CN106080816B - A kind of high-clearance crawler travel equipment for farm work - Google Patents
A kind of high-clearance crawler travel equipment for farm work Download PDFInfo
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- CN106080816B CN106080816B CN201610555650.1A CN201610555650A CN106080816B CN 106080816 B CN106080816 B CN 106080816B CN 201610555650 A CN201610555650 A CN 201610555650A CN 106080816 B CN106080816 B CN 106080816B
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- support
- wheel
- transverse slat
- hub
- crawler
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D55/00—Endless track vehicles
- B62D55/08—Endless track units; Parts thereof
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- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01M—CATCHING, TRAPPING OR SCARING OF ANIMALS; APPARATUS FOR THE DESTRUCTION OF NOXIOUS ANIMALS OR NOXIOUS PLANTS
- A01M7/00—Special adaptations or arrangements of liquid-spraying apparatus for purposes covered by this subclass
- A01M7/0025—Mechanical sprayers
- A01M7/0032—Pressure sprayers
- A01M7/0042—Field sprayers, e.g. self-propelled, drawn or tractor-mounted
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- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01M—CATCHING, TRAPPING OR SCARING OF ANIMALS; APPARATUS FOR THE DESTRUCTION OF NOXIOUS ANIMALS OR NOXIOUS PLANTS
- A01M7/00—Special adaptations or arrangements of liquid-spraying apparatus for purposes covered by this subclass
- A01M7/005—Special arrangements or adaptations of the spraying or distributing parts, e.g. adaptations or mounting of the spray booms, mounting of the nozzles, protection shields
- A01M7/0053—Mounting of the spraybooms
- A01M7/0057—Mounting of the spraybooms with active regulation of the boom position
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- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01M—CATCHING, TRAPPING OR SCARING OF ANIMALS; APPARATUS FOR THE DESTRUCTION OF NOXIOUS ANIMALS OR NOXIOUS PLANTS
- A01M7/00—Special adaptations or arrangements of liquid-spraying apparatus for purposes covered by this subclass
- A01M7/005—Special arrangements or adaptations of the spraying or distributing parts, e.g. adaptations or mounting of the spray booms, mounting of the nozzles, protection shields
- A01M7/0071—Construction of the spray booms
- A01M7/0075—Construction of the spray booms including folding means
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- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01M—CATCHING, TRAPPING OR SCARING OF ANIMALS; APPARATUS FOR THE DESTRUCTION OF NOXIOUS ANIMALS OR NOXIOUS PLANTS
- A01M7/00—Special adaptations or arrangements of liquid-spraying apparatus for purposes covered by this subclass
- A01M7/0082—Undercarriages, frames, mountings, couplings, tanks
-
- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01M—CATCHING, TRAPPING OR SCARING OF ANIMALS; APPARATUS FOR THE DESTRUCTION OF NOXIOUS ANIMALS OR NOXIOUS PLANTS
- A01M7/00—Special adaptations or arrangements of liquid-spraying apparatus for purposes covered by this subclass
- A01M7/0089—Regulating or controlling systems
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- Life Sciences & Earth Sciences (AREA)
- Engineering & Computer Science (AREA)
- Insects & Arthropods (AREA)
- Pest Control & Pesticides (AREA)
- Wood Science & Technology (AREA)
- Zoology (AREA)
- Environmental Sciences (AREA)
- Mechanical Engineering (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Transportation (AREA)
- Catching Or Destruction (AREA)
Abstract
The invention discloses a kind of high-clearance crawler travel equipment for farm work, the walking arrangement is made of two crawler type walking mechanisms with In-wheel motor driving, the crawler type walking mechanism of both sides is connected by fixed link, the crawler type walking mechanism top of both sides is equipped with spraying machine elevating mechanism, and humidifier includes medicament-mixing device and spray rod device；It is each equipped with trapezoid support component inside each crawler type walking mechanism；Medicament-mixing device and control device are placed on the inside of the trapezoid support component of both sides, and spray rod device is arranged on spraying machine elevating mechanism and is connected with medicament-mixing device, as the traction of spraying machine elevating mechanism moves up and down；Control device is connected with wheel hub motor, spraying machine elevating mechanism, humidifier respectively.Wide cut spray boom can adjust the device up and down simultaneously, can meet the spraying requirement of various crop different growing stage, while being driven without artificial by remote control mode, alleviate heavy burden, improve automatization level.
Description
Technical field
The present invention relates to a kind of atomizer machines, and the high-clearance crawler travel of farm work is used for more particularly, to one of which
Equipment.
Background technology
China is a large agricultural country, and the plant protection of crop and fertilising operation level directly affect the yield of crops.
The mechanization of agriculture in China at present and automatization level are also relatively low, lack the efficient dispenser in crop field equipment, simultaneously for
The crop (such as rice and long-stalked crops) of complicated spray pesticide landform, conventional mechanical can not go to the field, so leaning on manpower mostly
Or man-computer cooperation, lead to that inefficiency, labor intensity are big, scale effect is poor.Number of patent application is
The patent crawler belt of CN201520140029.X uses conventional track structure from air-assisted type spraying machine is walked, and has one for complicated landform
Determine adaptability, but passability is bad, and spread of spray is limited, can not adapt to the spraying requirement of crop field long-stalked crops.Patent
Application No. is a kind of tractor running gears of the patent of CN201310288169.7 to use triangle caterpillar belt structure, has to complicated landform
Certain adaptability, but excessively high, passability can not adapt to long-stalked crops etc. for there are still device centers of gravity in agricultural application
Problem.For the above drawback for having the crop field spraying of complicated spray pesticide landform existing, devise a kind of high-clearance nobody
Driving intelligent crawler belt spraying machine.Caterpillar belt structure and unmanned intelligent control method are used to adapt to complicated spray pesticide landform
Influence, in addition, the adjustable long spray boom of three-stage height can meet the spray pesticide demand of field crop different growing stage.
