract

一种田间农业机械测试平台，包括田间土槽（26）、行走导轨（25）、行走台车（24）、挂接台车（29）、挂接装置机构以及测试系统（31）。两条导轨（25）平行设置于田间土槽（26）内的两侧，行走台车（24）设于导轨（25）上；横梁（30）设于两根导轨（25）之间，且横梁（30）两端分别和行走台车（24）连接；挂接台车设于横梁（30）上，挂接台车上设有挂接装置；测试系统（31）设于挂接台车、挂接装置上，试验机具（23）与挂接装置连接；测试系统（31）包括影像组件、力测试组件、和控制组件，且均安装于挂接台车上；且影像组件、力测试组件均和控制组件电连接。测试平台具有能适应犁耕、旋耕、开沟、平地、播种、插秧、植保和收获等一系列大中型农业机械的测试，通用性高、测试精准性更高等优点好。

Description

田间农业机械测试平台 技术领域
本发明属于农业机械技术领域，具体涉及一种田间农业机械测试平台。
 背景技术
田间农业机械测试平台是对农田作业机械进行测试的有效装置。田间农业机械测试平台可以为新型农业机械的研发和性能参数的测试提供准确有效的数据，对于探索土壤耕作、播种、收获等关键部件的工作机理、物料与土壤的分离方式及减租降耗、简化结构和节约成本等具有重要的意义。田间农业机械测试平台主要用于耕作机械、播种机械、插秧机械、平地机械和植保机械等整机或工作部件的试验研究和性能测试，具有工作速度、工作阻力、六分力、转速、扭矩、耕深（以及播种深、施肥深）等性能或状态参数的采集与实时数据处理功能。与田间试验相比，田间农业机械测试平台具有条件可控，有效作业宽度较大，能缩短研究周期等优点。现有田间农业机械测试平台的型式基本有二种：一种是测试系统平台移动，试验部件相对固定；另一种是测试平台不动，试验部件沿一定方向移动。这两种在现阶段多为室内小型测试平台，存在如下缺点：一是室内的测试环境不够真实，增大了误差；二是均为小型测试平台，在测试大型农业机械时不适应，并且测试精准性偏低。因此，需要一种精准性更高且能通用性更好的农业机械的室外大田测试平台。
 技术问题
针对上述问题，本发明提供一种田间农业机械测试平台，能适应大部分大中型农业机械的测试，可实现模拟田间工况进行种植机械作业性能测试功能，且设于室外，测试精准性更高。
 技术解决方案
田间农业机械测试平台，包括田间土槽、导轨、行走台车、挂接台车、挂接机构以及测试系统，两条导轨平行设置于田间土槽内的两侧，行走台车设于导轨上；行走台车包括横梁和台车驱动部分，横梁设于两根导轨之间，且横梁两端分别和两侧的台车驱动部分连接；挂接台车设于横梁上，挂接台车上设有挂接机构，测试系统设于挂接台车、挂接机构上，试验机具和挂接机构连接；测试系统包括影像组件、力测试组件、控制组件，影像组件、力测试组件、控制组件均安装于挂接台车上，且均和控制组件电连接。
作为一种优选，挂接台车包括电机、轨道滑轮、侧辅滑轮和面板，在面板的两侧对称设置两对轨道滑轮，其中一个轨道滑轮的传动轴和电机连接，在轨道滑轮的外侧还设有侧辅滑轮。
作为一种优选，挂接机构为三点悬挂装置，前后板设于面板上，挂接机构固定于前后板上，挂接机构和液压提升部件连接；所述三点悬挂装置包括上提升部和下提升部，上提升部和下提升部均设于前后板上，下提升部对称设于上提升部两侧，试验机具通过上提升部和下提升部实现三点悬挂。
作为一种优选，前后板上设有微调装置，微调装置和三点悬挂装置连接相连接；挂接台车的面板的前侧设有用以平衡挂接试验机具的平衡块。
作为一种优选，力测试组件包括传感器，以导轨的方向为Y轴方向，横梁的方向为X轴 方向，竖直上、下提升方向为Z轴方向；两个X轴拉压力传感器以左、右对称的方式分别布置在面板沿横梁方向的的两边侧壁上，Y轴拉压力传感器以前、后对称方式布置在面板沿导轨方向侧壁上，两个Z轴拉压力传感器上、下对称地布置在提升臂上。
作为一种优选，影像组件为高速摄影机，挂接台车上安装有高速摄影机。
