CN102295028A - Mountain remote control tractor - Google Patents
Mountain remote control tractor Download PDFInfo
- Publication number
- CN102295028A CN102295028A CN2010102157184A CN201010215718A CN102295028A CN 102295028 A CN102295028 A CN 102295028A CN 2010102157184 A CN2010102157184 A CN 2010102157184A CN 201010215718 A CN201010215718 A CN 201010215718A CN 102295028 A CN102295028 A CN 102295028A
- Authority
- CN
- China
- Prior art keywords
- frame
- tractor
- wheel
- remote control
- crawler belt
- Prior art date
- Legal status (The legal status 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 status listed.)
- Pending
Links
Images
Landscapes
- Manipulator (AREA)
Abstract
The invention discloses a mountain remote control tractor, comprising a rack (9), an engine (12), a gearbox (6), a clutch, a driving wheel (5), a driven wheel (10), a caterpillar track (16), a hydraulic driving device (14) and a signal receiving and processing device (15). The mountain remote control tractor is characterized in that the left side and the right side of the rack are symmetrically connected with hydraulic difference height devices for regulating the left and right balance of a tractor body. According to the invention, the remote control technology is applied to the tractor, each action can be controlled by a signal emitter and is implemented through the hydraulic driving device, and thus operation is simple. Because the difference height devices at two sides can be controlled remotely to lift up and fall down according to the topographic conditions, the tractor body keeps level and avoids rollover. The intertilling operation of a turnplow is realized by lifting a hydraulic cylinder to increase the height of the frame. The mountain remote control tractor can completely adapt to the working environment of rural areas, especially mountainous and hilly areas, and can be used for completing ploughing, watering with varied amount for dry farming, ridging, film laminating, harvesting and other operations.
Description
Technical field
The present invention relates to a kind of mountain region robot tractor, is a kind of trac. that can regulate both sides track unit height respectively by sender unit, be applicable to hilly and mountainous land, belongs to agricultural machinery technological field.
Background technology
On the left and right sidesing driving wheel of existing most of trac. and the same axis that track adjusting wheel is fixed on the chassis, can not change with the variation of the ground gradient, when the horizontal operation in hillside fields, turn on one's side easily, and can not regulate the terrain clearance on chassis, be difficult to adapt to the bigger hills of the gradient, mountain region.Though Chinese patent CN 1579121A discloses in " the improved height difference apparatus for tractor driving wheel " that " a kind of hillside tractor " and Chinese patent CN 101041326A announce it has been carried out good improvement, these two patents are all at wheel-tire tractor.Track type tractor has good adhesion value and stronger off-road capability, compares in the mountain area with wheel-tire tractor, terraced fields, hillside fields have better comformability, but because it is bulky, and turn radius is big, its application is restricted.Chinese patent CN 201245184Y discloses a kind of multifunction caterpillar trac., though this machine is small and exquisite nimble, and multiple function such as can finish plough, plough, harrow, cut, but still can not be applied to bigger mountain region of the gradient and intersected country.
Summary of the invention
At above-mentioned problems of the prior art and defective, the object of the present invention is to provide a kind of mountain region remote control caterpillar trac., this machine can be regulated the height of one-sided track unit according to the angular dimension on hillside with remote controller when the operation of hillside fields, thereby guarantee fuselage maintenance level on the hillside, prevent rollover; Promote when can be by crawler travel simultaneously, improve the terrain clearance on chassis, make it stronger the complex-terrain crossing ability.