Invention content
It is an object of the invention to devise a kind of high-clearance crawler travel equipment for farm work, crop field is adapted to
And the spraying requirement with complicated spraying landform crop, the spraying machine and control method of spray pesticide efficiency can be improved.
The technical scheme is that：
A kind of high-clearance crawler travel equipment for farm work, including crawler type walking mechanism and control device.Institute
It is two crawler type walking mechanisms for carrying In-wheel motor driving to state crawler type walking mechanism, the crawler type walking mechanisms of both sides by
Fixed link is connected；The crawler type walking mechanism top of both sides is equipped with fixed link link, inside each crawler type walking mechanism
It is each equipped with trapezoid support component；Control device is placed on the inside of the trapezoid support component of both sides, the control device and wheel hub electricity
Machine is connected；
Trapezoid support component periphery is wrapped up by crawler belt, and trapezoid support component is trapezoidal support construction, is consolidated by support plate
Fixed connection composition, the fixed wheel in four side of trapezoid support component can coordinate with crawler belt, be driven and carried out by In-wheel motor driving wheel
Band is advanced.
Further, the trapezoid support component includes support transverse slat, support inclined plate, hub support holder, hub support cross
Plate, the support transverse slat, support inclined plate, hub support holder, hub support transverse slat are encircled into trapezoid support, pass through welding manner
Connection；It is described support transverse slat and support inclined plate junction, support transverse slat and hub support holder junction, support inclined plate and
The junction of the junction of hub support transverse slat, hub support holder and hub support transverse slat is reserved with to be passed through for jackshaft
Through-hole；The hub support holder is transverse slat close to one end of support transverse slat, and the other end is fixed with half mouthful of shape holder A；The wheel
It close to one end of support inclined plate is transverse slat that hub, which supports transverse slat, and the other end is fixed with half mouthful of shape holder B, half mouthful of hub support transverse slat
Shape holder B is fastened on the inside of half mouthful of shape holder A of hub support holder, and the two passes through intermediate axis connection；The hub support is horizontal
Board bottom portion is fixedly connected with two A-frames, and A-frame bottom edge both sides are reserved with the through-hole passed through for jackshaft.
Further, the crawler type walking mechanism includes In-wheel motor driving wheel, traveling wheel, crawler belt, directive wheel, support
Wheel, the In-wheel motor driving wheel, traveling wheel, directive wheel, support wheel are assemblied in each of trapezoid support component by jackshaft
The reserved through hole both sides of a connecting pin, wherein In-wheel motor driving wheel are respectively assembled at the bottom edge of trapezoid support component with directive wheel
On the jackshaft of both sides, two support wheels are assemblied on the jackshaft of top both sides of trapezoid support component, 4 traveling wheels every two
It a one group, is assemblied on the A-frame on trapezoid support component bottom edge, the connection of In-wheel motor driving wheel and trapezoid support component
It is to use cross-over mode, In-wheel motor driving wheel is mounted on hub support holder, the matched half mouthful of shape branch of hub support transverse slat
On jackshaft on the inside of frame；The traveling wheel, directive wheel, support wheel are all two-wheel coaxial configurations；Crawler belt is by entire trapezoid support
Component periphery is wrapped up, and is in contact with In-wheel motor driving wheel, traveling wheel, directive wheel, support wheel.
Further, the fixed link link is rectangular pyramid rack, including supporting rack, support transverse slat, is located at the branch of bottom end
It supports transverse slat and forms tetragonous wimble structure with the supporting rack above it, the support transverse slat is the tablet of quadrilateral structure；From spraying machine
Side sees that two supporting racks of the trapezoid support component and top on the inside of trapezoidal crawler belt are combined into a triangle, that is, uses whole
Body three-legged structure has stability, becomes narrow gradually from top to bottom.
Further, the support transverse slat is metal plate, and four triangle iron plates are extended in metal plate quadrangle lower part, four
Triangle iron plate is connected across on the jackshaft that support wheel both sides external is extended；Support transverse slat and four triangle iron plate welding, upper tooth
Take turns fixing piece and the welding of supporting rack top plate.
Further, the available two metal supporting frames vertex welding of the supporting rack in the rectangular pyramid rack substitutes, composition three
Angular supporting rack, triangle support frame bottom end are fixed on the centre position of support transverse slat both sides so that triangle support frame is under
The trapezoid support component in portion forms firm triangular structure in terms of high-clearance crawler travel equipment.
Further, the fixed link includes：The main fixed link being connected with two supporting rack tops, and it is located at main fixation
Bar is auxiliarily fixed in two of bar lower end both sides, and two side columns that bar is separately fixed at supporting rack same side are each auxiliarily fixed
On；Ensure that main fixed link is located at two surfaces that bar center line is auxiliarily fixed simultaneously, and main fixed link with bar phase is auxiliarily fixed
It is arranged in parallel.
Further, the trapezoid support component internal can place the water tank, medicine-chest, liquid of spraying device as needed
Case.
Further, further include cover board, cover board is fixed on crawler belt both sides, and size is slightly smaller than crawler belt, by trapezoid support component with
And water tank, medicine-chest, spray tank, control device all cover, and are fixed on the jackshaft on the outside of each wheel.
Further, the control device includes embedded onboard control unit, and controls list with embedded onboard respectively
The connected In-wheel motor driving of member, velocity sensor.