作为一种优选，在田间铺设有基础梁，基础梁围闭形成一个开放式的露天矩形状试验农田块，且所述基础梁的外表面被泡沫夹芯板覆盖，所述田间土槽平行设置于试验农田块，田间土槽的前后两段为缓冲区。
作为一种优选，导轨的首端、末端均设有缓冲限位器。
作为一种优选，台车驱动部分包括车轮、车架、驱动装置、传动机构、制动机构，车架的前后的两侧设置四个车轮，驱动装置经传动机构和车轮连接，同时制动机构和车轮连接，动力机构经传动机构将动力传递给车轮。
作为一种优选，传动机构包括减速器、链轮组件，链轮组件包括链轮轴、链条、链轮齿，链轮齿设于链轮轴上，链条和链轮齿相啮合；驱动装置和减速器之间通过皮带连接，同时由减速箱经与车座下方链轮轴连接，带动链轮齿转动，链条和链轮齿、车轮连接，从而通过链条将动力输出到车轮，进而带动车轮转动。
 有益效果
本发明的优点：本田间农业机械测试平台通过设定固定的土槽田块，在行走台车上架设挂接台车，通过挂接台车后端的三点悬挂装置挂接被测试的机具或小型整机，从而较真实地模拟拖拉机配挂机具在田间行驶作业的状态，牵引并同时驱动被测试的机具沿田间土槽移动，同时通过力测试组件、影像组件将得到的数据传输至控制组件进行整合处理，从而将行走、测试和数据处理三大功能组合为一体，能更精准地得到大中型机械的田间测试数据，且本发明田间农业机械测试系统平台结构设计合理、并设计于室外，试验效果更准确，作业范围更宽广。
 附图说明
图1为本发明一个实施例的挂接台车示意图。
图2为本发明一个实施例的台车驱动部分轴测图。
图3为本发明一个实施例的台车驱动部分的仰视示意图。
图4为本发明一个实施例的整体结构的结构示意图。
图5为本发明一个实施例的带工作室的侧视示意图。
其中，1-电机，2-前板体，3-微调装置，4-连接体，5-连接杆，6-提升臂，7-后板体，8-轨道滑轮，9-面板，10-侧辅滑轮，11-平衡块，12-液压油箱，13-液压泵，14-车座护罩，15-车座，16-传动轴，17-减速器，18-链轮轴，19-链轮齿，20-电机皮带轮，21-驱动装置，22-车轮，23-测试机具，24-行走台车，25-导轨，26-田间土槽，27-链条，28-电缆卷筒，29-挂接台车，30-横梁，31-测试系统，32-工作室，33-泡沫夹心板，34-基础梁，35-出水口。
 本发明的实施方式
下面结合附图对本发明做进一步的具体说明。
田间农业机械测试平台，它包括田间土槽、导轨、行走台车、挂接台车、挂接机构以及测试系统。田间土槽为室外露天的实际农作物种植田块，田间土槽呈矩形状。两条导轨平行设置于田间土槽内的两侧，行走台车设于导轨上。行走台车包括台车驱动部分和横梁。横梁设于两根导轨之间，且横梁两端分别和台车驱动部分连接，横梁通过两台车驱动部分在导轨上的滑动而在导轨方向移动。挂接台车设于横梁上，挂接台车在横梁上沿着横梁方向移动，且挂接台车随着横梁在导轨方向移动。挂接台车上设有挂接机构，测试系统设于挂接台车、挂接机构上，试验机具和挂接机构连接，从而通过挂接台车、行走台车实现试验机具在田间的行走测试，并通过测试系统采集行走测试过程中的数据及进行数据处理，进而实现对试验机具的田间农业测试。
本实施例中，在非轨道试验测试工作区设置有工作室。田间土槽的前后两段为缓冲区。
在本实施例中，田间土槽为露天式土槽，且呈矩形状。在田间铺设有基础梁，基础梁围闭形成一个开放式的露天矩形状试验农田块，且所述基础梁的外表面被泡沫夹芯板覆盖，所述田间土槽平行设置于试验农田块。田间土槽长80m、宽20m。田间土槽的前后两段为缓冲区。田间土槽使用的就是实际农田种植土壤，该田间土槽的土壤具有较低含量的有机质、可避免微生物滋生而发生腐坏等优点；同时也改善了以往大田试验工作环境地方小、效率低、重复性低等缺点，同时进一步改善、提升模拟农田土壤的程度和拖拉机配挂机具在田间行驶作业的状态。田间土槽设有进水口和排水口；进水口设置于田间土槽的一侧，进水口和进水装置相连接，进水装置可为抽水泵，进水装置和田间土槽侧边的沟渠连接，从而可以通过进水装置从而沟渠内进行取水以供给进入田间土槽；田间土槽的两侧设置排水口，排水口和排水设施连接，本实施例中排水设施为水泵，从而可以通过排水设施将田间土槽内的水分从排水口排出；因此通过进水口、出水口的设计，可以对田间吐槽内的土壤的含水量进行调节，保证试验条件需要的土壤强度和及土壤的凝聚力和附着力等，可以方便调节试验所需要的模拟水田或者旱田的土壤性状。