Purpose of the present invention realizes by following technical scheme:
A kind of mountain region robot tractor, comprise frame, driving engine, change speed gear box, power-transfer clutch, drive wheel, flower wheel, crawler belt, fluid pressure drive device, signal receiving and processing device, wherein engine installation is at the front end of frame, its power take-off shaft is connected with the change speed gear box that is installed in frame rear end by belt, change speed gear box by about output semiaxis be connected with the drive wheel that is installed in frame back and arranged on left and right sides respectively, described flower wheel is installed in frame front and arranged on left and right sides, flower wheel is connected with drive wheel by crawler belt, and left and right power-transfer clutch places the change speed gear box outside; It is characterized in that, also be symmetrically connected with the hydraulic pressure height difference apparatus that is used to regulate body left and right sides balance at frame the right and left, described hydraulic pressure height difference apparatus is made up of support roller, sliding bar, sliding sleeve, caterpillar wheel, bracing frame, hydraulic actuating cylinder, the two ends of bracing frame are connected with the lower end of the sliding bar that passes sliding sleeve, the upper end of sliding bar is connected with support roller, caterpillar wheel is installed on the sliding bar, is provided with the location feather key between sliding bar and the sliding sleeve, and sliding sleeve connects to ground; The cylinder barrel of hydraulic actuating cylinder connects to ground, and piston-rod end withstands on the bracing frame, and input, mouth all are communicated with fluid pressure drive device.
Described fluid pressure drive device is made up of solenoid directional control valve and governor valve and each auxiliary element.
Described control setup is by sender unit, and reception, processing signals and the signal receiving and processing device that control signal is sent to fluid pressure drive device formed.
Described support roller and crawler belt sliding block joint, caterpillar wheel and crawler belt sliding block joint.
Described hydraulic actuating cylinder and trac. center of gravity are in the same plane, make it have good stable when adjusting difference height and work.
Feather key is screwed on the sleeve of sliding bar, and pipe link is dismantled easily, and realizes position-limiting action jointly with hydraulic actuating cylinder.
Employing has the V-arrangement of high 28mm and carries out the crawler belt that stings, and makes it have good adhesion value.
The function that need realize by sender unit comprises: the turnon left of trac., right-hand corner, and the one-sided independently lifting of track unit and both sides ascending, descending simultaneously.
Principle of work:
Press the button on the sender unit, sender unit is launched control signal corresponding, this control signal passes to the signal receiving and processing device by wireless-transmission network, handle by the signal receiving and processing device, this electric signal drives corresponding delivery port relay circuit after handling, relay is realized control to the hydraulic circuit break-make by the control corresponding solenoid valve, and then drives corresponding hydraulic actuating cylinder action, realizes different functions.
During left-hand rotation, sender unit sends left rotaring signal, receive by the signal receiving and processing device on the trac., after handling, this signal drives corresponding solenoid valve work, give the hydraulic actuating cylinder fuel feeding of control left driving wheel, piston rod stretches out, and promotes clutch operating, and revolver stops operating, right wheel is rotated further, and realizes.
During right-hand rotation, principle is same as above.
The hydraulic pressure height difference apparatus can be realized the left ascending, descending of the track unit of trac., right ascending, descending and 6 functions of ascending, descending simultaneously.
When a left side rose, sender unit sent a left side and rises signal, received by the signal receiving and processing device on the trac., and after handling, this signal drives corresponding solenoid valve work, gives left side hydraulic actuating cylinder epicoele fuel feeding, and piston rod stretches out, and the left row walking apparatus promotes.
When a left side fell, sender unit sent a left side and falls signal, received by the signal receiving and processing device on the trac., and after handling, this signal drives corresponding solenoid valve work, gives left side hydraulic actuating cylinder cavity of resorption fuel feeding, the piston rod withdrawal, and the left row walking apparatus descends.
During right ascending, descending, principle is same as above.
When rising simultaneously, sender unit sends with rising signal, receives by the signal receiving and processing device on the trac., after handling, this signal drives corresponding solenoid valve work, gives left and right side hydraulic actuating cylinder epicoele fuel feeding simultaneously, piston rod stretches out, and running gear promotes simultaneously, and the ground Clearance increases.
When falling simultaneously, sender unit sends with falling signal, receives by the signal receiving and processing device on the trac., after handling, this signal drives corresponding solenoid valve work, gives left and right side hydraulic actuating cylinder cavity of resorption fuel feeding simultaneously, the piston rod withdrawal, running gear descends simultaneously, and the ground Clearance reduces.