The invention has the advantages that a kind of high-clearance crawler travel equipment for farm work, not only alleviates certainly
Body weight, and among operator will not be made to be exposed to and spray insecticide, improve the operating environment of operator, while also mitigating its behaviour
Make intensity.For left and right sides track drive using the embedded In-wheel motor driving of stand alone type, closure is good, reduces the portions such as reduction box
Part has saved space and weight；The circuit parts such as each component in the water routes such as water tank, spray tank and on-vehicle battery, driver are whole
It concentrates on inside the trapezoidal crawler belt in both sides, has dragged down center of gravity, be different from other creepers undercarriage so that walking is more steady, only
By three fixed links of spraying machine eminence come fixed structure so that passability is good among spraying machine, adapts to various height gaps
Crop spray condition；Wide cut spray boom can up and down be adjusted according to crop actual height, can meet various crop different growing stage
Spraying requires, and at the end of spraying, two sections of the both sides of three-stage spray boom can be folded inward, and three-stage spray boom forms positive triangle knot
Structure, central symmetry, center of gravity is more steady, is different from other spray booms to fold back, spray boom will not up and down, swing, be conducive to spray
The walking and transport of mist machine；Spraying machine encounters rough topography condition using the separation of water medicine, in real time mixed medicine water circuit system in spraying machine
When cannot be driven out to, the clear water of water tank can be discharged and lightened the burden for itself, be conducive to cope with rough topography condition and environment not made
At pollution；By the unmanned intelligent crawler belt spraying machine of the high-clearance invented, the efficiency in big Tanaka's spray pesticide is improved,
Labor intensity is alleviated, automatization level is higher, and scale effect is preferable.
Description of the drawings
Fig. 1 is a kind of unmanned intelligent crawler belt spraying machine inclined-plane overall structure diagram of high-clearance；
Fig. 2 is a kind of unmanned intelligent crawler belt spraying machine positive structure schematic of high-clearance；
Fig. 3 is a kind of unmanned intelligent crawler belt spraying machine vehicle frame part-structure figure of high-clearance；
Fig. 4 is chain traction schematic device；
Fig. 5 is interior spray boom and outer spray boom attachment structure schematic diagram；
Fig. 6 is a kind of unmanned intelligent crawler belt spraying machine control system schematic diagram of high-clearance.
Wherein：1- In-wheel motor driving wheels；2- traveling wheels；3- crawler belts；4- directive wheels；5- support wheels；6- water tanks；7- medicines
Case；8- spray tanks；9- trapezoid support components；10- supporting racks；11- supports transverse slat；The main fixed links of 12-；Bar is auxiliarily fixed in 13-；
14- trough of belt sliding rails；15- gears；16- DC brushless motors；Spray boom in 17-；The outer spray booms of 18-；19- nozzles；20- electric pushrods；
21- spray boom kerves；22- shafts；23- spray boom card slots；24- cover boards；25- embedded onboard control units；26- cameras；27- tops
Spiral shell instrument；28- electronic compass；29-GPS；30- velocity sensors；31- liquid level sensors；32- pressure sensors；33- nozzle flows
Meter；34- remote controlers；35- parameter display screens；36- image real-time display screens；37- mobile phone applications；38- In-wheel motor drivings；39-
Lifting motor drives；40- push-rod electric machines drive；41- suction pumps drive；42- suction pumps；43- spray pumps drive；44- spray pumps；
45- mixture pumps drive；46- mixture pumps；47- solenoid-drivens；48- spray boom solenoid valves；49- draws water flowmeter；50- spray booms
Solenoid valve；51- supporting rack top plates；52- gear fixing pieces；53- connectors；54- sliding blocks with holes；55- chains；56- supports are horizontal
Plate, 57- supports inclined plate, 58- hub supports holder, 59- hub support transverse slats.
Specific implementation mode
As shown in Figs. 1-3, a kind of high-clearance crawler travel equipment for farm work of the invention, including crawler type row
Walk mechanism and control device；
The crawler type walking mechanism is two crawler type walking mechanisms for carrying In-wheel motor driving, the crawler type of both sides
Walking mechanism is connected by fixed link；The crawler type walking mechanism top of both sides is equipped with fixed link link, each crawler type row
It walks in-house to be each equipped with trapezoid support component；Control device is placed on the inside of the trapezoid support component of both sides, the control dress
It sets and is connected with wheel hub motor；Trapezoid support component periphery is wrapped up by crawler belt 3, and trapezoid support component 9 is trapezoidal support construction,
It is composed of a fixed connection by support plate, the fixed wheel in four side of trapezoid support component can coordinate with crawler belt 3, be driven by wheel hub motor
Driving wheel 1 drives crawler belt 3 to advance.
The trapezoid support component 9 includes support transverse slat 56, support inclined plate 57, hub support holder 58, hub support cross
Plate 59, the support transverse slat 56, support inclined plate 57, hub support holder 58, hub support transverse slat 59 are encircled into trapezoid support, lead to
Cross welding manner connection；The support transverse slat 56 and junction, support transverse slat 56 and the hub support holder 58 for supporting inclined plate 57
Junction, support inclined plate 57 and the junction of hub support transverse slat 59, hub support holder 58 and hub support transverse slat 59
Junction is reserved with the through-hole passed through for jackshaft；The hub support holder 58 is cross close to one end of support transverse slat 56
Plate, the other end are fixed with half mouthful of shape holder A；The hub support transverse slat 59 is transverse slat close to one end of support inclined plate 57, another
End is fixed with half mouthful of shape holder B, and half mouthful of shape holder B of hub support transverse slat 59 is fastened on half mouthful of shape branch of hub support holder 58
On the inside of frame A, the two passes through intermediate axis connection；59 bottom of hub support transverse slat is fixedly connected with two A-frames, triangle branch
Frame bottom edge both sides are reserved with the through-hole passed through for jackshaft.