在本实施例中，田间土槽的左右两侧对称铺设有导轨，且导轨铺设在钢筋混泥土结构上。导轨的首端、末端均设有缓冲限位器，缓冲限位器能防止行走台车工作时达到极限位置脱轨，从而避免发生安全事故。每条导轨总长度达70米以上，单边导轨平台宽度≥2米，导轨总承重10t以上，满足移动挂接台车的正常工作，并且配有自检测功能。行走台车由首端的缓冲区出发，慢慢增加速度到田间试验所需要的工作速度，当行走台车达到预期的速度等参数条件时候，与行走台车相连接的传感器同时进行数据采集。
在本实施例中，台车驱动部分包括车轮、车架、驱动装置、传动机构、制动机构，采用四轮驱动设计。车架的前后的两侧一共设置四个车轮，驱动装置经传动机构和车轮连接，同时制动机构和车轮连接。动力机构经传动机构将动力传递给车轮，从而车轮运动，进而驱动车架整体移动。
进一步地，驱动装置为变频调速双向伺服电机，变频调速双向伺服电机经过皮带传输进减速器，减速器设计为无级变速，尽可能满足各种实验条件所需的转速和工作速度。配合变频调速双向伺服电机的变频调节，可实现低、高速档之间的的无级调速。并且，通过变速箱的变速作用，若速度变慢的时候，相应的扭矩会增大，因此变速箱的传动轴径从高速到低速，会越来越大，齿轮的模数也会随之加大。
传动机构包括减速器、链轮组件，链轮组件包括链轮轴、链条、链轮齿，链轮齿设于链轮轴上，链条和链轮齿相啮合。驱动装置和减速器之间通过皮带连接，以传递动力，从而带动减速器工作；减速器和链轮组件连接，减速器的传动轴把力传递到车座下方链轮轴，带动链轮齿转动，链条和链轮齿、车轮连接，从而通过链条将动力输出到车轮，进而带动车轮转动，可带动行走台车在田间土槽沿导轨方向移动。
制动机构采用的是电磁式制动器。通过制动器的释放与夹紧，用来保证行走台车在工作时的行车安全。行走台车在工作过程中，需要随时能够制动，因为大型室外田间农业机械测试系统平台的使用频率高，并且不是短距离的匀速行走，故选用的制动器，一定要结构简单、安装维修方便，更换快捷，在相应的配件磨损后调整简单，安全可靠。
在本实施例中，挂接台车包括电机、轨道滑轮、侧辅滑轮、面板，在面板的两侧对称设置两对轨道滑轮，其中一个轨道滑轮的传动轴和电机连接，从而电机驱动该轨道滑轮滚动，进而挂接台车通过四个轨道滑轮在横梁的轨道中移动。在轨道滑轮的外侧还设有侧辅滑轮，侧辅滑轮作为动力支撑，能帮助平衡挂接台车和挂接台车的移动偏移，进而提高挂接台车的承载能力和安全系数。
挂接台车的后侧安装挂接机构，挂接台车的面板的前侧设有平衡块，平衡块用以平衡挂接机具。
挂接机构为三点悬挂装置。挂接机构和液压提升部件连接；三点悬挂装置包括上提升部和下提升部，上提升部和下提升部均设于前后板上，下提升部对称设于上提升部两侧，试验机具通过上提升部和下提升部实现三点悬挂悬挂。
上提升部包括提升轴、提升臂、提升杆和下拉杆。提升轴杆固定前后板的后板体上，提升臂一端和提升轴固定连接，提升臂另一端和提升杆上端铰接，下拉杆固定在前后板的后板体上，提升杆下端和下拉杆铰接。下提升部包括上拉杆。上拉杆固定前后板的后板体上。
液压提升部件包括液压泵、液压油箱，液压油箱安装在面板上，液压泵设于液压油箱上，通过液压泵和液压油箱可以对三点悬挂装置悬挂的试验机具进行提升或下降。