In sum, the present invention is simple to operate, can keep the level of fuselage at any time according to the lifting of topographic condition remote operation both sides height difference apparatus, prevents rollover, fully adapts to the landform of hilly and mountainous land complexity; Also can increase the both sides chassis height simultaneously, realize the intertillage operation of mouldboard plow.
Description of drawings
Fig. 1 is a mountain region of the present invention robot tractor structural representation;
Fig. 2 adjusts preceding hydraulic pressure discrepancy in elevation device scheme drawing for mountain region of the present invention robot tractor;
Fig. 3 is for being in the hydraulic pressure discrepancy in elevation device scheme drawing of end position after the robot tractor adjustment of mountain region of the present invention;
Fig. 4 is the schematic diagram of mechanism of the hydraulic pressure discrepancy in elevation device of mountain region of the present invention robot tractor;
Among the figure: 1-support roller, 2-sliding bar, 3-sliding sleeve, the 4-feather key connects, 5-drive wheel, 6-change speed gear box, the 7-caterpillar wheel, 8-bracing frame, 9-support assembly, the 10-flower wheel, 11-hydraulic pressure cylinder assembly, 12-diesel motor, the 13-fuel tank, 14-fluid pressure drive device, 15-signal receiving and processing device, the 16-crawler belt, 17-hydraulic cylinder piston rod, 18-hydraulic actuating cylinder cylinder barrel.
The specific embodiment
Further specify the present invention below in conjunction with accompanying drawing: as shown in Figure 1, this mountain region robot tractor comprises: frame, driving engine, change speed gear box, power-transfer clutch, drive wheel, flower wheel, crawler belt, fluid pressure drive device, the signal receiving and processing device, wherein driving engine 12 is installed in the front end of frame 9, its power take-off shaft is connected with the change speed gear box 6 that is installed in frame 9 rear ends by belt, change speed gear box 6 by about output semiaxis respectively be installed in a left side, frame 9 back, the drive wheel 5 of right both sides connects, described flower wheel 10 is installed in a left side, frame 9 front, right both sides, flower wheel 10 is connected with drive wheel 5 by crawler belt 16, a left side, right clutch places the change speed gear box outside, this machine adopts whole trolley running to be, every side has two groups of caterpillar wheels 7, bracing frame 8 links to each other with two sliding bars 2 by T type bolt, the upper end of sliding bar 2 is connecting support roller 1, sliding bar 2 passes sliding sleeve 3, sliding bar 2 and sliding sleeve 3 be by being screwed feather key 4 location on sliding sleeve 3, sliding sleeve 3 by bolted connection to vehicle frame 9; It comprises that also two lay respectively at vehicle frame 9 both sides, and cylinder barrel is fixed on the vehicle frame 9 by bolted connection, and piston rod 17 ends withstand on the hydraulic actuating cylinder 11 on the bracing frame 8, and the overhang of modulated pressure cylinder piston rod 17 can be regulated the height of one-sided track unit respectively.
The hydraulic actuating cylinder 11 of both sides can be controlled separately, to adapt to the landform of different gradient, guarantees that fuselage keeps level; Also can increase the height on chassis by the overhang of adjusting both sides hydraulic actuating cylinder 11 piston rods 17 simultaneously, realize the intertillage operation of mouldboard plow.
Fig. 2 is the state before the hillside tractor adjustment, and this moment, hydraulic actuating cylinder 11 was in not mode of operation, and sliding sleeve 3 is positioned at the lowermost end of slide bar 2, and the trac. ground Clearance is 110mm.