The crawler type walking mechanism includes In-wheel motor driving wheel 1, traveling wheel 2, crawler belt 3, directive wheel 4, support wheel 5,
The In-wheel motor driving wheel 1, traveling wheel 2, directive wheel 4, support wheel 5 are assemblied in trapezoid support component 9 by jackshaft
The reserved through hole both sides of each connecting pin, wherein In-wheel motor driving wheel 1 are respectively assembled at trapezoid support component 9 with directive wheel 4
Bottom edge both sides jackshaft on, two support wheels 5 are assemblied on the jackshaft of top both sides of trapezoid support component 9,4 rows
One group of 2 each two of wheel is walked, is assemblied on the A-frame on 9 bottom edge of trapezoid support component, In-wheel motor driving wheel 1 and trapezoid support
The connection of component 9 is to use cross-over mode, and In-wheel motor driving wheel 1 is mounted on hub support holder 58, hub support transverse slat 59
On jackshaft on the inside of matched half mouthful of shape holder；The traveling wheel 2, directive wheel 4, support wheel 5 are all two-wheel coaxial configurations；
Crawler belt 3 wraps up 9 periphery of entire trapezoid support component, and with In-wheel motor driving wheel 1, traveling wheel 2, directive wheel 4, support wheel 5
It is in contact.
The fixed link link is rectangular pyramid rack, including supporting rack 10, support transverse slat 11, is located at the support cross of bottom end
Plate 11 forms tetragonous wimble structure with the supporting rack 10 above it, and the support transverse slat 11 is the tablet of quadrilateral structure；From spraying
Pusher side face sees that the trapezoid support component 9 on the inside of trapezoidal crawler belt and two supporting racks 10 of top are combined into a triangle, that is, adopt
With whole three-legged structure, there is stability, become narrow gradually from top to bottom.
The support transverse slat 11 is metal plate, and four triangle iron plates, four triangles are extended in metal plate quadrangle lower part
Iron plate is connected across on the jackshaft that 5 both sides external of support wheel is extended；Support transverse slat 11 and four triangle iron plate welding, gear
Fixing piece 52 and supporting rack top plate 51 weld.
Supporting rack 10 in the rectangular pyramid rack can be substituted with two metal supporting frames vertex welding, form triangle branch
Support, triangle support frame bottom end are fixed on the centre position of support transverse slat 11 both sides so that triangle support frame and lower part
Trapezoid support component 9 forms firm triangular structure in terms of high-clearance crawler travel equipment.
The fixed link includes：The main fixed link 12 being connected with two 10 tops of supporting rack, and it is located at main fixed link
Bar 13 is auxiliarily fixed in two of 12 lower ends both sides, is each auxiliarily fixed two that bar 13 is separately fixed at 10 same side of supporting rack
On side column；Ensure that main fixed link 12 is located at two surfaces that 13 center line of bar is auxiliarily fixed simultaneously, and main fixed link 12 and auxiliary
Help 13 parallel setting of fixed link.
The water tank 6, medicine-chest 7, spray tank 8 of spraying device can be placed inside the trapezoid support component 9 as needed.
The high-clearance crawler travel equipment of the farm work of the present invention further includes cover board 24, and cover board 24 is fixed on 3 liang of crawler belt
Side, size are slightly smaller than crawler belt 3, and trapezoid support component 9 and water tank 6, medicine-chest 7, spray tank 8, control device are all covered,
It is fixed on the jackshaft on the outside of each wheel.
The control device includes embedded onboard control unit 25, and respectively with 25 phase of embedded onboard control unit
In-wheel motor driving 38 even, velocity sensor 30.
A kind of work of the unmanned intelligent crawler belt spraying machine of the high-clearance invented is illustrated with reference to schematic diagram
Process.
A kind of unmanned intelligent crawler belt spraying machine of high-clearance, including spraying machine walking arrangement, spraying machine elevating mechanism, spray
Mist mechanism, control device；The spraying machine walking arrangement is made of two crawler type walking mechanisms with In-wheel motor driving,
The crawler type walking mechanism of both sides is connected by fixed link, and the crawler type walking mechanism top of both sides is equipped with spraying machine elevator
Structure, the humidifier include medicament-mixing device and spray rod device；It is each equipped with trapezoid support inside each crawler type walking mechanism
Component；Medicament-mixing device and control device are placed on the inside of the trapezoid support component of both sides, and spray rod device setting is lifted in spraying machine
It is connected in mechanism and with medicament-mixing device, as the traction of spraying machine elevating mechanism moves up and down；The control device respectively with wheel
Hub motor, spraying machine elevating mechanism, humidifier are connected, and realize control In-wheel motor driving respectively, spraying machine elevating mechanism
Elevating control and humidifier spraying control.
Trapezoid support component periphery is wrapped up by crawler belt 3, and trapezoid support component 9 is trapezoidal support construction, by support plate
It is composed of a fixed connection, the fixed wheel in four side of trapezoid support component can coordinate with crawler belt 3, and then crawler belt 3 is driven to advance.