三点悬挂装置包括连接杆、提升臂、连接体，连接杆、提升臂和连接体连接，连接体固定在前后板的后板块上，前后板安装在面板上。连接体则与试验机具活动连接。进一步地，还包括液压提升部件，液压提升部件包括液压泵、液压油箱，液压油箱安装在面板上。液压泵设于液压油箱上，通过液压泵可以对三点悬挂装置的试验机具进行提升或下降。前后板的前板块上设有微调装置，微调装置原理类似于天平，该板块一旦前边被液压提升部件作业提升该边，相对应另一边就会下降，同理左右也是如此，这就完成了试验机具俯仰横滚10°以内的微调，微调装置和三点悬挂装置连接相连接。
微调装置包括浮动接头、支撑调节机构。前板体后侧通过支撑调节机构安装于挂接台车上，前板体前侧和浮动接头连接，浮动接头和液压提升部件连接；通过液压部件浮动驱动接头的上下运动，从而带动前后板的升降，并通过支撑调节机构的配合，实现前后板的上下左右微调；进而实现挂接台车的微调，实现与挂接台车连接的挂接组件的微调。支撑调节机构包括球套、球套轴、球套轴底座、球形上盖、球形下盖。球套呈球状，球套的外径略大于前板的圆孔的内径。球套轴下端通过球套轴底座安装于挂接台车的面板上，球套套设于球套轴上，球套穿过前板体的圆孔，并且前板体通过圆孔卡设于前板体上；将球形上盖和球形下盖分设于前板体的上、下方，且球形上盖套设于球套上部，球形下盖套设于球套下部。
测试系统包括影像组件、力测试组件、控制组件。影像组件、力测试组件、控制组件均安装于挂接台车上，且影像组件、力测试组件均和控制组件电连接。控制组件可以为6ES7214-1AD23-0XB8型号的PLC。
影像组件为高速摄影机。挂接台车上安装有高速摄影机，可连接摄像头个数≥2，摄像头传感器为C-MOS，传感器尺寸5.12×5.12 mm，拍摄速度为500FPS，分辨率在达到512×512的时候可记录时长≥30 min，录制内容存储至系统自带SSD固态硬盘（空间大于等于512G），操作软件支持中文系统并可手持触摸屏操作，设备内置电源可驱动时间≥70 min，摄像头尺寸小于等于35×35×34 mm，录制方式采用速度优先模式（数据直接保存在内存4GB上，帧率最快）和时间优先模式（数据传送至SSD，拍摄时间最长），当进行田间试验工作时，可以对挂接的试验机具部分或者传感器测试的的数据进行采集、显示、存储，保存至系统，便于后面回放和进行数据分析处理。
力测试组件包括传感器。以导轨的方向为Y轴方向，横梁的方向为X轴方向，竖直上、下提升方向为Z轴方向。传感器组包括两个按横梁方向布置的X轴拉压力传感器、两个按牵引方向布置的Y轴拉压力传感器、两个按竖直方向布置的Z轴拉压力传感器。两个X轴拉压力传感器以左、右对称的方式分别布置在面板沿横梁方向的的两边侧壁上，Y轴拉压力传感器以前、后对称方式布置在面板沿导轨方向侧壁上，两个Z轴拉压力传感器上、下对称地布置在下提升部的提升臂上。
通过移动的高速摄像机与传感器以及控制组件，可对各种大田试验测试的数据进行采集、显示、存储并拍摄实况录像进行自动保存、回放分析和相关数据处理。
动力输出机构包括两部分：一部分是带动挂接台车进行左、右移动的X轴动力输出，另一部分是带动整个横梁和挂接台车进行前、后移动的Y轴动力输出。X轴动力输出包括变频双向调速伺服电机、轨道滑轮、侧辅滑轮，变频双向调速伺服电机将输出动力传递到四个轨道滑轮其中之一的传动轴上，作为主动轮带动其余从动轮在横梁上左右移动，同时四个轨道滑轮都配有侧辅滑作为动力支撑，帮助平衡挂接台车和移动偏移，提高承载能力和安全系数。Y轴动力输出包括变频双向调速电动机，变频双向调速电动机通过皮带来带动变速箱传动轴，经过变速箱工作后输出动力经过扭矩转速传感器传递给齿轮轴上的链轮齿，链轮齿通过与链条工作将动力传输给整个行走台车，两侧各有一个，保证工作部件的平稳性和同步性。与变频双向调速电动机一起工作的还有电缆卷筒，跟随行走台车、挂接台车一起移动，为整个移动设备提供动力电源、控制电源和控制信号。