Fig. 3 is for adjusting the later state of both sides track unit simultaneously, and this moment, piston rod 17 overhangs of hydraulic actuating cylinder 11 arrived its limit 200mm, and withstood on the bracing frame; Hydraulic cylinder 18 drives sliding sleeve 3 and frame assembly 9 moves together, and arrives its limiting altitude; The ground Clearance of trac. this moment is 310mm, has good crossing ability, can realize the intertillage operation of mouldboard plow.
The monolateral adjustment range of this trac. can reach 170mm, and the bilateral stroke of adjusting simultaneously can reach 200mm.During concrete operations, thereby can make fuselage maintenance level according to the overhang that slope angle is adjusted monolateral piston rod 17, hydraulic actuating cylinder 11 is in the same plane with the trac. center of gravity simultaneously, makes it promote and have good stable during work.
Claims (4)
1. mountain region robot tractor, comprise frame, driving engine, change speed gear box, power-transfer clutch, drive wheel, flower wheel, crawler belt, fluid pressure drive device, the signal receiving and processing device, wherein driving engine (12) is installed in the front end of frame (9), its power take-off shaft is connected with the change speed gear box (6) that is installed in frame (9) rear end by belt, change speed gear box (6) by about output semiaxis respectively be installed in frame (a 9) left side, back, the drive wheel (5) of right both sides connects, described flower wheel (10) is installed in frame (a 9) left side, front, right both sides, flower wheel (10) is connected a left side by crawler belt (16) with drive wheel (5), right clutch places change speed gear box (6) outside; It is characterized in that, also be symmetrically connected with the hydraulic pressure height difference apparatus that is used to regulate body left and right sides balance at frame (9) the right and left, described hydraulic pressure height difference apparatus is by support roller (1), sliding bar (2), sliding sleeve (3), caterpillar wheel (7), bracing frame (8), hydraulic actuating cylinder (11) is formed, the two ends of bracing frame (8) are connected with the lower end of the sliding bar that passes sliding sleeve (3) (2), the upper end of sliding bar (2) is connected with support roller (1), caterpillar wheel (7) is installed on the sliding bar (2), be provided with location feather key (4) between sliding bar (2) and the sliding sleeve (3), sliding sleeve (3) is connected with vehicle frame (9); The cylinder barrel (18) of hydraulic actuating cylinder (11) is connected with vehicle frame (9), and piston rod (17) end withstands on the bracing frame (8), and input, mouth all are communicated with fluid pressure drive device (14);
Described fluid pressure drive device (14) is made up of solenoid directional control valve and governor valve and each auxiliary element;
Described control setup is by sender unit, and reception, processing signals and the signal receiving and processing device (15) that control signal is sent to fluid pressure drive device (14) formed.
2. according to the described mountain region of claim 1 robot tractor, it is characterized in that: described support roller (1) and crawler belt (16) sliding block joint, caterpillar wheel (7) and crawler belt (16) sliding block joint.
3. the mountain region robot tractor of narrating according to claim 1, its feature also is: described hydraulic actuating cylinder (11) is in the same plane with the trac. center of gravity.