As shown in Figs. 1-2, the crawler type walking mechanism includes In-wheel motor driving wheel 1, traveling wheel 2, crawler belt 3, is oriented to
Wheel 4, support wheel 5, the In-wheel motor driving wheel 1, traveling wheel 2, directive wheel 4, support wheel 5 are assemblied in by jackshaft trapezoidal
The reserved through hole both sides of each connecting pin of bracket component 9, wherein In-wheel motor driving wheel 1 are respectively assembled at ladder with directive wheel 4
On the jackshaft of the bottom edge both sides of shape bracket component 9, two support wheels 5 are assemblied in the top both sides of trapezoid support component 9
On countershaft, 4 one group of 2 each twos of traveling wheel are assemblied on the A-frame on 9 bottom edge of trapezoid support component, In-wheel motor driving
The connection of wheel 1 and trapezoid support component 9 is to use cross-over mode, and In-wheel motor driving wheel 1 is mounted on hub support holder 58, wheel
Hub supports on the jackshaft on the inside of 59 matched half mouthfuls of shape holders of transverse slat；The traveling wheel 2, directive wheel 4, support wheel 5 are all
Two-wheel coaxial configuration；Crawler belt 3 wraps up the periphery of entire trapezoid support component 9, and with In-wheel motor driving wheel 1, traveling wheel 2, lead
It is in contact to wheel 4, support wheel 5.
In the humidifier, the medicament-mixing device includes water tank 6, medicine-chest 7 and spray tank 8, the water tank 6, medicine-chest
7, spray tank 8, control device are fixed on the inside of trapezoid support component 9 on the inside of trapezoidal crawler belt；Center of gravity is transferred, and spraying machine is being walked
It is more steady in the process, and trapezoidal height of crawler is higher so that and the capacity of medicine-chest is larger, is suitble to crop field spraying.Water tank 6 and medicine
Case 7 is separation, and output liquid mixes in proportion, and mixed liquid is pre-stored in spray tank 8, and spraying locomotive encounters rough topography
When condition can not be driven out to, the water of water tank can be bled off Reduction of Students' Study Load, without can cause environmental pollution.
The spray rod device is three stage structure, is interior spray boom 17, interior spray boom 17 between the crawler type walking mechanism of both sides
Both sides be outer spray boom 18, uniformly distributed nozzle 19 on spray rod device.Further include electric pushrod 20, the interior spray in the humidifier
Bar 17 is linked together with outer spray boom 18 by shaft 22, and 20 both ends of electric pushrod are separately fixed at the interior spray boom of 22 top of shaft
17 on outer spray boom 18, and the outer spray boom 18 that vertical folding gets up is stuck in the spray boom card slot 23 at main fixed link both ends；Interior spray boom 17
Both ends respectively extend a spray boom kerve 21, are just stuck in spray boom kerve 21 when outer spray boom 18 is horizontally arranged.
The benefit of above-mentioned spray rod device setting be can carry the pressure of spray boom both sides outside, while prevent because of wind and
The reason of jolting leads to the swing of outer spray boom 18.20 both ends of electric pushrod are separately fixed at interior spray boom 17 and outer spray boom 18
On, after spraying, spray boom is transferred into 14 bottom end of trough of belt sliding rail by DC brushless motor and chain pitch wheel, passes through electricity
The 20 folding effect of dynamic push rod, two sections of the both sides of three-stage spray boom can be folded inwardly into spray boom card slot 23, with traditional spray machine
The mode that spray boom is folded to spraying machine rear is compared, and three-stage spray boom forms positive triangle structure, and center of gravity is more steady, is conducive to spraying machine
Traveling and transport；Before starting spraying, then two outer spray booms are laid flat by electric pushrod 20, then according to target plant
Height adjusts spray boom to suitable height, then executes spray action.
As shown in Fig. 2, the invention also includes cover board 24, cover board 24 is fixed on 3 both sides of crawler belt, and size is slightly smaller than crawler belt 3, will
Trapezoid support component 9 and water tank 6, medicine-chest 7, spray tank 8, control device all cover, and are fixed on the centre on the outside of each wheel
On axis.Cover board 24 can preferably protect internal mechanism, water tank and controller etc. not to be polluted, corroded by adverse circumstances.
As shown in figure 3, one embodiment of the trapezoid support component 9 given by the present invention.
The trapezoid support component 9 includes support transverse slat 56, support inclined plate 57, hub support holder 58, hub support transverse slat
59, the support transverse slat 56, support inclined plate 57, hub support holder 58, hub support transverse slat 59 are encircled into trapezoid support, pass through
Welding manner connects；The support transverse slat 56 and junction, support transverse slat 56 and the hub support holder 58 for supporting inclined plate 57
Junction, support inclined plate 57 and the junction of hub support transverse slat 59, hub support holder 58 and hub support transverse slat 59 company
The place of connecing is reserved with the through-hole passed through for jackshaft；The hub support holder 58 is transverse slat close to one end of support transverse slat 56,
The other end is fixed with half mouthful of shape holder A (for " П " shape)；The hub support transverse slat 59 is cross close to one end of support inclined plate 57
Plate, the other end are fixed with half mouthful of shape holder B, and half mouthful of shape holder B of hub support transverse slat 59 is fastened on hub support holder 58
On the inside of half mouthful of shape holder A, the two passes through intermediate axis connection；59 bottom of hub support transverse slat is fixedly connected with two triangle branch
Frame, A-frame bottom edge both sides are reserved with the through-hole passed through for jackshaft.
As shown in Figure 3-4, the spraying machine elevating mechanism includes rectangular pyramid rack and chain traction device；The rectangular pyramid
Rack includes supporting rack 10, support transverse slat 11, and the support transverse slat 11 and the supporting rack 10 above it for being located at bottom end form rectangular pyramid
Structure, the support transverse slat 11 are the tablet of quadrilateral structure；The support transverse slat 11 is metal plate, under metal plate quadrangle
Four triangle iron plates are extended in portion, and four triangle iron plates are connected across on the jackshaft that 5 both sides external of support wheel is extended；Support is horizontal
Plate 11 and four triangle iron plate welding, gear fixing piece 52 and supporting rack top plate 51 weld.