田间农业机械测试平台可实现田间试验对前进方向（Y向）土壤阻力或台车牵引力、机具重力（Z向）与土壤反力的合力以及土壤侧向（X向）反力等参数的精确测试，由拉压传感器的间距和各个传感器测得的受力，控制组件接收到各个传感器的数据后，经简便的四则运算公式即可计算获知作用于机具上的X，Y，Z轴上的分力和力矩，由此实现了力学参数的测量，避免了传统测力装置在试验前需要在被测机具上贴应变片的准备工作，便于更换机具。
上述实施例为发明较佳的实施方式，但本发明的实施方式并不受上述实施例的限制，其他的任何未背离本发明的精神实质与原理下所作的改变、修饰、替代、组合、简化，均应为等效的置换方式，都包含在本发明的保护范围之内。

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  1. 田间农业机械测试平台，其特征在于：包括田间土槽、导轨、行走台车、挂接台车、挂接机构以及测试系统；两条导轨平行设置于田间土槽内的两侧，行走台车设于导轨上；行走台车包括横梁和台车驱动部分，横梁设于两根导轨之间，且横梁两端分别和两侧的台车驱动部分连接；挂接台车设于横梁上，挂接台车上设有挂接机构，测试系统设于挂接台车、挂接机构上，试验机具和挂接机构连接；测试系统包括影像组件、力测试组件和控制组件，且均安装于挂接台车上；影像组件、力测试组件均和控制组件电连接。
  2. 根据权利要求1所述田间农业机械测试平台，其特征在于：挂接台车包括电机、轨道滑轮、侧辅滑轮和面板，在面板的两侧对称设置两对轨道滑轮，其中一个轨道滑轮的传动轴和电机连接，在轨道滑轮的外侧设有侧辅滑轮。
  3. 根据权利要求2所述田间农业机械测试平台，其特征在于：挂接机构为三点悬挂装置，前后板设于面板上，挂接机构固定于前后板上，挂接机构和液压提升部件连接；所述三点悬挂装置包括上提升部和下提升部，上提升部和下提升部均设于前后板上，下提升部对称设于上提升部两侧，试验机具通过上提升部和下提升部实现三点悬挂。
  4. 根据权利要求3所述田间农业机械测试平台，其特征在于：前后板上设有微调装置，微调装置和三点悬挂装置连接相连接；挂接台车的面板的前侧设有用以平衡挂接试验机具的平衡块。
  5. 根据权利要求3所述田间农业机械测试平台，其特征在于：力测试组件包括传感器，以导轨的方向为Y轴方向，横梁的方向为X轴方向，竖直上、下提升方向为Z轴方向；两个X轴拉压力传感器以左、右对称的方式分别布置在面板沿横梁方向的的两边侧壁上，Y轴拉压力传感器以前、后对称方式布置在面板沿导轨方向侧壁上，两个Z轴拉压力传感器上、下对称地布置在下提升部的提升臂上。
  6. 根据权利要求1所述田间农业机械测试平台，其特征在于：影像组件为高速摄影机，挂接台车上安装有高速摄影机。
  7. 根据权利要求1所述田间农业机械测试平台，其特征在于：在田间铺设有基础梁，基础梁围闭形成一个开放式的露天矩形状试验农田块，且所述基础梁的外表面被泡沫夹芯板覆盖，所述田间土槽平行设置于试验农田块，田间土槽的前后两段为缓冲区。
  8. 根据权利要求1所述田间农业机械测试平台，其特征在于：导轨的首端、末端均设有缓冲限位器。
  9. 根据权利要求1所述田间农业机械测试平台，其特征在于：台车驱动部分包括车轮、车架、驱动装置、传动机构、制动机构，车架的前后的两侧设置四个车轮，驱动装置经传动机构和车轮连接，同时制动机构和车轮连接，动力机构经传动机构将动力传递给车轮。
  10. 根据权利要求9所述田间农业机械测试平台，其特征在于：传动机构包括减速器、链轮组件，链轮组件包括链轮轴、链条、链轮齿，链轮齿设于链轮轴上，链条和链轮齿相啮合；驱动装置和减速器之间通过皮带连接，同时由减速箱经与车座下方链轮轴连接，带动链轮齿转动，链条和链轮齿、车轮连接，从而通过链条将动力输出到车轮，进而带动车轮转动。
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