4. the mountain region robot tractor of narrating according to claim 1, its feature also is: described crawler belt (16) has the V-arrangement of high 28mm and carries out thorn.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2010102157184A CN102295028A (en) | 2010-06-26 | 2010-06-26 | Mountain remote control tractor |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2010102157184A CN102295028A (en) | 2010-06-26 | 2010-06-26 | Mountain remote control tractor |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN102295028A true CN102295028A (en) | 2011-12-28 |
Family
ID=45355768
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN2010102157184A Pending CN102295028A (en) | 2010-06-26 | 2010-06-26 | Mountain remote control tractor |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN102295028A (en) |
Cited By (11)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103287517A (en) * | 2013-06-27 | 2013-09-11 | 中国北方车辆研究所 | Deformation track type small-sized mobile system |
| CN104163212A (en) * | 2014-08-01 | 2014-11-26 | 江苏爱凯农业装备制造有限公司 | Crawler-type high ground clearance tractor |
| CN104604433A (en) * | 2014-11-28 | 2015-05-13 | 柳州中农新业科技有限公司 | Sugarcane harvester |
| CN105109568A (en) * | 2015-08-31 | 2015-12-02 | 中国矿业大学 | Transformable-crawler suspension bracket and robot moving platform with same |
| CN107725694A (en) * | 2017-11-03 | 2018-02-23 | 富平县悦达机械制造有限公司 | A kind of kitten gearbox |
| CN107972736A (en) * | 2017-12-08 | 2018-05-01 | 马志成 | A kind of shock-absorbing type big-powered tractor |
| CN108432367A (en) * | 2018-04-03 | 2018-08-24 | 莱州奥伦农业机械有限公司 | Caterpillar band self-propelled rotary cultivator |
| CN108860348A (en) * | 2018-08-17 | 2018-11-23 | 西北农林科技大学 | A kind of levelling mechanism of the mountainous region crawler tractor based on splined shaft transmission |
| CN110626437A (en) * | 2019-11-19 | 2019-12-31 | 上海建工四建集团有限公司 | Use method of lifting type walking device |
| CN110803228A (en) * | 2019-11-19 | 2020-02-18 | 上海建工四建集团有限公司 | Lifting type walking device |
| US10625796B2 (en) | 2016-06-08 | 2020-04-21 | Jiangsu University | Auto-leveling drive axle device for wheeled tractor, and leveling method |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2001169641A (en) * | 1999-12-17 | 2001-06-26 | Yanmar Agricult Equip Co Ltd | Combine |
| JP2004262292A (en) * | 2003-02-28 | 2004-09-24 | Yanmar Co Ltd | Combine |
| CN101027961A (en) * | 2006-03-01 | 2007-09-05 | 株式会社久保田 | Detecting device and controlling device for working vehicle postures |
| CN101659210A (en) * | 2009-08-31 | 2010-03-03 | 福建省第二电力建设公司 | Remotely controlled tracked carrier |
| CN202085451U (en) * | 2010-06-25 | 2011-12-28 | 西北农林科技大学 | Control system of crawler type mountain land remote control tractor |
-
2010
- 2010-06-26 CN CN2010102157184A patent/CN102295028A/en active Pending
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2001169641A (en) * | 1999-12-17 | 2001-06-26 | Yanmar Agricult Equip Co Ltd | Combine |
| JP2004262292A (en) * | 2003-02-28 | 2004-09-24 | Yanmar Co Ltd | Combine |
| EP1607316A1 (en) * | 2003-02-28 | 2005-12-21 | Yanmar Co., Ltd. | Combine |
| CN101027961A (en) * | 2006-03-01 | 2007-09-05 | 株式会社久保田 | Detecting device and controlling device for working vehicle postures |
| CN101659210A (en) * | 2009-08-31 | 2010-03-03 | 福建省第二电力建设公司 | Remotely controlled tracked carrier |
| CN202085451U (en) * | 2010-06-25 | 2011-12-28 | 西北农林科技大学 | Control system of crawler type mountain land remote control tractor |
Cited By (17)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103287517B (en) * | 2013-06-27 | 2018-02-27 | 中国北方车辆研究所 | A kind of deformed caterpillar formula small-sized movable system |
| CN103287517A (en) * | 2013-06-27 | 2013-09-11 | 中国北方车辆研究所 | Deformation track type small-sized mobile system |
| CN104163212A (en) * | 2014-08-01 | 2014-11-26 | 江苏爱凯农业装备制造有限公司 | Crawler-type high ground clearance tractor |