The chain traction device is arranged in rectangular pyramid rack, including trough of belt sliding rail 14, gear 15, DC brushless motor
16, chain 55；Trough of belt sliding rail 14 includes sliding block 54 with holes and sliding slot, and sliding slot lower end is vertically connected by connector 53 and supports transverse slat
11, sliding slot upper end is connected on supporting rack top plate 51, and sliding block 54 with holes is mounted on trough of belt sliding rail 14,54 middle circle of sliding block with holes
Hole is for placing spray boom；Gear 15 is located at the side of trough of belt sliding rail 14, and the gear 15 on top is fixed on gear fixing piece 52,
The gear 15 of lower part is then coaxially connected with DC brushless motor, and two gear centres are on same vertical line, brush DC electricity
Machine 16 is fixed on the support transverse slat 11 of bottom.
As an embodiment of the present invention, the supporting rack 10 in the rectangular pyramid rack can also select two metal branch
Support vertex is welded to form triangle support frame, and triangle support frame bottom end is fixed on the center of 11 both sides of support transverse slat,
So that triangle support frame and the trapezoid support component 9 of lower part form firm triangular structure from the side.
Connect per two, one side, 10 head of supporting rack, bottom extends two bars and is connected across support wheel both sides external, two
10 bottom of supporting rack is stitched together with support transverse slat, and such tripod adds transverse slat structure, spatially constitutes a rectangular pyramid,
With stability.In terms of spraying machine side, the trapezoid support component 9 on the inside of trapezoidal crawler belt is combined with two supporting racks 10 of top
At a triangle, that is, whole three-legged structure is used, there is stability, become narrow gradually from top to bottom, it is more steady to have walked.
The crawler type walking mechanism of the both sides of the present invention is identical, and bar 13 is auxiliarily fixed by a main fixed link 12 and two
It is connected, 12 both ends of main fixed link are connect with two supporting racks, the 10 head joint on every side respectively, and 13 both ends of bar are auxiliarily fixed
It is separately fixed on two side columns of every side supporting rack 10,10 fixed points by 3 fixed links and above can be consolidated relatively
Ground links together the mechanism on both sides, and walking is got up with stability.
As shown in figure 4, being chain traction trough of belt sliding rail, including trough of belt sliding rail 14, connector 53, sliding block with holes 54, chain
55；Support transverse slat 11；Gear 15；DC brushless motor 16；Supporting rack top plate 51；Gear fixing piece 52；Wherein, trough of belt sliding rail
14 upper ends are fixed on 51 center of supporting rack top plate, and lower end is fixed on 11 middle part of support transverse slat, sliding block 54 with holes by a pedestal
On trough of belt sliding rail 14,54 intermediate circular hole of sliding block with holes is placed for spray boom, gear fixing piece 52 and supporting rack top plate
51 weld together, and DC brushless motor 16 is fixed on support transverse slat 11, relative to 14 secundly of trough of belt sliding rail, direct current without
Brush motor 16 is rotated with moving gear 15, and chain 55 links together with sliding block 54 with holes, and then drives the upper and lower of sliding block 54 with holes
Mobile, both sides device keeps synchronizing, then drives moving up and down for three-stage spray boom.
As the embodiment of the present invention, the crawler belt 3 of the spraying machine drives by wheel hub motor gear 1, and trapezoidal crawler belt is high
About 1.2 meters of degree；The intelligence crawler belt spraying machine drives by wheel hub motor gear structure, and wheel hub motor closure is good, is not necessarily to volume
Outer gearbox structure has saved complete machine space and weight, adapts to the walking requirement of various complicated landforms, meets the spray of high-clearance crop
The requirement for height of mist.
The spray boom is three stage structure, and interior spray boom 17 uses titanium alloy material, is unlikely to deform, enabling capabilities are strong, length
1.5 meters, 18 carbon fibre material of spray boom outside both sides, 2 meters of length, all expansion is up to 5.5 meters to interior spray boom 17 with outer spray boom 18；Due to
Outer spray bar length is longer, can be met intensity requirement using titanium alloy and be mitigated and conducted oneself with dignity, will not deformed because of overweight；And
And all expansion is up to 5.5 meters to interior spray boom with outer spray boom, adapts to field crop spraying operation.Traditional is to fold back, this hair
Bright center of gravity concentrates on crawler belt upward stability height, and each section spray boom gravity endurance is small.
The interior spray boom 17 passes through the sliding block with holes 54 of the trough of belt sliding rail 14 on both sides, and spray boom can be in DC brushless motor
16, moving up and down for a certain range (1.2m-1.8m) is carried out under the drive of gear 15, and DC brushless motor 16 is with self-locking work(
Energy；There is preferable applicability for high-clearance crop (such as Later Stage of Rice and long-stalked crops).
As shown in fig. 6, a kind of unmanned intelligent crawler belt spraying machine control system of high-clearance, camera for acquiring in real time
The image information of crop, control unit are transmitted on image real-time display screen in front of spraying machine, are observed and are sprayed for operator
Environmental characteristic in front of machine.Gyroscope mainly for detection of due to ground out-of-flatness and caused by spraying locomotive attitude angle deviation letter
Breath, and parameter display screen is transferred to by control unit.Similarly, electronic compass and GPS be mainly used for spraying locomotive course angle with
And the measurement of location information, and parameter display screen is transferred to by control unit, manipulate spraying locomotive traveling side as operator
To foundation.Height sensor is mainly used for measuring the elevation information of crop, and information control brush DC is electric accordingly for control unit
Machine so that spray boom spraying is in height appropriate.Velocity sensor, liquid level sensor, pressure sensor, nozzle flowmeter difference
Flow for measuring the gait of march of spraying locomotive, the liquid level of spray tank, the hydraulic pressure of spray boom and nozzle spray, control unit
In-wheel motor driving wheel, suction pump, spray pump, mixture pump are controlled according to the feedack of each sensor.It draws water
The water that flowmeter is extracted for detecting suction pump in real time, control unit are extracted according to the water rate control spray pump that suction pump extracts
Certain liquid volume carries out mixed medicine process so that water and liquid are mixed according to a certain percentage.Spray boom is three stage structure,
Each corresponding solenoid valve in part, mixture pump and solenoid valve are used cooperatively, and it is pressure to make stable water pressure in spray boom, nozzle
Formula reaches certain hydraulic pressure and sprays.Mobile phone is used for mobile phone remote using being connected with embedded onboard control unit by 4G networks
It observes spray condition and spray process is controlled；Remote controler is connected by 2.4G with embedded onboard control unit, can
With the realtime graphic and parameter display screen of the spraying locomotive front crop returned by the image real-time display screen on remote controler
Various information, remote control spraying locomotive.
The unmanned intelligent crawler belt spraying machine control system workflow of high-clearance：Before starting spraying, pushed away by electronic
Two outer spray booms are laid flat by bar, then adjust spray boom to suitable height by DC brushless motor according to the height of target plant
Degree, then by the direction of advance of remote control control spraying machine, is performed simultaneously spray action；In spray process, operator's root
Effective and reasonable control is carried out to spraying machine direction of travel according to the information of the acquisitions such as camera, gyroscope, electronic compass, GPS, is controlled
Unit processed drives wheel hub motor according to the information of the passbacks such as velocity sensor, liquid level sensor, pressure sensor, nozzle flowmeter
Driving wheel, suction pump, spray pump, mixture pump and solenoid valve are controlled, and to spraying machine speed, mixed medicine process and are sprayed
Cheng Jinhang is controlled.The water that the flowmeter that draws water is extracted for detecting suction pump in real time, the water that control unit is extracted according to suction pump
Amount control spray pump extracts certain liquid volume and carries out mixed medicine process so that water and liquid are mixed according to a certain percentage.
Spray boom is three stage structure, each corresponding solenoid valve in part, and being used cooperatively for mixture pump and solenoid valve makes water in spray boom
Pressure is stablized, and nozzle is pressure type, reaches certain hydraulic pressure and sprays.After spraying, by spray boom by DC brushless motor with
And gear transfers to trough of belt sliding rail bottom end, is acted on by electric pushrod folding, two sections of the both sides of three-stage spray boom can be to infolding
It is laminated in spray boom card slot, three-stage spray boom forms positive triangle structure, is conducive to the traveling and transport of spraying machine.
In the description of this specification, reference term " one embodiment ", " some embodiments ", " illustrative examples ",
The description of " example ", " specific example " or " some examples " etc. means specific features described in conjunction with this embodiment or example, knot
Structure, material or feature are included at least one embodiment or example of the invention.In the present specification, to above-mentioned term
Schematic representation may not refer to the same embodiment or example.Moreover, specific features, structure, material or the spy of description
Point can be combined in any suitable manner in any one or more of the embodiments or examples.
Although an embodiment of the present invention has been shown and described, it will be understood by those skilled in the art that：Not
In the case of being detached from the principle of the present invention and objective a variety of change, modification, replacement and modification can be carried out to these embodiments, this
The range of invention is limited by claim and its equivalent.
Claims (9)
1. a kind of high-clearance crawler travel equipment for farm work, which is characterized in that including crawler type walking mechanism and control
Device processed；
The crawler type walking mechanism is two crawler type walking mechanisms for carrying In-wheel motor driving, the crawler-type traveling of both sides
Mechanism is connected by fixed link；The crawler type walking mechanism top of both sides is equipped with fixed link link, each crawler-type traveling machine
Trapezoid support component is each equipped with inside structure；Control device is placed on the inside of the trapezoid support component of both sides, the control device with
Wheel hub motor is connected；
Trapezoid support component periphery is wrapped up by crawler belt (3), and trapezoid support component (9) is trapezoidal support construction, by support plate
It is composed of a fixed connection, the fixed wheel in four side of trapezoid support component can coordinate with crawler belt (3), pass through In-wheel motor driving wheel
(1) crawler belt (3) is driven to advance；
The fixed link link is rectangular pyramid rack, including supporting rack (10), support transverse slat (11), and the support for being located at bottom end is horizontal
Plate (11) forms tetragonous wimble structure with the supporting rack (10) above it, and the support transverse slat (11) is the tablet of quadrilateral structure；
In terms of spraying machine side, trapezoid support component (9) and two supporting racks (10) of top on the inside of trapezoidal crawler belt are combined into one
Triangle uses whole three-legged structure, has stability, become narrow gradually from top to bottom.
2. the high-clearance crawler travel equipment according to claim 1 for farm work, which is characterized in that described trapezoidal
Bracket component (9) includes support transverse slat (56), support inclined plate (57), hub support holder (58), hub support transverse slat (59), institute
It states support transverse slat (56), support inclined plate (57), hub support holder (58), hub support transverse slat (59) and is encircled into trapezoid support,
It is connected by welding manner；The junction of the support transverse slat (56) and support inclined plate (57), support transverse slat (56) and wheel hub branch
Support junction, support inclined plate (57) and the junction of hub support transverse slat (59) of holder (58), hub support holder (58) and
The junction of hub support transverse slat (59) is reserved with the through-hole passed through for jackshaft；The hub support holder (58) is close to branch
The one end for supportting transverse slat (56) is transverse slat, and the other end is fixed with half mouthful of shape holder A；The hub support transverse slat (59) is oblique close to support
One end of plate (57) is transverse slat, and the other end is fixed with half mouthful of shape holder B, half mouthful of shape holder B engaging of hub support transverse slat (59)
On the inside of half mouthful of shape holder A of hub support holder (58), the two passes through intermediate axis connection；Hub support transverse slat (59) bottom
Portion is fixedly connected with two A-frames, and A-frame bottom edge both sides are reserved with the through-hole passed through for jackshaft.