| CN104163212B (en) * | 2014-08-01 | 2016-06-29 | 江苏爱凯农业装备制造有限公司 | Crawler type high-arch tractor |
| CN104604433A (en) * | 2014-11-28 | 2015-05-13 | 柳州中农新业科技有限公司 | Sugarcane harvester |
| CN105109568A (en) * | 2015-08-31 | 2015-12-02 | 中国矿业大学 | Transformable-crawler suspension bracket and robot moving platform with same |
| US10625796B2 (en) | 2016-06-08 | 2020-04-21 | Jiangsu University | Auto-leveling drive axle device for wheeled tractor, and leveling method |
| CN107725694A (en) * | 2017-11-03 | 2018-02-23 | 富平县悦达机械制造有限公司 | A kind of kitten gearbox |
| CN107725694B (en) * | 2017-11-03 | 2019-07-16 | 富平县悦达机械制造有限公司 | A kind of kitten gearbox |
| CN107972736B (en) * | 2017-12-08 | 2020-04-17 | 安徽鹰龙工业设计有限公司 | Shock-proof type high-horsepower tractor |
| CN107972736A (en) * | 2017-12-08 | 2018-05-01 | 马志成 | A kind of shock-absorbing type big-powered tractor |
| CN108432367A (en) * | 2018-04-03 | 2018-08-24 | 莱州奥伦农业机械有限公司 | Caterpillar band self-propelled rotary cultivator |
| CN108860348A (en) * | 2018-08-17 | 2018-11-23 | 西北农林科技大学 | A kind of levelling mechanism of the mountainous region crawler tractor based on splined shaft transmission |
| CN110803228A (en) * | 2019-11-19 | 2020-02-18 | 上海建工四建集团有限公司 | Lifting type walking device |
| CN110626437B (en) * | 2019-11-19 | 2020-03-31 | 上海建工四建集团有限公司 | Use method of lifting type walking device |
| CN110626437A (en) * | 2019-11-19 | 2019-12-31 | 上海建工四建集团有限公司 | Use method of lifting type walking device |
| CN110803228B (en) * | 2019-11-19 | 2022-02-18 | 上海建工四建集团有限公司 | Lifting type walking device |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN102295028A (en) | Mountain remote control tractor | |
| CN103004313B (en) | Full hydraulically-driven two-dimensional translational elevating agricultural frame | |
| CN201869533U (en) | Ploughing depth control device of wheeled tractor | |
| CN109080566A (en) | A kind of wheeled tractor remote control system and control method | |
| CN202085451U (en) | Control system of crawler type mountain land remote control tractor | |
| CN103814633A (en) | Miniature four-wheel drive seat type cultivator | |
| CN203735019U (en) | Power chassis for orchards on mountains and hills | |
| CN202773869U (en) | Driver seat lifting type high-stem plant four-wheel spraying machine | |
| CN202722023U (en) | Chinese yam harvester | |
| CN103947353A (en) | Self-propelled seedling transplanter | |
| JP2015508283A (en) | Dual-use body frame for field work vehicles | |
| CN204968357U (en) | Self -propelled rotary cultivator | |
| CN203537774U (en) | Automatic hydraulic walking platform suitable for paddy field operation | |
| CN110199592A (en) | The automatic adjusting system of rotary tillage and its method | |
| CN103718678B (en) | Remote control electric plowing machine for greenhouse | |
| KR102421052B1 (en) | An electrically powered transplant platform | |
| CN209112117U (en) | A kind of wheeled tractor remote control system | |
| CN205124288U (en) | Horizontal controlling means of three point suspension mechanism of agro -farming machinery | |
| CN205510822U (en) | Self -propelled automatic transplanter | |
| CN113575116B (en) | Triangular crawler harvester for ratooning rice | |
| CN203691877U (en) | Remote-control electric plowing machine in greenhouse | |
| CN203105104U (en) | Hand walking tuber crop harvester | |
| CN200990774Y (en) | Walking-type rice transplanter | |
| CN103797921B (en) | The unmanned harvesting and tillage machine of agricultural | |
| CN102845404A (en) | Lift type driver seat high-stem plant four-wheeled pesticide spraying machine |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| C02 | Deemed withdrawal of patent application after publication (patent law 2001) | ||
| WD01 | Invention patent application deemed withdrawn after publication |
Application publication date: 20111228 |