3. the high-clearance crawler travel equipment according to claim 2 for farm work, which is characterized in that the crawler belt
Formula walking mechanism includes In-wheel motor driving wheel (1), traveling wheel (2), crawler belt (3), directive wheel (4), support wheel (5), the wheel
Hub motor driving wheel (1), traveling wheel (2), directive wheel (4), support wheel (5) are assemblied in trapezoid support component by jackshaft
(9) the reserved through hole both sides of each connecting pin, wherein In-wheel motor driving wheel (1) are respectively assembled at trapezoidal with directive wheel (4)
On the jackshaft of the bottom edge both sides of bracket component (9), two support wheels (5) are assemblied in the top both sides of trapezoid support component (9)
Jackshaft on, 4 one group of traveling wheel (2) each twos are assemblied on the A-frame on trapezoid support component (9) bottom edge, wheel hub
The connection of motor driving wheel (1) and trapezoid support component (9) is to use cross-over mode, and In-wheel motor driving wheel (1) is mounted on wheel
On jackshaft on the inside of the matched half mouthful of shape holder of hub supporting support (58), hub support transverse slat (59)；The traveling wheel
(2), directive wheel (4), support wheel (5) are all two-wheel coaxial configurations；Crawler belt (3) wraps up entire trapezoid support component (9) periphery,
And it is in contact with In-wheel motor driving wheel (1), traveling wheel (2), directive wheel (4), support wheel (5).
4. the high-clearance crawler travel equipment according to claim 1 for farm work, which is characterized in that the support
Transverse slat (11) is metal plate, and four triangle iron plates are extended in metal plate quadrangle lower part, and four triangle iron plates are connected across support
On the jackshaft that wheel (5) both sides external is extended；Support transverse slat (11) and four triangle iron plate welding, gear fixing piece (52)
It is welded with supporting rack top plate (51).
5. the high-clearance crawler travel equipment according to claim 1 for farm work, which is characterized in that the tetragonous
It bores the available two metal supporting frames vertex welding of the supporting rack (10) in rack to substitute, forms triangle support frame, triangle branch
Support bottom end is fixed on the centre position of support transverse slat (11) both sides so that the trapezoid support component of triangle support frame and lower part
(9) firm triangular structure is formed in terms of high-clearance crawler travel equipment.
6. the high-clearance crawler travel equipment according to claim 1 for farm work, which is characterized in that the fixation
Bar includes：
The main fixed link (12) being connected with two supporting rack (10) tops, and two positioned at main fixed link (12) lower end both sides
It is a that bar (13) is auxiliarily fixed, bar (13) is each auxiliarily fixed and is separately fixed on two side columns of supporting rack (10) same side；
Ensure that main fixed link (12) is located at two surfaces that bar (13) center line is auxiliarily fixed, and main fixed link (12) and auxiliary simultaneously
The parallel setting of fixed link (13).
7. the high-clearance crawler travel equipment according to claim 1 for farm work, which is characterized in that described trapezoidal
The water tank (6), medicine-chest (7), spray tank (8) of spraying device can be placed inside bracket component (9) as needed.
8. the high-clearance crawler travel equipment according to claim 7 for farm work, which is characterized in that further include lid
Plate (24), cover board (24) are fixed on crawler belt (3) both sides, and size is slightly smaller than crawler belt (3), by trapezoid support component (9) and water tank
(6), medicine-chest (7), spray tank (8), control device all cover, and are fixed on the jackshaft on the outside of each wheel.
9. the high-clearance crawler travel equipment according to claim 1 for farm work, which is characterized in that the control
Device includes embedded onboard control unit (25), and the wheel hub motor being connected respectively with embedded onboard control unit (25)
Drive (38), velocity sensor (30).
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| CN201610555650.1A CN106080816B (en) | 2016-07-14 | 2016-07-14 | A kind of high-clearance crawler travel equipment for farm work |
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| CN201610555650.1A CN106080816B (en) | 2016-07-14 | 2016-07-14 | A kind of high-clearance crawler travel equipment for farm work |
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| CN106070151B (en) * | 2016-07-14 | 2019-08-27 | 江苏大学 | A kind of unmanned intelligent crawler belt spraying machine of high-clearance and control method |
| CN108094384B (en) * | 2018-01-13 | 2024-04-09 | 安徽智泉农业科技有限公司 | Agricultural plant protection machinery |
| CN109808482A (en) * | 2019-03-07 | 2019-05-28 | 烟台市航鹰机器人科技有限公司 | Integral electric creeper undercarriage |
Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN1861332A (en) * | 2006-06-19 | 2006-11-15 | 北京航空航天大学 | Butt jointed crawler type mobile robot |
| CN104890749A (en) * | 2015-06-24 | 2015-09-09 | 上海大学 | Crawler type substation patrol robot based on hub motor |
| CN204616308U (en) * | 2015-05-18 | 2015-09-09 | 张正全 | Combined type agricultural machinery |
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| Publication number | Priority date | Publication date | Assignee | Title |
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Patent Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN1861332A (en) * | 2006-06-19 | 2006-11-15 | 北京航空航天大学 | Butt jointed crawler type mobile robot |
| CN204616308U (en) * | 2015-05-18 | 2015-09-09 | 张正全 | Combined type agricultural machinery |
| CN104890749A (en) * | 2015-06-24 | 2015-09-09 | 上海大学 | Crawler type substation patrol robot based on hub motor |
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